点云投影结合轻量化卷积神经网络实现三维成像声呐快速目标分类*

三维成像声呐的成像结果是三维点云,基于点云的三维成像声呐目标分类方法具有网络结构复杂,计算量大的特点,针对这一问题本文提出了一种将三维成像声呐成像结果从三维点云投影至二维图像的方法,并且使用轻量化卷积神经网络实现了三维成像声呐快速目标分类。该方法首先对三维成像声呐波束形成后的波束域数据进行最大值滤波和阈值滤波,降低点云数据维度;接着,依据三维成像声呐的波束方向,将点云投影为深度图和强度图,分别保存点云的位置信息和强度信息;然后,利用深度图和强度图分别作为第一个通道和第二个通道构建混合通道图,将混合通道图作为目标分类网络的输入,从而将三维点云的目标分类问题转换为二维图像的目标分类问题;最后使用MobileNetV2网络实现了三维成像声呐快速目标分类。实验结果表明,通过本文提出的投影方法可以用二维图像分类网络完成三维成像声呐点云的目标分类任务;而且混合通道图比单独的强度图和深度图收敛速度更快,结合目标识别网络可以25fps实时的进行目标分类,在真实数据集上分类精度达到了91.13%。     

冰下运动目标主动探测技术研究*

使用主动声呐探测冰下目标时，混响是无法回避的问题。在大面积冰层覆盖的水域中，混响具有强度大、作用范围广的特点，导致主动声呐对目标探测的性能大大下降。本文针对有着强混响的冰下水域这一应用背景，重点研究了基于低秩矩阵恢复理论的冰下运动目标主动探测方法。该方法运用常规波束形成获取多组方位时间历程图像，然后利用低秩矩阵恢复算法分离图像中的混响背景与运动目标。仿真表明不精确的增广拉格朗日乘子法(Inexact Augmented Lagrange Multiplier, IALM)在等间隔直线阵、非等距线阵和均匀间隔圆形阵三种阵型下均有较好的效果。同时与经典的背景差分法做了对比，表明了低秩矩阵恢复算法具有更好的适应性。松花江冰下实验验证了在线阵情况下低秩矩阵恢复算法的实际应用性。     

声纳信号宽容性检测指数的初步分析

自上世纪六十年代以来,信号的宽容性(Robust,Robustness)处理就开始在统计数学与信号处理领域受到关注。由于声纳使用的水声环境的特殊复杂性,从事声纳信号处理和声纳设计的学者对环境适应性处理和宽容性水声信号处理开展了大量的研究。主要的目的是探索水声环境效应以及对声纳信号处理的影响,企图寻求一种适应环境的宽容性信号处理方法。本文初步探讨水声信号处理领域宽容性检测的基本概念,给出一种度量宽容性性能的数量指标。同时推导在不同声速剖面下声纳检测宽容性指标和所使用频率的关系。对文中所提出的理论方法与国内外实际海试的某些实例进行了分析比较。     

基于禁忌搜索的正交多相码波形设计

正交多相码信号有低自相关旁瓣值和低互相关峰值的特点,可以用于编队工作的主动声纳中,降低声纳之间的直达波干扰。文章提出用禁忌搜索的方法设计正交多相码信号集,优化正交多相码的自相关旁瓣值和互相关峰值。通过对实验结果的分析和多种算法之间的比较,证明了禁忌搜索算法能够设计相关性能更优的正交多相码。文章还通过数值实验,分析了正交多相码信号集的相关性能与信号数量和码长的关系。     

The use of multibeam backscatter angular response for marine sediment characterisation by comparison with shallow electromagnetic conductivity

In this empirically-driven research, multibeam backscatter angular response analysis is presented, together with shallow electromagnetic data and groundtruthing, to examine its suitability as a proxy for sediment characterisation. Backscatter angular curves extracted from Kongsberg EM1002 sonar (95–98 kHz), acquired in the Malin Basin to the northwest of Ireland, have been selected as a case study. Standard angular backscatter features and newly derived curvature features are examined and cross compared. Exhaustive statistical analysis has been performed on the data to elucidate the complex relationship between multibeam backscatter and sediment properties. Subtle subsurface sediment property gradients across the basin identified by the conductivity system are also captured by the newly derived backscatter features. The results reveal that Near-range backscatter is better suited for subsurface sediment characterisation in soft, fine-grained sediments than far-range. Furthermore, the analysis has constrained the optimum interval for such characterisation to in-between 4° and 16° for the parameters of this study. A number of shape features (slope, first derivative, second derivative and Fourier-smoothed least-squares-fitted curvature) have been examined, and their suitability discussed, in terms of sediment characterisation and, in particular, as potential proxies for delineating the boundary between sand- or silt-dominated sediment facies. Nonetheless, curvature features are found to be independent from average angular backscatter response, but outperform both first and second derivatives when correlating with conductivity in the central part of this case-study with fine-grained homogeneous sediments.     

一种基于多普勒频移的被动合成孔径声纳探测方法*

由于自主小平台声纳孔径有限,对声纳探测的分辨率的提高有所限制。小平台的机动可以有效的与声纳探测方法相结合来提高声纳探测性能。针对这一特点,提出一种基于多普勒频移技术的被动合成孔径声纳探测方法。该方法根据自主小平台的机动所引起声纳的接收信号多普勒频移的变化,进行目标的频率与方位联合估计。本文将自主小平台的机动引入到波束形成技术当中形成一种新的被动合成孔径技术。数值仿真表明,该方法可以有效的进行目标方位估计,并且获得较高的方位分辨率,改善了自主小平台的探测性能。     

A miniature high resolution 3-D imaging sonar

This paper discusses the design and development of a miniature, high resolution 3-D imaging sonar. The design utilizes frequency steered phased arrays (FSPA) technology. FSPAs present a small, low-power solution to the problem of underwater imaging sonars. The technology provides a method to build sonars with a large number of beams without the proportional power, circuitry and processing complexity. The design differs from previous methods in that the array elements are manufactured from a monolithic material. With this technique the arrays are flat and considerably smaller element dimensions are achievable which allows for higher frequency ranges and smaller array sizes. In the current frequency range, the demonstrated array has ultra high image resolution (1″ range × 1° azimuth × 1° elevation) and small size (<3″ × 3″). The design of the FSPA utilizes the phasing-induced frequency-dependent directionality of a linear phased array to produce multiple beams in a forward sector. The FSPA requires only two hardware channels per array and can be arranged in single and multiple array configurations that deliver wide sector 2-D images. 3-D images can be obtained by scanning the array in a direction perpendicular to the 2-D image field and applying suitable image processing to the multiple scanned 2-D images. This paper introduces the 3-D FSPA concept, theory and design methodology. Finally, results from a prototype array are presented and discussed.     

浅海随机相位起伏声场中速度估计的互谱分析方法

浅海条件下,目标运动速度是基于波导不变量声源被动定位的关键因素,利用浅海波导环境下的声场简正波理论,研究了浅海随机相位起伏的波束域声场互相关信号的特点,并通过声速剖面的二阶统计量对随机相位扰动进行了有效的补偿,提出利用波束域声场互相关信号进行谱分析的速度估计方法,仿真实验表明了该方法的有效性。利用2013年7月海试实验数据,该方法准确的估计出了目标的速度,并与GPS实测速度对比,速度估计的相对误差在10%以内。     

Optimizing source and receiver placement in multistatic sonar networks to monitor fixed targets

Multistatic sonar networks consisting of non-collocated sources and receivers are a promising development in sonar systems, but they present distinct mathematical challenges compared to the monostatic case in which each source is collocated with a receiver. This paper is the first to consider the optimal placement of both sources and receivers to monitor a given set of target locations. Prior publications have only considered optimal placement of one type of sensor, given a fixed placement of the other type. We first develop two integer linear programs capable of optimally placing both sources and receivers within a discrete set of locations. Although these models are capable of placing both sources and receivers to any degree of optimality desired by the user, their computation times may be unacceptably long for some applications. To address this issue, we then develop a two-step heuristic process, Adapt-LOC, that quickly selects positions for both sources and receivers, but with no guarantee of optimality. Based on this, we also create an iterative approach, Iter-LOC, which leads to a locally optimal placement of both sources and receivers, at the cost of larger computation times relative to Adapt-LOC. Finally, we perform computational experiments demonstrating that the newly developed algorithms constitute a powerful portfolio of tools, enabling the user to slect an appropriate level of solution quality, given the available time to perform computations. Our experiments include three real-world case studies.     

第八讲水声通信及其研究进展

水声通信是当前唯一可在水下进行远程信息传输的通信形式，由于其在民用和军事上都有重大意义，水声通信的研究一直是国内外研究的热点．文章介绍了水声通信的特点、系统组成、发展历史和国内外的发展现状，最后简要介绍了文章作者在高速水声通信研究方面的成果和进展．