水下航行器自由视角探测的多波束声呐仿真OA北大核心CSTPCD

In response to the problem of the lack of related joint simulation models caused by strong coupling of multiple factors in the motion and underwater acoustic perception processes of underwater vehicles,a high-fidelity coupled simulation method for motion pose and sonar image applicable to underwater free-view exploration was proposed.First,a multi-beam image sonar geometry model was established,and a simplified sonar field of view method was proposed to achieve fast image generation.Then,a free scanning model was established by coupling underwater terrain,vehicle trajectory,and detection viewpoint to achieve underwater free-viewpoint scanning and imaging.Finally,for the high-fidelity simulation issue of sonar image interference,a structured noise and echo contour modeling method based on measured data fitting was proposed to improve the fidelity of simulated sonar images.Experimental results show that the model can effectively realize the combined simulation of the position and sonar data in the free-viewpoint scanning process of the underwater vehicle,and generate multi-beam sonar images with a certain degree of fidelity.