Unconstrained Synthetic Aperture Sonar

无约束合成孔径声纳

基本信息

项目摘要

Sonar is an essential sensor for underwater applications as it provides data under bad or even no visibility conditions and over longer distances. But its spatial resolution depends on a combination of transducers to (roughly) approximate sampling beams by interferences. A larger number of transducers placed on a larger area accordingly provide a higher resolution. But the number of transducers in a sonar sensor is limited by many factors like sensor size, power consumption and costs. A popular approach is hence the use of a synthetic aperture, i.e., the sonar with its N transducers is positioned at k places to generate a virtual sensor with kN transducers.The state of the art for this synthetic aperture sonar (SAS) is strongly coupled to constraints on the way it can be used. For example, the k poses often have to be equidistantly placed on a line perpendicular to the sensor. This is motivated by the intention to ease the signal processing as well as by practical aspects: a vehicle, e.g., a surface vessel or an Autonomous Underwater Vehicle (AUV), with a sonar facing down to the sea-floor is only required to navigate with constant speed on a straight line. But it also significantly limits the scope of the vehicle.This project develops the foundations for an unconstrained SAS, i.e., a SAS that a) can be computed on arbitrary trajectories b) without the requirement of navigation sensor data (GPS, INS, etc.). As shown in preliminary work, a registration of the raw scans provides sufficiently precise location estimates to compute a higher-resolution spatial reconstruction of the scene. With respect to a) contributions to the formulation and solution to the unconstrained SAS problem are derived. These are also of interest to related areas, e.g., the use of radar on mobile systems like robots or automobiles, remote sensing with radar, or medical imaging with ultra-sound. With respect to b) methods for robust 2.5D and 3D registration are investigated, especially spectral methods, which are very well suited for raw data that is strongly affected by noise.
声纳是水下应用的重要传感器,因为它可以在恶劣甚至没有能见度的条件下以及更长的距离上提供数据。但它的空间分辨率取决于传感器的组合,以(大致)近似采样光束的干扰。因此,放置在较大区域上的较大数量的换能器提供较高的分辨率。但是声纳传感器中换能器的数量受到传感器尺寸、功耗和成本等许多因素的限制。因此,一种流行的方法是使用合成孔径,即,将具有N个换能器的声纳定位在k个位置以生成具有kN个换能器的虚拟传感器。这种合成孔径声纳(SAS)的现有技术与其可以使用的方式的约束强烈耦合。例如,k个姿势通常必须等距地放置在垂直于传感器的线上。这是出于简化信号处理的意图以及实际方面的动机:车辆,例如,声纳面向海底的水面船只或自主水下航行器(AUV)仅需要在直线上以恒定速度航行。但它也大大限制了车辆的范围。该项目为无约束SAS奠定了基础,即,a)可以在任意轨迹B)上计算SAS,而不需要导航传感器数据(GPS、INS等)。如初步工作所示,原始扫描的配准提供了足够精确的位置估计,以计算场景的更高分辨率空间重建。关于a)的贡献的制定和解决方案的无约束SAS问题的推导。这些也是相关领域感兴趣的,例如,在机器人或汽车等移动的系统上使用雷达,使用雷达进行遥感,或使用超声进行医学成像。关于B),研究了用于鲁棒2.5D和3D配准的方法,特别是谱方法,其非常适合于受噪声强烈影响的原始数据。

项目成果

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会议论文数量(0)
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Professor Dr. Andreas Birk其他文献

Professor Dr. Andreas Birk的其他文献

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{{ truncateString('Professor Dr. Andreas Birk', 18)}}的其他基金

Learning 3-Dimensional Maps of Unstructured Environments on a Mobile Robot.
在移动机器人上学习非结构化环境的 3 维地图。
  • 批准号:
    5441387
  • 财政年份:
    2005
  • 资助金额:
    --
  • 项目类别:
    Research Grants
Generation of 3D object and environment models with an imaging sonar
使用成像声纳生成 3D 对象和环境模型
  • 批准号:
    535678995
  • 财政年份:
  • 资助金额:
    --
  • 项目类别:
    Research Grants

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基于相量四元数神经网络的偏振干涉合成孔径雷达框架构建及工程开发
  • 批准号:
    23H00487
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    2023
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SBIR Phase I: Autonomous Interferometric Synthetic Aperture Radar (InSAR) for surface deformation monitoring
SBIR 第一阶段:用于表面变形监测的自主干涉合成孔径雷达 (InSAR)
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Turbulence diagnosis using the Synthetic Aperture Microwave Imager (SAMI).
使用合成孔径微波成像仪 (SAMI) 进行湍流诊断。
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    2752179
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    2022
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Implications and Applications of Emerging Polarimetric Synthetic Aperture Radar for the Retrieval of Freshwater Ice Properties
新兴偏振合成孔径雷达对淡水冰性质反演的意义和应用
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RII Track-4:FAST: An investigation of tropical cyclone intensity using synthetic aperture radars and complementary satellite ocean observations
RII Track-4:FAST:利用合成孔径雷达和补充卫星海洋观测研究热带气旋强度
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Modelling Sea Surface Wind Vectors with Coherent Dual Polarization Synthetic Aperture Radar
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Optimal sea ice monitoring using C- and L-band synthetic aperture radar
使用 C 和 L 波段合成孔径雷达进行最佳海冰监测
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Non-Canonical Integral Transforms for Multistatic Synthetic Aperture Radar (SAR) and Video SAR (VSAR) for Target Motion
用于目标运动的多基地合成孔径雷达 (SAR) 和视频 SAR (VSAR) 的非规范积分变换
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Optically tracked freehand swept synthetic aperture ultrasound
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