Research On Fusion Method Of Sonar Data And Visible Image

With the rapid development of the national economy,the number of activities related to the sea is gradually increasing,and the tonnage of ships in marine transportation is increasing,so is the probability of ship distress and shipwreck.In order to ensure the safety of waterway,protect the marine environment and reduce economic losses,it is of great significance to enhance the overall salvage capacity of large tonnage sunken ships.Therefore,using modern detection technology to accurately measure the attitude and damage status of the wreck is an important guarantee for the success rate of salvage of the wreck.The subject is from the Ministry of Transport construction science and technology project "large-tonnage wrecks overall salvage detection,flotation technology and equipment."The main task is to detect the three-dimensional attitude and surface damage of sunken ship on the seabed.The key technology is to fuse the three-dimensional point cloud and visible light image of the wreck to get a composite three-dimensional model,so as to determine the attitude and damage status of the wreck and provide technical support for the formulation of the salvage plan.The main contents of this paper include:The surface information of the wrecked ship is collected by the three-dimensional sonar.The three-dimensional point cloud of the underwater wrecked ship is generated from the sonar data,attitude data and positioning data by coordinate transformation.By calibrating the underwater low illumination camera,the internal parameter matrix of the camera is obtained.Based on the collinear equation in photogrammetry and the attitude and location data of three-dimensional point cloud and visible image,the corresponding relationship between three-dimensional point cloud and visible image is determined.Fusion of three-dimensional point cloud and visible light image of sunken ship is realized based on OpenGL.In order to verify the feasibility of the fusion method of sonar data and visible light image,underwater target detection experiments were carried out in the harbor basin to obtain three-dimensional point clouds and visible light images of underwater targets.Based on OpenGL,the three-dimensional point cloud and visible light images are fused to obtain the attitude information and damage status of the wreck,which provides important technical support for the design of the wreck salvage scheme.