基于图像声呐的无人水下航行器编队小目标识别与跟踪方法OA

Aiming at the problem of insufficient continuous recognition and tracking capabilities of unmanned un-derwater vehicles(UUV)for small targets from a long distance to a near field in complex underwater environments,this paper proposes a UUV formation small target recognition and tracking method based on image sonar.This method uses multi-beam forward-looking sonar to obtain images in real time and combines a lightweight detection network to achieve efficient target recognition.And a filter-based enhanced tracking algorithm and a three-stage data association mechanism are introduced to improve the tracking robustness.For targets at different distances,a distance hierarchical tracking strategy is proposed;Dynamic obstacle avoidance is achieved by combining the im-proved artificial potential field method.Through multi-UUV formation tests conducted on the reservoir,the system verified targets such as simulated frogmen,unmanned underwater vehicles and simulated mines.The results showed that the recognition success rate of the system in tracking and obstacle avoidance tasks exceeded 90%,demonstrating good real-time performance and environmental adaptability.It can provide reliable technical support for underwater collaborative search,target following and safe navigation tasks.