基于深水MBES的快速运动目标的探测与重建方法

doi:10.12305/j.issn.1001-506X.2026.05.01

摘要/Abstract

摘要：

针对走航期间气体泄漏或鱼群等变化较快的水体目标不能快速实时成像的问题，提出一种基于深水多波束测深仪（multibeam echosounder, MBES）的探测和重建方法，利用深水MBES多扇区发射的特点，增强水体实时成像能力。首先通过角度解算对目标区域的三维散射点进行归位实现实时探测，随后通过基于水体反向散射强度改进的大津阈值分割算法和基于牛顿-拉夫逊优化的基于密度带有噪声的空间聚类算法对目标点云进行重建，得到更为清晰的目标图像。所提算法通过仿真实验进行了验证，并对海试数据处理得到清晰的海底气柱图像，验证了所提算法的有效性。

关键词: 深水多波束测深仪, 三维水体, 三维点云重建, 基于牛顿-拉夫逊优化的基于密度带有噪声的空间聚类算法

Abstract:

A detection and reconstruction method based on deep-water multibeam echosounder （MBES） is proposed to address the challenge of rapidly real-time imaging fast-changing underwater targets, such as gas leaks or the shoal of fish, during navigation. The method utilizes the multi-sector emission feature of deep-water MBES to enhance the real-time imaging capability of water column. Firstly, real-time detection is achieved by repositioning the three-dimensional scattering points in the target area through angle calculations. Then, the targets point cloud is reconstructed using the Otsu threshold segmentation algorithm, improved based on water body backscattering intensity, and a density-based spatial clustering of applications with noise optimized with the Newton-Raphson-based optimizer, which leads to clearer underwater target images. The proposed method is validated through simulation experiments, and clear underwater gas column image is obtained by processing sea trial data, verifying the validity of the proposed algorithm.

Key words: deep-water multibeam echosounder （MBES）, three-dimensional water body, three-dimensional point cloud reconstruction, Newton-Raphson-based optimizer-density-based spatial clustering of applications with noise

中图分类号:

P 229.1

王媛, 刘晓东, 王舒文. 基于深水MBES的快速运动目标的探测与重建方法[J]. 系统工程与电子技术, 2026, 48(5): 1451-1464.

Yuan WANG, Xiaodong LIU, Shuwen WANG. Detection and reconstruction method of fast-moving targets based on deep-water MBES[J]. Systems Engineering and Electronics, 2026, 48(5): 1451-1464.

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仿真参数	传统MBES	本文算法
水深/m	500	500
声速/(m/s)	1 500	1 500
船速/ kn	8	—
发射波束数/个	3	7
接收波束数/个	513	129
发射波束角度/(°)	$ \eta = \left[ { - {{16} },{0 },{{16} }} \right] $，$ \gamma = {0 } $	$ \gamma = \left[ { - {3 }, - {2 }, - {1 },{0 },{1 },{2 },{3 }} \right] $，$ \eta = {0 } $
信噪比/dB	20	20
发射波束开角/(°)	16	50