基于仿生机械云台的声纳图像拼接-应用科学学报-上海大学.PDFVIP

30 2 Vol. 30 No. 2 20123 JOURNAL OF APPLIED SCIENCES — Electronics and Information Engineering Mar. 2012 DOI: 10.3969/j.issn.0255-8297.2012.02.009 1. 200072 2. 110016 . . GPS . . . TP273 0255-8297(2012)02-0158-07 Sonar Image Mosaicing Based on Bionic Mechanical Pan-Tilt CHEN Jin-bo , LI Heng-yu , GONG Zhen-bang , LUO Jun , XIE Shao-rong 1. School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China 2. State Key Laboratory of Robotics, Shenyang 110016, China Abstract: This paper proposes a mosaicing method of sonar images based on a bionic mechanical pan- tilt system. From the principle of vestibule-ocular reflex, an active compensation control system of bionic mechanical pan-tilt is established. The system can compensate the sonar image instability due to attitude variation of the sweeping survey boat or submarines during operation. To obtain sonar image mosaics, the sonar images are matched with information of the attitude sensors and GPS. Simulation experiments are performed in different environments. The results show that the model is robust and has the ability of dynamic compensation. The results show effectiveness of the system. Keywords: sonar, image mosaicing, bionic mechanical pan-tilt, dynamic active compensation . DIDSON 30