基于三維空間數(shù)據(jù)模型的AUV前視聲吶視域探測(cè)仿真研究.pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文基于三維空間數(shù)據(jù)模型的AUV前視聲吶視域探測(cè)仿真研究姓名：王藝寰申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：交通信息工程與控制指導(dǎo)教師：施小成20090301哈爾濱]i程大學(xué)碩十學(xué)位論文—■i宣iii暑iii宣i宣iiiiiiii葺iiiiiiiiiiiiiiiiiiii眚iiiiiiiii宣iiii葺iI=iAbstractrn地simulationtechnologyofAutonomousunderwatervehicle(

2、inshortAUV)hasbeenreceivingincreasingattentionduetoitssafe，reliable，economicandothercharacteristicsThroughtheestablishmentof3Dspatialdatamodelsofsubmarineentity(includingunderwaterobjectivesandenvironmenttopography)，this

3、topicealTiesonthevirtualsimulationforthevisionregionmodelofforwardlookingsonar(inshortFLS)andtheresolutionandsimulationfordetectingvisionregionofFLSItprovidesthebasicmetricaldatafortheresearchofautonomouscoordinationtech

4、nologyTobeginwithaccordingtothecharacteristicparametersofFLSconfiguredintheAUVFLSvisionregionvectormodelsis∞tupbyusingfive—pointmethodThefivelawvectormodelisnotaffectedbyAUVspatialsixdegreeoffreedommovement’whichcanaccur

5、atelyandeffectivelydescribethevisionregionofFLSNexttheestablishmentofunderwaterobjects’3Dspatialdatamodelsisbasedonthreekeyaspects：FLS’Srequirementsoftargetdetectionandunderwaterenvironment，datamodelingmethodfor3Dgeograp

6、hyinformationsystemandexpressingthebodyshapeentitybyusingoutsidesurfacedatathatobtainedviasurfacesubdivisionmethodInadditionthedetectionmethodofvectorpointisdesignedinthepaperbythedetectionofVectorcoordinatesandapartialv

7、ectoroftheobjectthatfallingintotheregi011oftheFLS，whichcompletesthesimulatedetectionofFLSLastbutnotleast，basedon3DvisualsimulationplatformtheoperationpmcessofAUVforwardlookingsonarisdemonstrated、ⅣitllmultianglesofviewIti