Fast recognition algorithm of underwater micro-terrain based on ultrasonic detection

作者：Luo Bo wen^*; Zhou Zhi jin; Bu Ying yong; Zhao Hai ming

来源：Journal of Central South University of Technology, 2008, 15(5): 738-741.

DOI：10.1007/s11771-008-0136-2

• underwater micro-terrain
• ultrasonic detection
• single beam
• exceptional elevation values
• threshold value
• dynamic clustering

An algorithm was proposed to fast recognize three types of underwater micro-terrain, i.e. the level, the gradient and the uneven. With pendulum single beam bathymeter, the hard level concrete floor, the random uneven floor and the gradient wood panel (8) were ultrasonically detected 20 times, respectively. The results show that the algorithm is right from fact that the first clustering values of the uneven are all less than the threshold value of 60.0% that is obtained by the level and gradient samples. The algorithm based on the dynamic clustering theory can effectively eliminate the influences of the exceptional elevation values produced by the disturbances resulted from the grazing angle, the characteristic of bottom material and environmental noises, and its real-time capability is good. Thus, the algorithm provides a foundation for the next restructuring of the micro-terrain.

• 出版日期2008-10
• 单位中南大学; 湖南科技大学