AUV control system and sonar target identification

[Objectives] In order to meet the requirements of underwater search and rescue,exploration, target detection and tracking,[Methods] we carry out a target identification test for the developed "T-SEA I" AUV,through which a typical frame is selected for the target detection and identification from the acquired moving target images by virtue of the front-view sonar;describe the system composition and working principles of "T-SEA I" AUV;then propose a framework for a control system in which laptop and surface control box act as a surface control unit,PC104 industrial control board acts as the main control unit of an autopilot and the PC104 camera board processes the camera images separately;use three-frame difference method to detected the sonar target,and extract the target characteristics according to a fast ellipse detection algorithm based on Hough transform.[Results] The lake test shows that the AUV runs reliably and normally and meets the requirements of underwater work;the sonar target identification is good.[Conclusions] This AUV's control system structure and target identification method can provide a reference for the development of medium and large-scale AUVs and the target identifications in other fields such as video,infrared,etc