CN106840113A - A kind of far-reaching sea wave and tidal level measuring method for strengthening technology based on satellite-based difference - Google Patents
A kind of far-reaching sea wave and tidal level measuring method for strengthening technology based on satellite-based difference Download PDFInfo
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- CN106840113A CN106840113A CN201710220996.0A CN201710220996A CN106840113A CN 106840113 A CN106840113 A CN 106840113A CN 201710220996 A CN201710220996 A CN 201710220996A CN 106840113 A CN106840113 A CN 106840113A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/30—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by floats
- G01F23/76—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by floats characterised by the construction of the float
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- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Fluid Mechanics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of far-reaching sea wave and tidal level measuring method for strengthening technology based on satellite-based difference, it is main platform with dipper system, coordinates gps system, technology is strengthened using satellite-based difference, fusion and positioning method is formed, far-reaching sea wave and tidal level measurement work in global range is completed.Technical step includes：Receive satellite positioning signal and satellite-based differential signal, calculate satellite buoy three-dimensional location data, separate Wave Data and tide level data, calculating Wave Data, calculating tide level data, wave tide level data transmission to bank station data receiving system.The present invention in satellite buoy by installing the Big Dipper/gps satellite position receiver board, a satellite-based differential signal receiver module, can just measure in global range, far-reaching marine wave and tidal level, with certainty of measurement it is high, operating distance is remote, wide coverage, cruising time long the features such as.
Description
Technical field
The present invention relates to marine wave and tidal level measuring method, more particularly to using dipper system and the sea of satellite buoy
Upper wave and tidal level measuring method.
Background technology
Ocean wave data and tide level data are important oceanographic hydrological observation key elements, mainly comprising wave height, period of wave, ripple
To and tidal level.Far-reaching sea wave, the precision of tidal level measure and forecast to ocean shipping, scientific research, prevent and reduce natural disasters and state
It is anti-military with highly important meaning, while there is huge rush to good and fast realization " Maritime Silk Road " national strategy
Enter effect.There is great demand in China to the wave tidal level measuring instrument equipment suitable for far-reaching sea.
Wave buoy is the visual plant for measuring Wave Data, and tidal level measuring instrument is measurement tide level data visual plant.
Wave buoy measures Wave Data, different according to operation principle, can be divided mainly into acceleration of gravity formula and satellite
Position formula.Acceleration of gravity formula wave buoy complex structure, apparatus expensive, data transmission distance are short, do not apply to far-reaching marine site.Defend
Star positioning formula wave buoy collection satellite positioning signal and auxiliary positioning differential signal.According to obtaining for auxiliary positioning differential signal source
Take mode different, ground difference enhancing technology and satellite-based difference enhancing technology are divided into again.Wherein, in ground enhancement method, will adopt
Physical features bank higher is placed on the differential signal dispensing device (also referred to as base station) of storage battery power supply, now differential signal is adopted
With high-frequency communication, operating distance is less than 15km, and power consumption is larger.Therefore, there is physical features addressing in ground difference enhancing technology
Shorter limitation of difficult, operating distance relatively near and cruising time, so as to far-reaching sea wave and tide level data cannot be measured.Increase in satellite-based
In strong mode, using the deep space communication satellite with solar panel as base station, now communication work distance is remote, cover model
It is long to enclose wide, cruising time, can be used to measure far-reaching sea wave and tide level data.
Different according to operation principle, tidal level measuring instrument can be divided mainly into float-type and pressure type.The former needs the coastal station
Tide gauge well conjunction measuring, it is shorter that the latter is limited to length of cable, therefore both of which Shortcomings part, is not all suitable for far-reaching
The tidal level measurement in sea.
Meanwhile, existing wave is independently implemented with the measurement of tidal level, it is impossible to combined measurement wave and tide level data, there are data
Difficult problem is merged, the natural internal relation of wave and tidal level has artificially been isolated.
The content of the invention
The present invention proposes a kind of far-reaching sea wave and tidal level measuring method for strengthening technology based on satellite-based difference, with Big Dipper system
It is main platform to unite, and coordinates gps system, and technology is strengthened using satellite-based difference, forms fusion location technology, completes deep in global range
Off-lying sea wave and tidal level measurement work.
Implementation method is believed by installing a Big Dipper/gps satellite position receiver board, a satellite-based difference in buoy
Number receiver module, forms a kind of based on satellite-based enhancing technology, the satellite buoy with solar panel.Satellite buoy connects simultaneously
Satellite positioning signal and satellite-based differential signal are received, by the three-dimensional location coordinates for calculating satellite buoy.Then it is floating to satellite
Mark three-dimensional location coordinates data carry out computing, calculate Wave Data and tide level data.Finally by the peculiar short report of big-dipper satellite
Literary communication pattern, by Wave Data and tide level data long-distance transmissions to bank station data receiving system.
The method can realize the wave and tide level data remote online synchro measure and long-distance transmissions in far-reaching marine site, fill out
Mend domestic and international technological gap.Meanwhile, the method need not use various sensings such as Gravity accelerometer, pressure sensor
Device, it is not necessary to terrestrial reference station, easy to use, measurement is reliable.And buoy carries solar panel, can long-term continuous-stable
Work, with long-endurance feature.
The far-reaching sea wave and tidal level measuring method for strengthening technology based on satellite-based difference of the present invention, technical step bag
Include：Receive satellite positioning signal and satellite-based differential signal, calculate satellite buoy three-dimensional location data, separate Wave Data and tidal level
Data, calculating Wave Data, calculating tide level data, wave tide level data transmission to bank station data receiving system.
S1, reception satellite positioning signal and satellite-based differential signal
The many existing Big Dippeves and gps satellite composition space orientation satellite group, they continuously launch satellite fix
Signal, reaches meter level positioning.7 Inmarsat (marine satellite) satellites constitute differential signal satellite group, their successive hairs
The satellite-based differential signal for eliminating satellite position error, auxiliary precision positioning is penetrated, centimeter-level positioning is realized.Satellite buoy is simultaneously
Receive satellite positioning signal and satellite-based differential signal.
S2, calculating satellite buoy position data
Satellite buoy performs satellite difference positioning analysis side according to the satellite positioning signal and satellite-based differential signal for collecting
Method, calculates three-dimensional position of the buoy in ECEF (Earth-Centered, Earth-Fixed, ground heart are consolidated) coordinate system and sits
Mark Xu、Yu、Zu, wherein Xu、Yu、ZuRepresent buoy in ECEF coordinate systems along the coordinate in X-axis, Y-axis and Z-direction respectively.
S3, separation Wave Data and tide level data
Using signal filtering technology, the three-dimensional location coordinates X of wave is isolated from the three-dimensional coordinate of satellite buoy1、Y1、
Z1With the elevation coordinate Z of tidal level2。
S4, calculating Wave Data
To Wave Data X1、Y1、Z1Computing is carried out, local marine site wave height, period of wave, wave direction data are obtained.
S5, calculating tide level data
According to local marine site tidal plane of reference areal coordinate Z0With tidal level elevation coordinate Z2, it is calculated tidal level tidal height H.
S6, wave and tide level data transmission are to bank station data receiving system
The Wave Data and tide level data that satellite buoy is measured, using Big Dipper short message long-distance transmissions to bank station data
Reception system.
The measuring method for strengthening the far-reaching sea wave of technology and tidal level based on satellite-based difference involved in the present invention, by defending
One Big Dipper/gps satellite position receiver board, a satellite-based differential signal receiver module are installed, it is possible to measure in star buoy
Go out interior global range, far-reaching marine wave and tidal level.When measuring method involved in the present invention has far measuring distance, measurement
Between long, Measurement reliability is high, measurement process is easy, cost performance is high, not receive physical features territory restriction the features such as.
Brief description of the drawings
Fig. 1 is far-reaching sea wave and tidal level instrumentation plan based on satellite-based enhancing technology involved in the present invention.
Fig. 2 is far-reaching sea wave and tidal level measuring method flow chart based on satellite-based enhancing technology involved in the present invention.
The bottom housing section structure of the satellite buoy that far-reaching sea wave Fig. 3 involved in the present invention and tidal level measuring method are used
Schematic diagram.
The Upper portion structure of the satellite buoy that far-reaching sea wave Fig. 4 involved in the present invention and tidal level measuring method are used
Schematic diagram.
Description of symbols in figure：
1st, GPS positioning satellite group 2, Big Dipper position location satellite group
3rd, differential signal satellite 4, satellite buoy
5th, satellite float switch 6, satellite antenna
7th, bank station data receiving system 8, far-reaching sea
9th, bank land 10, satellite buoy bottom housing section
11st, data operation/sending module 12, high power lithium battery
13rd, binding post 14, satellite buoy Upper portion
15th, solar panel
Specific embodiment
The present invention realizes that far-reaching sea wave and tide level data are long-range using satellite positioning tech and satellite-based difference enhancing technology
On-line measurement function.Specific embodiment is as follows：
1. satellite buoy receives satellite positioning signal and satellite-based differential signal
Satellite buoy 4 is made up of two parts, bottom housing section 10 and Upper portion 14.Bottom housing section critical piece：Data are transported
Calculation/sending module 11, high power lithium battery 12, binding post 13.Upper portion critical piece：Satellite float switch 5, satellite antenna
6th, solar panel 15.
Satellite positioning signal is launched by Big Dipper position location satellite and GPS positioning satellite, including big-dipper satellite spatial value
(xB, yB, zB) and gps satellite spatial value (xG, yG, zG), these data can be transferred through precise ephemeris and accurately obtain, and all be
The amount of knowing.
Satellite-based differential signal ηBBy 7 Inmarsat (marine satellite) satellite launchs, its effect is to eliminate position error.ηB
=c τB, s-TB, iono+TB, tron+εr, represent generation, the overall error that needs are eliminated in satellite positioning procedures.
Satellite-based differential signal ηBThe process for eliminating position error is as follows.
The position coordinates of satellite buoy is Pu=(Xu, Yu, Zu), it is unknown quantity to be asked.Satellite buoy receive the Big Dipper and
GPS location signal, its with big-dipper satellite and between gps satellite distance respectively as shown in formula (1), (2).
In formula：
ρB：Distance between receiver and big-dipper satellite；
ρG：Distance between receiver and gps satellite；
c：The light velocity；
τG, s：The spaceborne clocking error of gps system；
τB, s：The spaceborne clocking error of the Big Dipper；
TG, iono：Gps satellite ionospheric transmission delay error；
TB, iono：Big-dipper satellite ionospheric transmission delay error；
TG, tron：Gps satellite troposphere transmission delay error；
TB, tron：Big-dipper satellite troposphere transmission delay error；
εr：Receiver internal thermal noise.
Satellite buoy is received satellite-based differential signal ηBBelong to known quantity, eliminate ηBAfter error, satellite is can obtain respectively and is floated
Shown in mark and the Big Dipper and GPS distances such as formula (3) and formula (4).
2. satellite buoy position data are calculated
4 known variables are included in known satellite buoy and the range formula of big-dipper satellite and gps satellite, it is former according to positioning
Reason, at least needs to receive 4 satellite datas respectively, could form solvable equation group.
The present invention receives as far as possible many satellite datas, forms overdetermined equation, can further check solving result.Current whole day
When can receive (8~10) Big Dipper satellite signal and (6~9) gps satellite signal, be entirely capable of meeting solution demand.
The equation group being made up of i equation can be listed to i big-dipper satellite：
The equation group being made up of j equation can be listed to j gps satellite：
Calculate three-dimensional location coordinates X of the satellite buoy in ECEF coordinate systemsu、Yu、Zu, wherein Xu、Yu、ZuRepresent respectively
Satellite buoy is in ECEF coordinate systems along the coordinate in X-axis, Y-axis and Z-direction.
3. Wave Data and tide level data are separated.
Using Butterworth filter, from the three-dimensional location coordinates X of satellite buoyu、Yu、ZuIn isolate the three-dimensional of wave
Position coordinates X1、Y1、Z1, wherein X1、Y1、Z1Represent local marine site wave in ECEF coordinate systems along X-axis, Y-axis and Z axis side respectively
Upward coordinate.
Using Fourier's low pass filter, from the elevation location coordinate Z of satellite buoyuIn isolate the elevation coordinate of tidal level
Z2, wherein Z2Represent local marine site tidal level in ECEF coordinate systems along the coordinate in Z-direction.
4. Wave Data is calculated
To the three-dimensional location coordinates X in Wave Data1、Y1、Z1Local marine site wave wave height H is obtained using formula (7), (8)w、
Wave direction θ data.
Hw=Z1max-Z1min (7)
Across balance method according on, in measurement wave height HWDuring, the zero crossing of two adjacent waves wave is obtained by counting and timing
Moment t1And t2, T period of wave is obtained using formula (9).
T=| t2-t1| (9)
5. tide level data is calculated
According to national standard, it is determined that local marine site tidal datum in ECEF coordinate systems along the coordinate value in Z-direction
Z0(Z0Can be determined by global sea height observation system, be known quantity), according to known tidal level elevation coordinate Z2, it is calculated
Tide level data H, wherein H=Z2-Z0。
6. wave, tide level data transmission are to bank station data receiving system
The far-reaching sea wave and tide level data that satellite buoy is measured, by Big Dipper short message system long-distance transmissions to bank
Stand data receiving system 7, complete the remote online measurement function of far-reaching sea wave data and tide level data.
Claims (1)
1. a kind of measuring method for strengthening the far-reaching sea wave of technology and tidal level based on satellite-based difference, it is characterised in that technical step
Including：Satellite positioning signal and satellite-based differential signal (S1) are received, satellite buoy position data (S2) is calculated, Wave Data is separated
With tide level data (S3), Wave Data (S4) is calculated, calculate tide level data (S5), wave and tide level data transmission to bank station data
Reception system (S6)；
Described reception satellite positioning signal and satellite-based differential signal (S1), refers to that satellite buoy receives big-dipper satellite and GPS is defended
Star transmitting framing signal, while satellite buoy also receive maritime communication transmitting, for eliminate ionosphere/troposphere etc. interference
The satellite-based differential signal of error, respectively obtains satellite buoy with big-dipper satellite and the process of gps satellite accurate distance；
Described calculating satellite buoy position data (S2), refers to that satellite buoy receives determining for many big-dipper satellites and gps satellite
Position signal, after introducing satellite-based differential signal, elimination position error, formation can solve over-determined systems, obtain the three-dimensional seat of satellite buoy
Mark the process of data；
Described separation Wave Data and tide level data (S3), refer to using Butterworth filter and Fourier's low pass filter
The process of wave and tide level data is isolated from satellite buoy three-dimensional coordinate data respectively；
Described calculating Wave Data (S4), refers to the Wave Data to having been obtained in S3, and ripple is obtained across balance method according on
The process in cycle, wave height and wave direction data；
Described calculating tide level data (S5), refers to the tide level data to having been obtained in S3, and it is carried out with tidal datum
Compare, be calculated the process of tidal level elevation numerical value.
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| CN108761508A (en) * | 2018-03-09 | 2018-11-06 | 羲和时空（武汉）网络科技有限公司 | A kind of satellite position restores with satellite clock correction and track clock error correction number representation method |
| CN111896984A (en) * | 2020-07-10 | 2020-11-06 | 自然资源部第一海洋研究所 | GNSS-based real-time high-precision wave measurement method and device |
| CN113008209A (en) * | 2021-02-20 | 2021-06-22 | 国家海洋标准计量中心 | Wave buoy or sensor detection system and method based on lead screw and linear guide rail |
| CN113031115A (en) * | 2021-02-08 | 2021-06-25 | 国家海洋标准计量中心 | Deep and far sea resistance type precipitation measuring device and method based on satellite communication positioning |
| CN113324627A (en) * | 2021-08-04 | 2021-08-31 | 自然资源部第一海洋研究所 | Buoy-based sea level observation and prediction method |
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| CN113008209B (en) * | 2021-02-20 | 2022-07-12 | 国家海洋标准计量中心 | Wave buoy or sensor detection system and method based on lead screw and linear guide rail |
| CN113324627A (en) * | 2021-08-04 | 2021-08-31 | 自然资源部第一海洋研究所 | Buoy-based sea level observation and prediction method |
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