CN116858290B - Deep open sea surface height observation and calibration method and system based on large unmanned plane - Google Patents
Deep open sea surface height observation and calibration method and system based on large unmanned plane Download PDFInfo
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Abstract
The invention discloses a deep open sea surface height observation calibration method and system based on a large unmanned plane. The system comprises a shore-based GNSS reference station, a GNSS integrated observation buoy system and a wave energy profile buoy observation array; the GNSS integrated observation buoy consists of an upper floating body, a GNSS antenna, a CTD profiler and a bottom pressure gauge, and is arranged offshore (20 km); the wave energy profile buoy observation array comprises a plurality of wave energy profile buoys, wherein each wave energy profile buoy consists of an upper floating ball, a profile platform, a crawling steel cable and a bottom pressure gauge. Compared with the traditional airborne altimeter calibration test scheme, the invention can effectively improve the accuracy of the deep-open sea calibration test, provide finer calibration values for the airborne altimeter calibration test, and realize the three-dimensional high-space-time resolution authenticity test of the ocean.
Description
Technical Field
The invention belongs to the technical field of ocean observation, and particularly relates to a deep open sea surface height observation calibration method and system based on a large unmanned plane.
Background
The altimeter mounted by the scientific satellite is an important tool indispensable for carrying out ocean scientific research, but in the process of satellite height measurement, the altimeter is influenced by sea state deviation, ionosphere path delay, tide and other factors, so that the altimeter has large data uncertainty, and strict error term correction and field calibration are required to observe the accuracy and drift of data. The altimeter satellites at home and abroad can be calibrated for a plurality of times before launching so as to explore the calibration scheme of the altimeter, and the carrying out of relevant airborne flight calibration tests on the loads of the altimeter satellites before launching the scientific satellites becomes the consensus of researchers, so that the method is not only beneficial to technical verification of brand new loads, but also can accumulate a large number of real observation data sets.
At present, most sea surface height observation networks matched with flight tests of an airborne satellite altimeter often adopt a mode of combining a shore-based tide gauge with a GNSS buoy platform, but the scheme has the following problems: when the shore tide gauge is used for carrying out sea surface height extrapolation, the measurement accuracy of the sea surface height is closely related to the accuracy of the tide model and the ground level; secondly, when the GNSS buoy and the array thereof fixed around the platform are used for inverting the sea surface height, the measurement accuracy of the offshore elevation can still meet the requirements of a flight test, but as the distance of the offshore GNSS reference station is more and more long, the sea surface high accuracy measured by the GNSS buoy can be gradually reduced, and the effect of calibration and inspection is lower in the offshore area.
Disclosure of Invention
The invention aims to provide a deep open sea surface height observation calibration method and system based on a large unmanned plane, so as to make up for the defects of the existing altimeter calibration scheme and improve the accuracy of a deep open sea calibration test technology.
In a traditional on-site observation and calibration system of an airborne radar altimeter, a tide gauge and a GNSS static receiving terminal are usually set up on the shore to serve as reference base stations for resolving, and GNSS buoys or GNSS buoy arrays are distributed in relevant test sea areas. The accuracy of such calibration test schemes depends to a large extent on the tidal model and the ground level, and during satellite airborne calibration tests, the calibration accuracy decreases with increasing distance from the shore-based reference station. In particular in deep sea areas that are far offshore, conventional calibration schemes have not been able to provide high accuracy reference data sets for on-board altimeter calibration.
The invention introduces the wave energy profile buoy array on the basis of retaining the shore-based GNSS reference station, and increases the observation and the calculation of the temperature salt profile based on the device.
Based on the principle, in order to achieve the above purpose, the specific technical scheme adopted by the invention is as follows:
a deep open sea surface height observation and calibration system based on a large unmanned plane comprises a shore-based GNSS reference station, a GNSS integrated observation buoy system and a wave energy profile buoy observation array; the GNSS integrated observation buoy consists of an upper floating body, a GNSS antenna, a CTD profiler and a bottom pressure gauge, and is arranged offshore (about 20 km); the wave energy profile buoy observation array comprises a plurality of wave energy profile buoys, wherein each wave energy profile buoy consists of an upper floating ball, a profile platform, a crawling steel cable and a bottom pressure gauge. The system needs to be formed at least 24 hours prior to flight of the aeronautical test.
Further, the upper floating body comprises a data acquisition module, and is composed of a GNSS receiver board card, an attitude compensation instrument and a wireless transmission module; the attitude compensator can accurately and efficiently output buoy attitude data at the frequency of 50HZ, performs attitude compensation on measured data, has the measurement accuracy of 0.1 degree and has good wave following performance and stability.
Further, the upper floating ball is internally provided with a remote wireless transmission device, so that the profile data can be transmitted back to an onshore control room in real time and stored in a local database; the profile platform consists of a sensor module, a data transfer center and a battery compartment power supply module, and can continuously and stably provide profile temperature salt data for a long time; the cross-section mechanical structure is matched with the steel cable, so that any observation depth can be selected within 0-500 meters, and the vertical observation resolution is about 3 cm.
Further, the arrangement rule of the wave energy profile buoy observation array is as follows: and the load sampling resolution intervals are sequentially distributed along the direction of the airborne route according to ku/ka dual-frequency synthetic aperture radar altimeter.
A deep open sea surface height observation and calibration method based on a large unmanned plane comprises the following steps:
s1: constructing a high-precision deep open sea surface height observation network, wherein the high-precision deep open sea surface height observation network comprises a shore-based GNSS reference station, a GNSS integrated observation buoy system and a wave energy profile buoy observation array so as to acquire a sea surface height observation data set which is empty at the same time with an airborne altimeter;
s2: offshore GNSS integrated observation buoy solution: combining GNSS reference station and offshore GNSS integrated observation buoy, and calculating offshore high-precision sea surface height reference point SSH GNSS ；
S3: extrapolation of high-precision sea surface height SSH of adjacent wave energy profile buoy point 1 GNSS Constructing a high-precision sea surface altitude calibration reference data set { SSH ] synchronous with an airborne route i GNSS }: the sea surface height is inverted by utilizing the sensor module observation elements carried by the wave energy profile buoy array, namely, the sea surface height value SSH is inverted according to the barometer-profile CTD instrument-manometer carried by the first wave energy profile buoy 0 Secondly, SSH is calculated 0 Buoy SSH adjacent to wave energy profile 1 And finally with said high-precision sea level reference point SSH GNSS In combination, high-precision sea surface height SSH of adjacent wave energy profile buoy point positions is extrapolated 1 GNSS The method comprises the steps of carrying out a first treatment on the surface of the Repeating the steps, namely constructing a high-precision sea surface height calibration reference data set { SSH (single-sequence-reference-to-single-sequence) synchronous with an airborne route i GNSS }；
S4: calculating a check error value ΔE i : fuselage height H based on large unmanned aerial vehicle obtains i GNSS Load-observing height DeltaL i And the high-precision sea surface altitude scaling reference dataset { SSH } i GNSS Joint solution of check error value delta E i ；
S5: and (5) calibration inspection: sequentially calculating check error values delta E along observation tracks of airborne Ku/Ka dual-frequency synthetic aperture radar altimeter i Construction of airborne ku/ka double-frequency synthetic aperture radar altitudeA calibration and inspection method for the sea surface height of the deep open sea.
Further, the S2 specifically is:
s2-1: GNSS reference station data processing: in an aviation flight test, an onshore data center utilizes Bernese or GAMIT software to calculate real-time reference station data, and in the calculating process, IGS station original data adjacent to an ocean station and a post-processing product of an IGS analysis center are required to be introduced;
s2-2: computing SSH GNSS : the resolving strategy adopts an RTK positioning method, and is concretely as follows: firstly, calculating the path difference by using the receiving time difference between the arrival of the GPS sea surface reflected signal and the arrival of the direct signal, and realizing the measurement of sea surface height; and secondly, eliminating unknown parameters of a receiver clock error and a satellite clock based on a GNSS double-difference positioning model, correcting the deviation of the phase center positions of a receiver and a satellite antenna in the processing process, selecting a double-frequency ionosphere-free combination method to eliminate the refraction influence of first-order terms of an ionosphere, carrying out parameter estimation on an epoch-by-epoch basis by adopting a Kalman filtering method to obtain a coordinate difference value between an offshore GNSS integrated observation buoy and a shore reference station, and finally obtaining the sea surface height of the offshore GNSS integrated observation buoy 1HZ to provide an instantaneous reference value for an aircraft navigation test.
Further, the step S3 specifically includes:
s3-1: computing SSH 0 : in the wave energy profile buoy array, the arrangement position of the first buoy is close to the sea GNSS integrated observation buoy, so that the CTD instrument mounted on the wave energy profile buoy can be used for efficiently acquiring the vertical profile of the sea water temperature and the conductivity of the point; after the profile data is transmitted back to the data center through the offshore wireless transmission network, the profile data is subjected to data processing to remove the peak value of salinity, the lagged sensor response is adjusted, and finally SSH is calculated from the seabed to the sea surface area by a hydrostatic equation 0 The specific calculation formula is as follows:
wherein,represents the result of integration from the sea bottom to the sea surface, H represents the sea bottom depth, g represents the gravitational acceleration,/->Represents the average value of the sea water density ρ 0 Represents the reference density->Mean value representing sea level height, +.>Represents an average value of atmospheric pressure; in the equation>The bottom pressure representing the float point, which needs to be measured by a bottom pressure gauge (BPR); />Representing the dynamic height of the buoy point, a mooring device with CTD is required to provide; />Atmospheric pressure representing the float point is provided by barometers on the float;
s3-2: computing SSH 1 : calculating the sea surface height of a second buoy point in the buoy array of the wave energy profile by using the formula (1);
s3-3: computing SSH 1 GNSS : SSH is first performed 0 And SSH 1 Comparing to calculate the relative sea surface height difference delta, eliminating the space height error derived from CTD by utilizing the difference of the relative sea surface height difference delta and the relative sea surface height difference delta, and then obtaining the near-shore high-precision full-depth three-dimensional height SSH GNSS SSH is calculated by combining the relative sea surface height difference delta 1 GNSS Finally, the extrapolation of the high-precision sea surface height is realized;
s3-4: repeating the above steps along the navigation route of the large unmanned aerial vehicleStep, until all buoy points are calculated, constructing a high-precision sea surface height calibration reference data set { SSH (single-pass differential) synchronous with an airborne route i GNSS }。
Further, the S4 specifically is:
s4-1: GNSS antenna carried by large unmanned aerial vehicle based on aircraft flying height { H } i GNSS Load observation altitude data set { (Δl) based on aircraft radar altimeter i }；
S4-2: combined fuselage height dataset { H i GNSS Load observation height data set Δl i Sea level height scaling reference data set { SSH } i GNSS Solution of check error value ΔE i The calculation formula is as follows:
further, the step S5 specifically includes:
s5-1: acquiring an actual observation data set of the airborne Ku/Ka dual-frequency synthetic aperture radar altimeter along the aircraft flight route, and continuously repeating S4 to calculate a corresponding check error value delta E i ；
S5-2: from the check error value DeltaE i And the altitude data observed by the airborne radar altimeter are sequentially corrected, so that the accuracy of the calibration result of the load of the airborne altimeter in the deep sea area is improved.
The invention has the advantages and beneficial effects that:
on the basis of retaining a shore-based GNSS reference station, the offshore GNSS integrated observation buoy and the wave energy profile buoy array are introduced, and the deep and open sea high-precision sea surface height calibration inspection networking is constructed. And a high-precision deep open sea calibration checking system is constructed based on a barometer-profile CTD instrument-bottom pressure gauge mounted on the wave energy profile buoy array and a GNSS module on the large unmanned plane, so that an accurate error check value is provided for the calibration of the Ku/Ka dual-frequency synthetic aperture radar altimeter, and the problem that the calibration checking precision of the traditional tide gauge/GNSS reference station-GNSS buoy array observation scheme in a deep sea area is reduced is solved.
Compared with the traditional airborne altimeter calibration test scheme, the invention can effectively improve the accuracy of the deep-open sea calibration test, provide finer calibration values for the airborne altimeter calibration test, and realize the three-dimensional high-space-time resolution authenticity test of the ocean.
Drawings
Fig. 1 is a basic flow chart of the method provided by the present invention.
Fig. 2 is a basic schematic of the system provided by the present invention.
FIG. 3 wave energy profile buoy data acquisition results.
Detailed Description
The invention is further illustrated and described below by means of specific embodiments in conjunction with the accompanying drawings.
Example 1:
as shown in fig. 1, the embodiment provides a high-precision deep open sea surface height observation and calibration method for synchronous observation of the air and the sea, which specifically comprises the following steps:
1. an observation data set of simultaneous air sea level is constructed.
The sea surface height observation network is shown in fig. 2, and consists of an offshore GNSS reference station, an offshore (20 km) GNSS integrated observation buoy and a wave energy profile buoy array, and specifically comprises:
(1) And (5) establishing an offshore GNSS reference station and laying an offshore GNSS integrated observation buoy. The GNSS integrated observation buoy comprises an upper floating body (comprising a data acquisition module), a GNSS antenna, a CTD profile instrument and a bottom pressure gauge, wherein the data acquisition module comprises a GNSS receiver board card, an attitude compensation instrument and a wireless transmission module. The attitude compensator can accurately and efficiently output buoy attitude data at the frequency of 50HZ, so that the effectiveness of instantaneous buoy height measurement data is ensured in a severe marine environment, and the measurement accuracy can reach 0.1 degree.
(2) And arranging a wave energy profile buoy array. The wave energy profile buoy consists of an upper floating ball, a profile platform, a crawling steel cable and a bottom pressure gauge, wherein the upper floating ball is internally provided with a long-distance wireless transmission device, and can transmit profile data back to a shore-based control room in real time and store the profile data in a local database; the section platform consists of a sensor module, a data transfer center and a battery compartment power supply module, and can continuously and stably provide section temperature salt data for a long time.
(3) And constructing a high-precision deep open sea surface height observation network. The shore-based GNSS reference station, the offshore GNSS integrated observation buoy and the wave energy profile buoy array form a high-precision deep-open sea surface altitude observation network, wherein the wave energy profile buoy array is distributed in a straight shape along the direction of an airborne route according to the load sampling resolution interval of the ku/ka dual-frequency synthetic aperture radar altimeter, and a high-precision sea surface observation data set which is empty simultaneously with the airborne altitude data set is constructed.
2. And the solution of the offshore GNSS integrated observation buoy is realized. Combined GNSS base station and offshore GNSS integrated observation buoy, and based on RTK positioning method, calculating offshore high-precision sea surface height reference value SSH GNSS The method specifically comprises the following steps:
(1) And (5) processing GNSS reference station data. In aviation flight test, the shore data center utilizes Bernese or GAMIT software to calculate real-time reference station data, and IGS station original data of adjacent ocean stations and post-processing products of an IGS analysis center are required to be introduced in the calculating process.
(2) Sea level height is calculated. And calculating the path difference by using the receiving time difference between the arrival of the GPS sea surface reflected signal and the arrival of the direct signal, and realizing the sea surface height measurement of the GNSS integrated observation buoy.
(3) And calculating satellite positioning system errors. Errors in satellite positioning originate both internally and externally in the system. For different error sources, firstly, unknown parameters such as receiver clock error and satellite clock are eliminated based on a GNSS double-difference positioning model, correction such as phase center position deviation of a receiver and a satellite antenna is considered in the processing process, and a double-frequency ionosphere-free combination method is selected to eliminate refraction influence of an ionosphere first-order term. Secondly, as the total tropospheric atmospheric delay (ZTD) comprises two parts of wet component delay (ZWD) and hydrostatic delay (commonly called dry component delay ZHD), the total tropospheric atmospheric delay is as follows:
ZTD＝ZWD+ZHD (3)
wherein ZHD can be derived from the Elgeredl hydrostatic delay formula:
in the middle ofThe atmospheric wet delay of GNSS inversion can be obtained by taking the geographical latitude, h as the altitude of a measuring station (KM), and Ps as the ground air pressure unit as hPa.
(4) Calculating high-precision sea surface height reference SSH GNSS . The coordinate difference value between the offshore GNSS integrated observation buoy and the shore reference station can be obtained through the correction of the error term, and finally the high-precision sea surface height measurement value SSH provided by the offshore GNSS integrated observation buoy is obtained GNSS 。
3. SSH measured by GNSS integrated observation buoy GNSS SSH measured with synchronous wave energy profile buoy 0 Sea level altitude extrapolation (SSH) 1 ) The method specifically comprises the following steps:
(1) Computing SSH 0 . In the wave energy profile buoy array, the arrangement position of the first buoy is close to the sea GNSS integrated observation buoy, and the CTD instrument mounted on the wave energy profile buoy can be used for efficiently acquiring the vertical profile of the sea water temperature and the conductivity of the point; after the profile data is transmitted back to the data center through the offshore wireless transmission network, the profile data is subjected to data processing to remove the peak value of salinity, the lagged sensor response is adjusted, and finally SSH is calculated from the seabed to the sea surface area by a hydrostatic equation 0 The specific calculation formula is as follows:
wherein the three terms of the equation represent the bottom pressure, the dynamic altitude of the buoy point, and the sea surface pressure and the atmospheric pressure caused by the sea surface, respectively, which need to be provided by a bottom pressure gauge (BPR), a mooring with CTD, and a barometer, respectively. In this solution, the wave energy profile buoy array is able to derive the equivalent full depth solid sea surface height in dependence of its own sensor set (barometer-profile CTD-bottom manometer).
(2) Computing SSH 1 . Similarly, the equivalent full-depth stereoscopic sea surface height SSH of the second buoy point is deduced based on the sensor group (barometer-profile CTD meter-manometer) of the wave energy profile buoy itself 1 。
(3) Computing SSH 1 GNSS . Firstly, the three-dimensional Sea Surface Height (SSH) obtained in the step a) and the step b) is obtained 0 And SSH 1 ) And comparing to calculate the relative sea surface height difference delta, and eliminating the space height errors derived from CTD and the like by utilizing the difference of the relative sea surface height difference delta and the sea surface height difference delta. Wherein the calculation formula of delta is as follows:
Δ＝SSH 1 -SSH 0 (5)
secondly, near shore high precision full depth three-dimensional height SSH GNSS SSH is calculated by combining the relative sea surface height difference delta 1 GNSS And high-precision extrapolation of sea surface height is realized. Wherein SSH is 1 GNSS The calculation formula of (2) is as follows:
(4) Repeating the steps along the navigation route of the airplane until all buoy points are calculated, and constructing a high-precision sea surface height calibration reference data set { SSH (single-pass-single-pass) synchronous with the airborne route i GNSS }；
4. Calculating a check error value ΔE along an aircraft flight path i The method specifically comprises the following steps:
(1) Acquiring an altitude data set { H } of airplane flight through a GNSS antenna and an airborne radar altimeter carried by a large unmanned aerial vehicle respectively i GNSS Sum of load observation height data set { Δl } i }。
(2) Combined sea surface altitude scaling reference dataset { SSH i GNSS Fuselage height dataset { H }, fuselage height dataset i GNSS Sum airborne radar altimeter observation data set { Δl } i Joint solution of check error value delta E i The calculation formula is as follows:
5. the calibration test of the airborne Ku/Ka dual-frequency synthetic aperture radar altimeter is realized, and specifically comprises the following steps:
(1) Acquiring an actual observation data set of the airborne Ku/Ka dual-frequency synthetic aperture radar altimeter along the aircraft flight route, and continuously repeating the step 4) to calculate a corresponding check error value delta E i 。
(2) From the check error value DeltaE i And the altitude data observed by the airborne radar altimeter are sequentially corrected, so that the accuracy of the calibration result of the load of the airborne altimeter in the deep sea area is improved.
Example 2: application instance
Based on example 1, a sea-air three-dimensional observation network is arranged in the south China sea area, and FIG. 3 is temperature profile data collected by a wave energy profile buoy at a fixed point of 2023, 4 and 17 days, and 10 complete profiles are obtained after the quantity control; the graph shows that the sea surface and the sea bottom have larger temperature difference, the maximum temperature difference reaches 10 ℃, the thermocline is deeper, the upper boundary depth is near 110m, and the lower boundary depth is 150-180 m; experiments prove that the wave energy profile buoy has accurate measurement results, and can help altimeter products to finish quantitative analysis of inspection errors with higher precision.
The present invention has been described in detail with reference to the above embodiments, and the functions and actions of the features in the present invention will be described in order to help those skilled in the art to fully understand the technical solution of the present invention and reproduce it.
Finally, although the description has been described in terms of embodiments, not every embodiment is intended to include only a single embodiment, and such description is for clarity only, as one skilled in the art will recognize that the embodiments of the disclosure may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. The deep open sea surface height observation and calibration method based on the large unmanned plane is characterized by comprising the following steps of:
s1: constructing a high-precision deep open sea surface height observation network, wherein the high-precision deep open sea surface height observation network comprises a shore-based GNSS reference station, a GNSS integrated observation buoy system and a wave energy profile buoy observation array so as to acquire a sea surface height observation data set which is empty at the same time with an airborne altimeter; the GNSS integrated observation buoy system consists of an upper floating body, a GNSS antenna, a CTD profiler and a bottom pressure gauge, and is arranged offshore; the wave energy profile buoy observation array comprises a plurality of wave energy profile buoys, wherein each wave energy profile buoy consists of an upper floating ball, a profile platform, a crawling steel cable and a bottom pressure gauge;
s2: offshore GNSS integrated observation buoy solution: combining GNSS reference station and offshore GNSS integrated observation buoy, and calculating offshore high-precision sea surface height reference point SSH GNSS ；
S3: extrapolation of high-precision sea surface height SSH of adjacent wave energy profile buoy point 1 GNSS Constructing a high-precision sea surface altitude calibration reference data set { SSH ] synchronous with an airborne route i GNSS }: the sea surface height is inverted by utilizing the sensor module observation elements carried by the wave energy profile buoy array, namely, the sea surface height value SSH is inverted according to the barometer-CTD profiler-manometer carried by the first wave energy profile buoy 0 Secondly, SSH is calculated 0 Buoy SSH adjacent to wave energy profile 1 And finally with said high-precision sea level reference point SSH GNSS In combination, high-precision sea surface height SSH of adjacent wave energy profile buoy point positions is extrapolated 1 GNSS The method comprises the steps of carrying out a first treatment on the surface of the Repeating the steps, namely constructing a high-precision sea surface height calibration reference data set { SSH (single-sequence-reference-to-single-sequence) synchronous with an airborne route i GNSS }；
S4: calculating a check error value ΔE i : fuselage height H based on large unmanned aerial vehicle obtains i GNSS Load-observing height DeltaL i And the high-precision sea surface altitude scaling reference dataset { SSH } i GNSS Joint solution of check error values;
s5: and (5) calibration inspection: and sequentially calculating check error values along the observation track of the airborne Ku/Ka dual-frequency synthetic aperture radar altimeter to construct a deep-open sea surface height calibration checking method of the airborne Ku/Ka dual-frequency synthetic aperture radar altimeter.
2. The deep open sea surface altitude observation and calibration method based on the large unmanned aerial vehicle as claimed in claim 1, wherein the S2 is specifically:
s2-1: GNSS reference station data processing: in an aviation flight test, an onshore data center calculates real-time reference station data, and IGS station original data of adjacent ocean stations and products processed by an IGS analysis center are introduced in the calculating process;
s2-2: computing SSH GNSS : the resolving strategy adopts an RTK positioning method.
3. The deep open sea surface altitude observation and calibration method based on the large unmanned aerial vehicle as claimed in claim 2, wherein the S2-2 is specifically as follows: firstly, calculating the path difference by using the receiving time difference between the arrival of the GPS sea surface reflected signal and the arrival of the direct signal, and realizing the measurement of sea surface height; and secondly, eliminating unknown parameters of a receiver clock error and a satellite clock based on a GNSS double-difference positioning model, correcting the deviation of the phase center positions of a receiver and a satellite antenna in the processing process, selecting a double-frequency ionosphere-free combination method to eliminate the refraction influence of first-order terms of an ionosphere, carrying out parameter estimation on an epoch-by-epoch basis by adopting a Kalman filtering method to obtain a coordinate difference value between an offshore GNSS integrated observation buoy and a shore reference station, and finally obtaining the sea surface height of the offshore GNSS integrated observation buoy at a sampling frequency of 1HZ to provide an instantaneous reference value for an aircraft navigation test.
4. The deep open sea surface altitude observation and calibration method based on the large unmanned aerial vehicle according to claim 1, wherein the step S3 is specifically:
s3-1: computing SSH 0 : in the wave energy profile buoy array, the arrangement position of the first buoy is close to the sea GNSS integrated observation buoy, so that the CTD profiler mounted on the wave energy profile buoy can be used for efficiently acquiring the vertical profile of the sea water temperature and conductivity of the point; after the profile data is transmitted back to the data center through the offshore wireless transmission network, the profile data is subjected to data processing to remove the peak value of salinity, the lagged sensor response is adjusted, and finally SSH is calculated from the seabed to the sea surface area by a hydrostatic equation 0 The specific calculation formula is as follows:
wherein,represents the result of integration from the sea bottom to the sea surface, H represents the sea bottom depth, g represents the gravitational acceleration,represents the average value of the sea water density ρ 0 Represents the reference density->Mean value representing sea level height, +.>Represents an average value of atmospheric pressure; in the equation>The bottom pressure representing the float point is measured by a bottom pressure meter BPR;representing the dynamic height of the buoy point, a mooring device with a CTD profiler is required to provide;
s3-2: computing SSH 1 : calculating the sea surface height of a second buoy point in the buoy array of the wave energy profile by using the formula (1);
s3-3: computing SSH 1 GNSS : SSH is first performed 0 And SSH 1 Comparing to calculate the relative sea surface height difference, eliminating the space height error derived by CTD profiler by using the difference between the two, and then using the offshore high-precision sea surface height reference point SSH GNSS And the relative sea surface height difference are combined to calculate SSH 1 GNSS Finally, the extrapolation of the high-precision sea surface height is realized;
s3-4: repeating the steps along the navigation route of the large unmanned aerial vehicle until all buoy points are calculated, and constructing a high-precision sea surface height calibration reference data set { SSH (single-pass-through) synchronous with the airborne route i GNSS }。
5. The deep open sea surface altitude observation and calibration method based on the large unmanned aerial vehicle according to claim 1, wherein the S4 is specifically:
s4-1: acquiring a fuselage height dataset { H } based on a GNSS antenna carried by a large unmanned aerial vehicle i GNSS Load observation altitude data set { Δl } based on aircraft radar altimeter i }；
S4-2: combined fuselage height dataset { H i GNSS Load survey altitude data set, sea surface altitude calibration reference data set { SSH }, and i GNSS the check error value is calculated as follows:
6. the deep open sea surface altitude observation and calibration method based on the large unmanned aerial vehicle according to claim 1, wherein the step S5 is specifically:
s5-1: acquiring an actual observation data set of an airborne Ku/Ka dual-frequency synthetic aperture radar altimeter along an airplane flight route, and continuously repeating S4 to calculate a corresponding check error value;
s5-2: and correcting the altitude data observed by the airborne radar altimeter by the calibration error value in sequence, so as to improve the accuracy of the calibration result of the load of the airborne altimeter in the deep sea area.
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