CN101644716B - Lowered acoustic Doppler current profiler with acoustic telemonitoring function - Google Patents
Lowered acoustic Doppler current profiler with acoustic telemonitoring function Download PDFInfo
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- CN101644716B CN101644716B CN2009100833052A CN200910083305A CN101644716B CN 101644716 B CN101644716 B CN 101644716B CN 2009100833052 A CN2009100833052 A CN 2009100833052A CN 200910083305 A CN200910083305 A CN 200910083305A CN 101644716 B CN101644716 B CN 101644716B
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Abstract
The invention relates to a lowered acoustic Doppler current profiler (LADCP) with an acoustic telemonitoring function, wherein, an underwater acoustic communication technology is adopted to transmit the data of depth and height from the bottom of an LADCP suspension system in real time to a water surface control unit by code and decode with code division multiple access for monitoring the position in water of the suspension system in real time. The lowered acoustic Doppler current profiler comprises an underwater main body part and a water surface telemonitoring part; a master LADCP is internally provided with a communication encoding module, wherein, the master LADCP circularly measures a current profile at fixed time and obtains the height to the bottom according a bottom tracking result and a depth value by a pressure sensor at the same time; the communication encoding module carries out CDMA code modulation on the height value and the depth value and then outputs the values by a high-speed DA every 1-10s or so, preferably 5s, and emits out the values through a watertight cable and an underwater acoustic communication transmitter; and the underwater acoustic communication transmitter at a water surface telemonitoring part carries out amplification, automatic gain control and filtration on the received signal and then sends the signal to a deck unit through a Kevlar cable.
Description
Technical field
The present invention relates to the ocean current observation instrument, the particularly a kind of formula of transferring sound Doppler ocean current profile instrument with telemonitoring function.
Background technology
The LADCP system transfers to near-bottom to self-tolerant ADCP from the surface, sea with certain speed with winch, rise to the sea from near-bottom again, ADCP transfer with removal process in constantly measure ocean current profile, obtain current speed on the entire depth section through Data Post.
1989, people [Firing such as the Eric Firing of Hawaii university, E.and R.Gordon, 1990:Deep oceanacoustic Doppler current profiling.Proc.IEEE Fourth Working Conf.on CurrentMeasurements, Clinton, MD, Current Measurement Technology Committee of theOceanic Engineering Society, 192-201] at first attempt self-tolerant ADCP and conductivity-temperature-depth system (Conductivity-Temperature-Depth System, i.e. CTD) bundled and carry out that releasing type is measured and achieving success.In recent years, LADCP becomes one of main ocean current observation instrument, is widely used in the oceanographic survey practice.When LADCP and CTD were bundled, ocean current observation did not need to increase other mechanical action, so LADCP often adopts the LADCP/CTD cluster to hang measurement.In the LADCP system, 1 self-tolerant ADCP that works vertically downward must be arranged, for increasing data volume, also can add 1 self-tolerant ADCP that works vertically upward.
As illustrated in fig. 1 and 2, main part comprises that a main LADCP and one are from LADCP, battery flat, transmitter, 1 terminal box and stube cable under water; Main LADCP is mainly used in vertically downward regularly circulation and measures the flow field section, measure the flow field section from LADCP timing circulation vertically upward under the synchronizing signal control of main LADCP, battery flat is used for to main LADCP, from LADCP and transmitter power supply, terminal box is used for main LADCP, from the electric interconnection between LADCP, transmitter and the battery flat, can reduce the kind of stube cable.
The LADCP system requirements is measured the absolute flow velocity of coastal waters bottom flow layer with respect to the earth, need be put into the degree of depth apart from tens of meters in seabed to LADCP, very easily causes the system of hanging to hit the end in operating process, causes device damage, even the whole system loss that hangs; Another operational risk that hangs system is when reclaiming because the unclear current degree of depth that hangs system causes the system's of hanging water surface that flies out, and causes " driving ".Usually can return the degree of depth and can solve this two problems apart from end altitude information by hanging cable, but this needs the support of myriametre reel truck, much tests ship and does not possess such condition, this have limited the application of LADCP.
Summary of the invention
The objective of the invention is to, a kind of formula of transferring sound Doppler ocean current profile instrument with telemonitoring function is provided, can be by the sound remote measurement real-time Transmission LADCP degree of depth with apart from end height, formula sound Doppler ocean current profile instrument (Lower acoustic Doppler current profiler is transferred in monitoring in real time, be LADCP) transfer the position, avoid the system of hanging to hit that lose at the end or the water surface that flies out.
Except that the degree of depth of using the system that hangs that water sound communication technique records LADCP and apart from end altitude information by sound telemetry system real-time Transmission to the water surface control personnel, the present invention is also in order to prevent that underwater sound communication from transmitting to the interference of LADCP, adopt CDMA (CDMA) technology to reduce sound source level as far as possible, guarantee communication distance and reliability simultaneously.Sound telemetry system and LADCP have constituted the LADCP system with telemonitoring function.
A kind of formula of transferring sound Doppler ocean current profile instrument provided by the invention with telemonitoring function, it is characterized in that, the described formula sound Doppler ocean current profile instrument of transferring is used water sound communication technique, by the CDMA encoding and decoding LADCP is hung the degree of depth of system and gives water surface control module apart from end altitude information real-time Transmission, be used for the water position that monitoring in real time hangs system.
This is transferred formula sound Doppler ocean current profile instrument and comprises main part and water surface telemetry portion under water;
Described main part under water comprises: the main LADCP of a job downwards and one upwards work from LADCP, battery flat, underwater sound communication transmitter and stube cable;
Described water surface telemetry portion comprises: underwater sound communication receiver, unit, deck and a Kevlar cable;
The built-in communication code module of described main LADCP, main LADCP is when regularly ocean current profile is measured in circulation, obtain apart from end height according to end tracking results, obtain depth value by pressure transducer, this communication code module is every about 1～10s, be preferably 5s, will carry out exporting by high speed D after the CDMA coded modulation, launch to the underwater sound communication transmitter through stube cable apart from end height and depth value;
The underwater sound communication receiver of described water surface telemetry portion to the coded signal apart from end height and depth value of the above-mentioned underwater sound communication transmitter emission that receives amplify, automatic gain control and filtering is after the Kevlar cable is delivered to the unit, deck;
Unit, described deck cushions amplifications, collections, decoding to the water sound communication signal that receives and shows, parses apart from end height and depth value by CDMA, is presented on the panel, supplies position in the real-time water of monitoring the system that hangs of winch operating personnel.
Described main LADCP be connected terminal box from LADCP, battery flat, underwater sound communication transmitter by stube cable, and be loaded into the hanging on the support that wirerope articulates of winch.
The underwater sound communication receiver of described water surface telemetry portion places the water of board, and links to each other with the unit, deck by the Kevlar cable.
Described underwater sound communication transmitter comprises: radiating circuit and transmitting transducer; Described radiating circuit carries out filtering, amplification, power amplification rear drive transducer emission apart from end height and the back modulation of depth value information coding via transmitting of sending of high speed D to current to coming autonomous LADCP.
Described underwater sound communication receiver comprises: receiving transducer and receiving circuit; Described receiving transducer is used to receive the underwater sound signal that underwater sound communication transmitter under water sends, and described receiving circuit is used for amplifying to the received signal, automatic gain is controlled and filtering.
Unit, described deck comprises: system interface unit, A/D collection plate, PC, man-machine interaction plate, AC/DC module, charactron and loudspeaker, described A/D collection plate, PC and man-machine interaction plate are realized interconnection by system interface unit, described AC/DC module is used for to the power supply of unit, deck, and powers to hanging receiver by the Kevlar cable;
The A/D collection plate of unit, described deck is sampled to the signal that the Kevlar cable transmits, handle by PC, parse apart from end height and depth value by CDMA, be presented on the charactron of panel or/and send in the mode of voice, hang position in the water of system for winch operating personnel monitoring in real time by loudspeaker.LADCP system works of the present invention comprises the steps:
(1) winch hangs entry with the LADCP submarine system after the work of startup LADCP submarine system, and the winch operating personnel will hang system and transfer by certain speed;
(2) from LADCP collaborative work under the synchronizing signal control of main LADCP, both obtain the flow field of both sides up and down.The built-in pressure transducer of main LADCP, downward main LADCP possesses special end following function, can obtain flow velocity and low speed data simultaneously near the seabed time.Main LADCP regularly adopts CDMA (CDMA) signal to encode the current degree of depth with apart from end elevation information every about 1～10s, is sent to the transmitter of telemetry system by cable.The receiver of sound telemetry system to the signal that transmitter sends amplify, filtering after cable deliver on the unit, deck.Sampling to the water sound communication signal that receives and handle in the unit, deck, parses apart from end height and depth data, is presented on the panel, hangs position in the water of system for winch operating personnel monitoring in real time.
(3) the winch operating personnel determine that apart from end altitude information whether the system of hanging is near the seabed according to what show on the unit panel of sound telemetry system deck.If near the seabed, then control to change into by certain speed after winch stops to descend and rise.
(4) the winch operating personnel determine that according to the depth data that shows on the unit panel of sound telemetry system deck whether the system of hanging is near the sea.If near the sea, then control winch and slow down, will hang system recoveries then to the deck.
Water surface sound telemetry system of the present invention is the one-way transmission degree of depth and apart from end altitude information only, and main LADCP flow measurement is not impacted.And adopt the CDMA coding, antijamming capability is strong, can be with smaller sound source level work, to the energy and transmitter require lowly, the reception Processing Algorithm is fairly simple.And be operated in low frequency, differ far away with the frequency of operation of LADCP, not impacting from the LADCP flow measurement.
The invention has the advantages that: of the present inventionly a kind ofly can monitor in real time that to transfer formula sound Doppler ocean current profile instrument be that self-tolerant ADCP is transferred to the seabed with winch, transfer to near-bottom from the surface, sea with certain speed, rise to the sea from near-bottom again, transfer with removal process in constantly measure ocean current profile, obtain current speed on the entire depth section through Data Post.For avoiding the LADCP system of hanging to hit the end and the water surface that flies out, use water sound communication technique, control personnel the degree of depth of the system of hanging with apart from end altitude information real-time Transmission to the water surface.In order to prevent that underwater sound communication from transmitting to the interference of LADCP, adopt CDMA technology to reduce sound source level as far as possible, guarantee communication distance and reliability simultaneously.Be embodied in:
1, can monitor position in the water that LADCP hangs system in real time, avoid the system of hanging to hit that lose at the end or the water surface that flies out.
2, the sound telemetry system is only unidirectional by transmitting data to the water surface under water, and main LADCP flow measurement is not impacted.
3, the sound telemetry system adopts the CDMA coding, and antijamming capability is strong, can be with smaller sound source level work, to the energy and transmitter require lowly, the reception Processing Algorithm is fairly simple.And be operated in low frequency, differ far away with the frequency of operation of LADCP, not impacting from the LADCP flow measurement.
4, main LADCP provides the degree of depth and apart from end altitude information, need not to be provided with separately pressure transducer and the high sonar of survey to the sound telemetry system, has reduced cost.
Description of drawings
Fig. 1 is a LADCP work synoptic diagram;
Fig. 2 is that the LADCP system forms synoptic diagram;
Fig. 3 is main LADCP and from LADCP device synoptic diagram;
Fig. 4 is that the underwateracoustic telemetry system is formed synoptic diagram;
Fig. 5 is that water surface sound telemetry system is formed synoptic diagram.
The accompanying drawing sign
Self-tolerant ADCP100 support 200 is main part 300 under water
Water surface telemetry equipment 400 main LADCP500 are from LADCP600
Battery flat 700 transmitters 800 terminal boxes 900
Unit, stube cable 1000 receivers, 1100 deck 1200
Embodiment
Below in conjunction with accompanying drawing and concrete mode the present invention is described in further detail.
As shown in Figure 1, LADCP is fixed on self-tolerant ADCP100 on the support 200 to transfer to near-bottom from the surface, sea with certain speed with winch, rises to the sea from near-bottom again.ADCP transfer with removal process in constantly measure ocean current profile, obtain current speed on the entire depth section through Data Post.
As shown in Figure 2, have the remote measurement real-time Transmission LADCP degree of depth and comprise on the LADCP overall system of end height function under water LADCP main part 300 and the telemetry equipment 400 of the water surface.Described main part under water 300 comprises that a main LADCP500 and one are from LADCP600, battery flat 700, underwater sound transmitter 800, terminal box 900 and a stube cable 1000; Water surface telemetry portion 400 comprises a underwater sound communication receiver 1100, unit, deck 1200 and Kevlar cable 1300.The sound telemetering communication system comprises under water main LADCP500, transmitter 800 and stube cable 1000, the water surface hang underwater sound communication receiver 1100, unit, deck 1200 and Kevlar cable 1300.
Main LADCP500 launches sound wave downwards by transducer array, and receives the back-scattered signal in fluid and/or seabed, obtains the speed in fluid and/or seabed after inner DSP handles.Upwards launch sound wave from LADCP600 by transducer array, and receive the back-scattered signal on fluid and/or sea, after inner DSP handles, obtain the speed on fluid and/or sea.Main LADCP500 timing working is from LADCP600 collaborative work under the control of main LADCP500.Battery flat 700 is used for to main LADCP500, from LADCP600 and transmitter 800 power supplies, and terminal box 700 is used for the electric interconnection between main LADCP500, transmitter 800 and the battery flat 700.
Main LADCP500 and from the device synoptic diagram of LADCP600, as shown in Figure 3, it comprises that the transducer array 501 be made up of transducer array, ADCP transmitter 502, ADCP receiver 503, the dsp system 504 based on the BlackFin535 of AD company, power board 505, pressure transducer 506, attitude/aspect sensor 507, temperature sensor 508, leakage sensor 509 etc. form.With different from LADCP600, the built-in communication code module of main LADCP500 memory bank, when regularly ocean current profile is measured in circulation, obtain apart from end height according to end tracking results, obtain depth value by pressure transducer, regularly adopt CDMA (CDMA) signal to encode, be modulated to then on the carrier frequency the current degree of depth with apart from end elevation information, by high speed D 510 outputs, be sent to the transmitter 800 of telemetry system through cable.
As shown in Figure 4, sound telemetering communication system under water comprises main LADCP500, underwater sound transmitter 800.Underwater sound transmitter 800 is relatively independent parts in the LADCP main part 300 under water, is made up of radiating circuit 801 and transmitting transducer 802.Its receive autonomous LADCP500 to the current degree of depth and apart from the back modulation of end elevation information coding via transmitting that high speed D 510 is sent, carry out filtering, amplification, 802 emissions of power amplification rear drive transducer by radiating circuit 801.
As shown in Figure 5, the sound telemetry subsystem of the water surface comprises receiver 1100, unit, deck 1200 and the Kevlar cable 1300 that hangs in water.Wherein, receiver 1100 is made up of receiving transducer 1101 and receiving circuit 1102.Receiving transducer 1101 receives the underwater sound signal that transmitter under water 800 sends, receiving circuit 1102 amplifies to the received signal, automatic gain control and filtering after Kevlar cable 1300 deliver on the unit, deck 1200.Unit, deck 1200 is divided into several parts such as system interface unit 1201, A/D collection plate 1202, PC104 plate 1203, man-machine interaction plate 1204, AC/DC module 1205, charactron 1206 and loudspeaker 1207 again, A/D collection plate 1202, PC104 plate 1203 and man-machine interaction plate 1204 are realized interconnection by system interface unit 1201, and AC/DC module 1205 is given to unit, deck 1200 with by Kevlar cable 1300 and hung receiver 1100 power supplies.The signal that 1202 pairs of Kevlar cables of the A/D collection plate of unit, deck 1,200 1300 transmit is sampled, handle by PC104 plate 1203, parse the degree of depth and apart from end altitude information by CDMA, be presented on the charactron 1206 of panel on the one hand, send in the mode of voice simultaneously, hang position in the water of system for winch operating personnel monitoring in real time by loudspeaker 1207.Because in real time monitoring LADCP hangs position in the water of system, can avoid the system of hanging to hit that lose at the end or the water surface that flies out.
It is the remote measurement that realizes the height at the bottom of the distance and the degree of depth that the LADCP system adopts the purpose of underwater sound communication, thereby the state of monitoring LADCP instructs the operation of water surface winch, therefore only needs folk prescription to transmit to the water surface to ground, and main LADCP flow measurement is not impacted.The sound telemetry system is only transmitted the degree of depth and altitude information, transport stream field data not, and data volume is little.Therefore the sound telemetry system adopts the CDMA coding, and antijamming capability is strong, can be with smaller sound source level work, to the energy and transmitter require lowly, the reception Processing Algorithm is fairly simple.And the sound telemetry system is operated in low frequency, differs far away with the frequency of operation of LADCP, to not impacting from the LADCP flow measurement.Main LADCP provides the degree of depth and apart from end altitude information, need not to be provided with separately pressure transducer and the high sonar of survey to the sound telemetry system, has reduced cost.
The unit, deck also can adopt the power supply of ship electricity, and powers to receiver by the Kevlar cable.
Claims (8)
1. the formula of transferring sound Doppler ocean current profile instrument with telemonitoring function, the described formula sound Doppler ocean current profile instrument of transferring comprises main part and water surface telemetry portion under water;
Described main part under water comprises: the main LADCP of a job downwards and one upwards work from LADCP, battery flat, underwater sound communication transmitter and stube cable; Described water surface telemetry portion comprises: underwater sound communication receiver, unit, deck and a Kevlar cable; It is characterized in that,
The described formula sound Doppler ocean current profile instrument of transferring is used water sound communication technique, gives water surface control module what LADCP hung system apart from end height and depth value real-time Transmission by the CDMA encoding and decoding, is used for the water position that monitoring in real time hangs system.
2. the formula sound Doppler ocean current profile instrument of transferring according to claim 1, it is characterized in that, the built-in communication code module of described main LADCP, main LADCP is when regularly ocean current profile is measured in circulation, obtain apart from end height according to end tracking results, obtain depth value by pressure transducer, this communication code module by high speed D output, is launched to the underwater sound communication transmitter through stube cable after will carrying out the CDMA coded modulation apart from end height and depth value about 1～10s;
The underwater sound communication receiver of described water surface telemetry portion to the coded signal apart from end height and depth value of the underwater sound communication transmitter that receives emission amplify, automatic gain control and filtering is after the Kevlar cable is delivered to the unit, deck;
Unit, described deck cushions amplifications, collections, decoding to the water sound communication signal that receives and shows, parses apart from end height and depth value by CDMA, is presented on the panel, supplies position in the real-time water of monitoring the system that hangs of winch operating personnel.
3. the formula sound Doppler ocean current profile instrument of transferring according to claim 2 is characterized in that, described communication code module will be exported by high speed D after end height and depth value carry out the CDMA coded modulation every 5s.
4. the formula sound Doppler ocean current profile instrument of transferring according to claim 2, it is characterized in that, described main LADCP be connected terminal box from LADCP, battery flat, underwater sound communication transmitter by stube cable, and be loaded into the hanging on the support that wirerope articulates of winch.
5. the formula sound Doppler ocean current profile instrument of transferring according to claim 2 is characterized in that the underwater sound communication receiver of described water surface telemetry portion places the water of board, and links to each other with the unit, deck by the Kevlar cable.
6. the formula sound Doppler ocean current profile instrument of transferring according to claim 2 is characterized in that described underwater sound communication transmitter comprises: radiating circuit and transmitting transducer; Described radiating circuit is to coming autonomous LADCP to the current degree of depth with carry out filtering, amplification, the emission of power amplification rear drive transducer apart from the back modulation of end elevation information coding via transmitting of sending of high speed D.
7. the formula sound Doppler ocean current profile instrument of transferring according to claim 2 is characterized in that described underwater sound communication receiver comprises: receiving transducer and receiving circuit; Described receiving transducer is used to receive the underwater sound signal that underwater sound communication transmitter under water sends, and described receiving circuit is used for amplifying to the received signal, automatic gain is controlled and filtering.
8. the formula sound Doppler ocean current profile instrument of transferring according to claim 2, it is characterized in that, unit, described deck comprises: system interface unit, A/D collection plate, PC, man-machine interaction plate, AC/DC module, charactron and loudspeaker, described A/D collection plate, PC and man-machine interaction plate are realized interconnection by system interface unit, described AC/DC module is used for to the power supply of unit, deck, and powers to hanging receiver by the Kevlar cable;
The A/D collection plate of unit, described deck is sampled to the signal that the Kevlar cable transmits, handle by PC, parse apart from end height and depth value by CDMA, be presented on the charactron of panel or/and send in the mode of voice, hang position in the water of system for winch operating personnel monitoring in real time by loudspeaker.
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| CN2009100833052A CN101644716B (en) | 2009-04-30 | 2009-04-30 | Lowered acoustic Doppler current profiler with acoustic telemonitoring function |
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| CN2009100833052A CN101644716B (en) | 2009-04-30 | 2009-04-30 | Lowered acoustic Doppler current profiler with acoustic telemonitoring function |
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| CN104422935A (en) * | 2013-08-19 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Position indicator and position indicating method for marine equipment |
| CN103472250B (en) * | 2013-08-22 | 2016-05-18 | 浙江工业大学 | Acoustic Doppler fluid velocity profile instrument signal processing system based on FPGA |
| CN103473917B (en) * | 2013-09-13 | 2016-01-20 | 中国船舶重工集团公司第七一〇研究所 | A kind of autonomous floated remote underwater acoustic remote-controlled launcher of depthkeeping |
| CN103630706B (en) * | 2013-11-12 | 2015-08-05 | 方世良 | A kind of method obtaining radial water Flow Velocity in acoustic Doppler fluid velocity profile instrument |
| CN103616875A (en) * | 2013-12-02 | 2014-03-05 | 中国科学院声学研究所 | Upper computer monitoring method and system of sensor network |
| CN103618648A (en) * | 2013-12-02 | 2014-03-05 | 中国科学院声学研究所 | Upper computer testing method and system of sensor network |
| CN105988116A (en) * | 2015-02-10 | 2016-10-05 | 中国科学院声学研究所 | Underwater acoustic range finding, releasing and recovery system and method thereof |
| CN105607064B (en) * | 2015-09-08 | 2018-04-24 | 南京国业科技有限公司 | A kind of underwater Sonar system |
| CN105572419A (en) * | 2016-03-14 | 2016-05-11 | 中国海洋大学 | Instrument for measuring seawater flow velocity based on sound propagation time difference method |
| CN112155516A (en) * | 2020-04-17 | 2021-01-01 | 中国人民解放军第二军医大学 | Monitoring system for vital sign parameters of underwater human body |
| CN114109358B (en) * | 2021-11-03 | 2024-04-16 | 中国船舶重工集团公司七五0试验场 | Emergency sonar monitoring system and method for blowout preventer at wellhead of deep sea oil field |
| CN115112103B (en) * | 2022-08-25 | 2022-11-29 | 自然资源部第一海洋研究所 | LADCP and combined inertial navigation system combined observation system and method |
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