CN102538768A - Method for measuring water depth of shallow sea based on double-frequency high-frequency ground wave radar - Google Patents

Method for measuring water depth of shallow sea based on double-frequency high-frequency ground wave radar Download PDF

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CN102538768A
CN102538768A CN2012100055429A CN201210005542A CN102538768A CN 102538768 A CN102538768 A CN 102538768A CN 2012100055429 A CN2012100055429 A CN 2012100055429A CN 201210005542 A CN201210005542 A CN 201210005542A CN 102538768 A CN102538768 A CN 102538768A
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frequency
water depth
wave radar
ground wave
water
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吴雄斌
刘斌
李伦
徐新安
沈志奔
陈骁峰
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Wuhan University WHU
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Abstract

The invention discloses a method for measuring the water depth of a shallow sea based on a double-frequency high-frequency ground wave radar. According to the method, the water depth of the shallow sea is measured by using the double-frequency high-frequency ground wave radar. Under the condition of shallow water, the water depth influences a sea surface radial flow detection result, and the position of a Bragg peak approaches a zero frequency along with the reduction of the water depth. On the basis of the influence, a new monotone function about the water depth is constructed, and the water depth is calculated according to the measurement result of Doppler frequency shift of the sea surface radial flow of the same position by using two working frequencies of the double-frequency high-frequency ground wave radar. The technical scheme provides a new method for detecting the water depth, the double-frequency high-frequency ground wave radar can measure the water depth of the shallow sea during sea dynamic element detection; and the water depth of shallow water with a large area can be detected; and an operation amount is low, and the method is high in accuracy and robustness.

Description

Shallow sea water depth measurement method based on dual-frequency high-frequency ground wave radar
Technical Field
The invention relates to the field of radar measurement, in particular to a method for measuring the depth of shallow sea water by using a dual-frequency high-frequency ground wave radar.
Background
The shallow sea water depth measurement has very important significance for shallow sea oil exploration and development, submarine oil pipelines and communication cables burying, marine transportation and marine fishery, mariculture, offshore economy, marine rescue and the like. The traditional ocean depth sounding technology is carried out by taking a ship as a platform and adopting a sonar technology. Due to the time and expense limitations and the existence of areas where ships cannot enter, conventional depth sounding techniques are somewhat limited in wide offshore areas. People are always looking for a fast and cheap method for measuring shallow sea water depth.
With the development of remote sensing technology, the satellite remote sensing technology for measuring water depth by utilizing the seawater visible light remote sensing reflectivity and the hyperspectral remote sensing amplitude brightness develops and matures gradually, but the technology can only be carried out in sea areas with clear water color and in daytime, and the application is greatly limited. In addition, the satellite-borne SAR also becomes one of the important technical means of satellite ocean remote sensing observation, the amplitude and time phase information of sea surface backscattering signals are measured through sea surface micro-scale resonance close to the working wavelength, and high-resolution remote sensing images representing sea surface backscattering intensity are generated to carry out water depth inversion, but the SAR shallow sea terrain remote sensing imaging is premised on the existence of strong tide and the generation of surface micro-scale waves.
The high-frequency ground wave radar is a new technology which is developed in recent 40 years and is used for detecting ocean surface dynamics elements and ship targets in all weather and large area. The basic principle of detecting ocean surface radial flow is to perform spatial spectrum estimation on a received back scattering echo according to a first-order ocean echo electromagnetic scattering theory proposed by Barrick to extract ocean current direction information. However, in shallow sea areas, the deepwater condition cannot be met, and the detection result of the ocean surface radial flow is influenced.
Disclosure of Invention
The invention provides a shallow sea water depth measurement method based on a dual-frequency high-frequency ground wave radar by utilizing the influence of water depth on the ocean surface radial flow detection result under the shallow water condition.
The technical scheme of the invention is a shallow sea water depth measurement method based on a dual-frequency high-frequency ground wave radar, which comprises the following steps:
step 1, setting the working frequency of a dual-frequency high-frequency ground wave radar as
Figure 2012100055429100002DEST_PATH_IMAGE001
And
Figure 586847DEST_PATH_IMAGE002
wherein
Figure 933515DEST_PATH_IMAGE002
>According to the operating frequency
Figure 256533DEST_PATH_IMAGE001
And
Figure 438116DEST_PATH_IMAGE002
determining a depth of water
Figure 2012100055429100002DEST_PATH_IMAGE003
Monotonic function ofAs shown in the following formula
Figure 2012100055429100002DEST_PATH_IMAGE005
Wherein,
Figure 917824DEST_PATH_IMAGE006
in order to be the acceleration of the gravity,is the speed of light;
step 2, two working frequencies of the dual-frequency high-frequency ground wave radar
Figure 546252DEST_PATH_IMAGE001
And
Figure 582341DEST_PATH_IMAGE002
respectively measuring the Doppler frequency shift of the ocean surface radial flow at the same position, and calculating a monotonic function by using the detection result
Figure 270811DEST_PATH_IMAGE004
A value of the following formula II
Figure 94148DEST_PATH_IMAGE008
Wherein,
Figure 2012100055429100002DEST_PATH_IMAGE009
is frequency of
Figure 260688DEST_PATH_IMAGE001
The doppler shift of the detected ocean surface radial flow,
Figure 479179DEST_PATH_IMAGE010
is frequency of
Figure 338551DEST_PATH_IMAGE002
Doppler shift of the detected ocean surface radial flow;
step 3, according to the monotone function obtained in the step 2
Figure 947387DEST_PATH_IMAGE004
The value of (1) and the formula one are obtained to obtain the water depth
Figure 183196DEST_PATH_IMAGE003
。
The invention has the advantages that: a new method for detecting the depth of shallow sea water is provided, so that the measurement of the depth of shallow sea water can be realized while the marine dynamics element detection is carried out by a dual-frequency high-frequency ground wave radar; the method can be used for large-area shallow water depth detection, has small calculation amount and has better precision and robustness.
Drawings
FIG. 1 shows an embodiment of the present inventionAnd (4) a function schematic diagram.
Detailed Description
The technical scheme of the invention is explained in detail in the following by combining the drawings and the embodiment.
The key point of the invention is that a new monotonic function about water depth is constructed according to the working frequency, and the water depth calculation is carried out on the detection result of the ocean surface radial flow at the same position by utilizing two frequencies.
Under deep water conditions, the true sea surface can be decomposed into a superposition of sine wave train components in a manner similar to Fourier transform. For shore-based high frequency ground wave radar, wavelength
Figure 256194DEST_PATH_IMAGE012
Waves equal to half the wavelength of the radar waves generate the strongest backscattering to the waves, and the propagation phase velocity of the waves is determined if the phase velocity is determinedThe Doppler shift of the electromagnetic wave is determined, and the Doppler shift is called Bragg peak (first order peak) and has the size of
（1）
Wherein
Figure 286467DEST_PATH_IMAGE006
In order to be the acceleration of the gravity,
Figure 444916DEST_PATH_IMAGE007
in order to be the speed of light,is the radar operating frequency.
Due to the action of various physical and chemical processes, sea current always exists on the sea surface, the sea current as the integral motion of the sea water is added with a tiny frequency deviation caused by the flow velocity on the basis of the large fixed frequency deviation caused by the wave propagation phase velocity, the flow velocity component far away from the radar causes the Bragg peak to shift towards the negative frequency direction, the flow velocity component close to the radar causes the Bragg peak to shift towards the positive frequency direction, and the magnitude of the radial velocity of the sea current can be obtained by measuring the frequency deviation. Doppler shift caused by radial flow velocity of
Figure 2012100055429100002DEST_PATH_IMAGE015
（2）
Wherein
Figure 84025DEST_PATH_IMAGE016
Radial flow rate, positive away from the radar.
Then the Doppler shift of the Bragg peak is
Figure 2012100055429100002DEST_PATH_IMAGE017
（3）
The quantity directly measured by the high-frequency ground wave radar is
Figure 222882DEST_PATH_IMAGE018
Then, the radial flow velocity can be obtained by the formula (3). The direction of radial flow velocity can be measured by a super-resolution algorithm such as MUSIC, and a spectrum point is firstly constructed
Figure 118343DEST_PATH_IMAGE018
Covariance matrix of
Figure 2012100055429100002DEST_PATH_IMAGE019
（4）
WhereinIs composed of
Figure 2012100055429100002DEST_PATH_IMAGE021
Matrix (spectral points)
Figure 600326DEST_PATH_IMAGE018
The received data of (a),Nthe number of the array antennas is the number of the array antennas,Kfor the number of sampling frames,Hrepresenting the moment of alignmentThe matrix is subjected to conjugate transposition. Then to the covariance matrix
Figure 671050DEST_PATH_IMAGE022
Performing feature decomposition to obtain noise subspace
Figure 2012100055429100002DEST_PATH_IMAGE023
Finally, the azimuth measurement is realized by a minimum optimization algorithm, and the formula is
Figure 786773DEST_PATH_IMAGE024
（5）
Wherein
Figure 2012100055429100002DEST_PATH_IMAGE025
In order to be a guide vector, the vector is,expressing the objective function
Figure DEST_PATH_IMAGE027
Taking the variable value at the minimum value;
Figure 169530DEST_PATH_IMAGE028
the minimum value is found according to the searching of the azimuth, and the angle corresponding to the minimum value is the radial flow velocity azimuth. The MUSIC spectrum estimation formula is
Figure 2012100055429100002DEST_PATH_IMAGE029
（6）
Wherein
Figure 524288DEST_PATH_IMAGE030
Is composed ofReciprocal of (2), when
Figure 761158DEST_PATH_IMAGE027
When taking the minimum value
Figure 475036DEST_PATH_IMAGE030
And obtaining the maximum value, wherein the angle corresponding to the maximum value is the radial flow velocity direction.
Shallow water conditions in the art are generally referred to
Figure DEST_PATH_IMAGE031
Wherein
Figure 582670DEST_PATH_IMAGE003
In order to be the depth of the water,
Figure 102513DEST_PATH_IMAGE032
the wavelength corresponding to the working frequency.
Under shallow water conditions, the effect of seawater and the seabed cannot be ignored, and the Bragg peak is not related to the working frequency
Figure 651306DEST_PATH_IMAGE014
In addition to the above, it is also related to the depth of water
Figure 801664DEST_PATH_IMAGE003
About, its size
Figure DEST_PATH_IMAGE033
Is composed of
Figure 131014DEST_PATH_IMAGE034
（7）
Doppler shift of Bragg peak in shallow water
Figure DEST_PATH_IMAGE035
Is composed of
（8）
When the water depth condition is unknown, the radial flow velocity cannot be obtained by the equation (8)
Figure 857848DEST_PATH_IMAGE016
。
Supposing that a shore-based dual-frequency high-frequency ground wave radar is erected at the seaside, the working frequencies of the radar are respectivelyAnd
Figure 605541DEST_PATH_IMAGE002
and satisfy
Figure DEST_PATH_IMAGE037
。
The depth of water can be measured when the depth of water in the probe region meets at least one operating frequency shallow water condition, i.e. the depth of water is measured
Figure 732766DEST_PATH_IMAGE038
（9）
Wherein
Figure 2012100055429100002DEST_PATH_IMAGE039
Is frequency of
Figure 318468DEST_PATH_IMAGE001
The corresponding wavelength.
At a certain sea levelDepth of water of surface elementSatisfying the condition of water depth measurement and the radial flow velocity of
Figure 786676DEST_PATH_IMAGE016
Obtainable from the formula (8)
Figure 327378DEST_PATH_IMAGE040
（10）
Figure 2012100055429100002DEST_PATH_IMAGE041
（11）
Wherein,
Figure 767587DEST_PATH_IMAGE009
is frequency of
Figure 368333DEST_PATH_IMAGE001
The doppler shift of the detected ocean surface radial flow,
Figure 893992DEST_PATH_IMAGE010
is frequency of
Figure 300702DEST_PATH_IMAGE002
Doppler shift of the detected ocean surface radial flow.
Order to
Figure 798680DEST_PATH_IMAGE042
（12）
From the formula (10-12)
Figure 304747DEST_PATH_IMAGE005
（13）
Figure 19500DEST_PATH_IMAGE004
Is a monotonic function with respect to water depth. When in use
Figure 26639DEST_PATH_IMAGE001
=6MHz、
Figure 527195DEST_PATH_IMAGE002
When the frequency of the signal is not less than 12MHz,
Figure 204164DEST_PATH_IMAGE004
is shown in fig. 1, wherein the abscissa is the water depth (in m) and the ordinate is the water depth
Figure 704415DEST_PATH_IMAGE004
Value of (in Hz).
The embodiment comprises the following steps:
step 1, setting the working frequency of a dual-frequency high-frequency ground wave radar as
Figure 452928DEST_PATH_IMAGE001
And
Figure 659919DEST_PATH_IMAGE002
wherein
Figure 835685DEST_PATH_IMAGE002
>
Figure 885550DEST_PATH_IMAGE001
According toFrequency of operationAnddetermining a depth of water
Figure 845918DEST_PATH_IMAGE003
Monotonic function of
Figure 992866DEST_PATH_IMAGE004
As in formula (13):
Figure 83182DEST_PATH_IMAGE005
wherein,
Figure 264764DEST_PATH_IMAGE006
in order to be the acceleration of the gravity,
Figure 782333DEST_PATH_IMAGE007
is the speed of light.
Step 2, two working frequencies of the dual-frequency high-frequency ground wave radar
Figure 682156DEST_PATH_IMAGE001
Andrespectively measuring the Doppler frequency shift of the ocean surface radial flow at the same position, and calculating a monotonic function by using the measurement result
Figure 346673DEST_PATH_IMAGE004
The calculation formula is as follows (12):
Figure 35143DEST_PATH_IMAGE008
wherein,
Figure 156683DEST_PATH_IMAGE009
is frequency ofThe doppler shift of the detected ocean surface radial flow,
Figure 744976DEST_PATH_IMAGE010
is frequency ofDoppler shift of the detected ocean surface radial flow.
Step 3, according to the monotone function obtained in the step 2The value of (1) and equation 13, the depth of water is obtained
Figure 121097DEST_PATH_IMAGE003
。
When the method is specifically implemented, firstly, a dual-frequency high-frequency ground wave radar is adopted for measurement, and two working frequencies of the dual-frequency high-frequency ground wave radar
Figure 505679DEST_PATH_IMAGE001
And
Figure 473635DEST_PATH_IMAGE002
respectively measuring the Doppler frequency shift of the ocean surface radial flow at the same position, wherein the measurement results are respectively
Figure 569767DEST_PATH_IMAGE009
And
Figure 343688DEST_PATH_IMAGE010
substituting the result into equation (12) to obtain
Figure 474455DEST_PATH_IMAGE004
The water depth can be finally calculated by the formula (13)
Figure 675629DEST_PATH_IMAGE003
. Concrete realization of calculating water depth
Figure 993478DEST_PATH_IMAGE003
Belongs to the mathematical method in the prior art and can be realized by a monotonic function
Figure 508773DEST_PATH_IMAGE004
Calculating function relation table and looking up table to obtain water depth
Figure 556364DEST_PATH_IMAGE003
Or by solving for water depth by iterative algorithms
Figure 866122DEST_PATH_IMAGE003
The present invention is not described in detail.
Although the shallow water measuring method described by the invention is realized by a dual-frequency high-frequency ground wave radar, the method is also applicable when the number of the working frequencies of the high-frequency ground wave radar exceeds 2. The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (1)

1. A shallow sea water depth measurement method based on a dual-frequency high-frequency ground wave radar is characterized by comprising the following steps:
step 1, setting the working frequency of a dual-frequency high-frequency ground wave radar as
Figure 2012100055429100001DEST_PATH_IMAGE001
And
Figure 617711DEST_PATH_IMAGE002
wherein
Figure 952878DEST_PATH_IMAGE002
>
Figure 744116DEST_PATH_IMAGE001
According to the operating frequency
Figure 822931DEST_PATH_IMAGE001
And
Figure 383225DEST_PATH_IMAGE002
determining a depth of waterMonotonic function ofAs shown in the following formula
Figure 2012100055429100001DEST_PATH_IMAGE005
Wherein,
Figure 167827DEST_PATH_IMAGE006
in order to be the acceleration of the gravity,
Figure 2012100055429100001DEST_PATH_IMAGE007
is the speed of light;
step 2, two working frequencies of the dual-frequency high-frequency ground wave radar
Figure 112649DEST_PATH_IMAGE001
And
Figure 527450DEST_PATH_IMAGE002
respectively facing the ocean surface diameter at the same positionMeasuring Doppler shift to flow, and calculating monotonic function by using detection result
Figure 469998DEST_PATH_IMAGE004
A value of the following formula II
Figure 970250DEST_PATH_IMAGE008
Wherein,
Figure 2012100055429100001DEST_PATH_IMAGE009
is frequency of
Figure 390867DEST_PATH_IMAGE001
The doppler shift of the detected ocean surface radial flow,
Figure 925754DEST_PATH_IMAGE010
is frequency of
Figure 773624DEST_PATH_IMAGE002
Doppler shift of the detected ocean surface radial flow;
step 3, according to the monotone function obtained in the step 2The value of (1) and the formula one are obtained to obtain the water depth
Figure 985479DEST_PATH_IMAGE003
。
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CN104613893A (en) * 2015-02-09 2015-05-13 国家海洋局第二海洋研究所 Method for using remote sensing images to measure sand wave water depth
CN105277926A (en) * 2015-10-12 2016-01-27 中国海洋大学 Remote high-frequency ground-wave radar offshore verification method
CN106291470A (en) * 2016-07-28 2017-01-04 中国船舶重工集团公司第七〇九研究所 A kind of based on the disturbance restraining method of feature during high-frequency ground wave radar ocean current result sky
CN108120981A (en) * 2017-12-27 2018-06-05 中科卫星应用德清研究院 Shallow water depth radar remote sensing detection method
CN111722218A (en) * 2020-06-03 2020-09-29 武汉大学 Double-frequency composite waveform high-frequency radar system
CN112799029A (en) * 2020-12-28 2021-05-14 南昌大学 High-frequency ocean radar first-order echo extraction method based on watershed segmentation
CN116500604A (en) * 2023-06-27 2023-07-28 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Quantitative inversion method and device for water depth

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CN103293521B (en) * 2013-06-26 2015-03-25 武汉大学 Method for detecting water depth of offshore sea by X-band radar
CN103293521A (en) * 2013-06-26 2013-09-11 武汉大学 Method for detecting water depth of offshore sea by X-band radar
CN104613893A (en) * 2015-02-09 2015-05-13 国家海洋局第二海洋研究所 Method for using remote sensing images to measure sand wave water depth
CN104613893B (en) * 2015-02-09 2017-03-15 国家海洋局第二海洋研究所 A kind of method that utilization remote sensing images measure the bed ripples depth of water
CN105277926A (en) * 2015-10-12 2016-01-27 中国海洋大学 Remote high-frequency ground-wave radar offshore verification method
CN106291470B (en) * 2016-07-28 2018-08-24 中国船舶重工集团公司第七一九研究所 The disturbance restraining method of feature when a kind of ocean current result sky based on high-frequency ground wave radar
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CN108120981A (en) * 2017-12-27 2018-06-05 中科卫星应用德清研究院 Shallow water depth radar remote sensing detection method
CN108120981B (en) * 2017-12-27 2019-12-03 中科卫星应用德清研究院 Shallow water depth radar remote sensing detection method
CN111722218A (en) * 2020-06-03 2020-09-29 武汉大学 Double-frequency composite waveform high-frequency radar system
CN111722218B (en) * 2020-06-03 2023-04-07 武汉大学 Double-frequency composite waveform high-frequency radar system
CN112799029A (en) * 2020-12-28 2021-05-14 南昌大学 High-frequency ocean radar first-order echo extraction method based on watershed segmentation
CN112799029B (en) * 2020-12-28 2023-10-31 南昌大学 High-frequency marine radar first-order echo extraction method based on watershed segmentation
CN116500604A (en) * 2023-06-27 2023-07-28 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Quantitative inversion method and device for water depth
CN116500604B (en) * 2023-06-27 2023-08-29 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Quantitative inversion method and device for water depth

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