CN104965102B - A kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision - Google Patents
A kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision Download PDFInfo
- Publication number
- CN104965102B CN104965102B CN201510270429.7A CN201510270429A CN104965102B CN 104965102 B CN104965102 B CN 104965102B CN 201510270429 A CN201510270429 A CN 201510270429A CN 104965102 B CN104965102 B CN 104965102B
- Authority
- CN
- China
- Prior art keywords
- magnetic
- error
- adcp
- flow
- north angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
Abstract
A kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision, is related to acoustic Doppler fluid velocity profile instrument.First by founding mathematical models, analysis of magnetic Beijiao changes and eventually flows to the relation between change, show that the angle variable quantity is equal with flowing to variable quantity when only depositing the change of magnetic north angle.On this basis, the error using least square fitting flow direction by magnetic influence, and by fitting coefficient for compensating ADCP actual measurement flow direction outputs.Compared with standard flows to, it can finally realize that flow direction is reduced about 70% by the root-mean-square value of magnetic influence error.Can [0,360 °) in azimuth coverage inside effective compensation ADCP magnetic compass by environmental magnetic field disturb caused by flow to error, so as to can greatly improve flow directional detection precision in comprehensive scope.There is guidance value to the long-term anchored-position observation current in oceanographic observation.
Description
Technical field
The present invention relates to acoustic Doppler fluid velocity profile instrument (Acoustic Doppler Current Profiler,
ADCP), belong to oceanographic observation Instrument technology field, be especially for ADCP actual measurement flow to error correction one kind effectively carry
The method of high acoustics doppler flow speed section plotter flow directional detection precision.
Background technology
ADCP is a kind of instrument that flow rate of water flow and flow are measured using acoustic Doppler principle.Connect using ADCP transducers
Existing offset between the echo frequency and tranmitting frequency of receipts, calculates the speed of particle in water, you can the movement velocity of current is obtained,
And then understand to flow through the water flow in section in certain time[1].ADCP becomes measurement instrument important in the water bodys such as ocean, river
Device.
In actual use, the flow measurement precision for having a variety of error sources to influence ADCP, the measurement and exact value for making flow velocity exist greatly
Width deviation, seriously affects observed result and follow-up data process＆analysis.The error for influencing ADCP outputs is broadly divided into frequency
Sound velocity error, installation error and environmental factor error etc. in rate measurement error, water, ocean research worker carries out error source
Numerous studies, are analyzed and are compensated using different methods for different errors.
Arrowband ADCP since most[2], to pulse coherence ADCP thereafter, then to current broadband A/D CP[3], frequency survey
Amount error constantly suppresses；The sonic velocity change as caused by temperature, salinity, depth can directly cause measuring errors, and modern ADCP inclines more
To in maintaining the constant of the velocity of sound using phased-array technique, such error is eliminated[4]；The presence of ADCP installation errors can make to measure
Wave beam velocity vector there is deviation when being converted into final flow rate and flowing to[5]；Environmental factor error derives from a variety of aspects：
Nearby flow disturbance, rolling moving platform, river bed/seabed Bed Load Movement etc. can all form measurement error to ADCP[6,7,8,9]。
In many Analysis of error source and countermeasure is solved, is seldom related on all kinds of magnetic in by environment of magnetic compass inside ADCP
Field influences and causes magnetic north angle output error --- the discussion of error problem is flowed to caused by magnetic deviation.For stream caused by magnetic deviation
Suppression to error, conventional method are solved by external import compass or GPS[10,11], to ADCP flow direction outputs by sieve
The mathematical analysis and mathematics amendment that difference influences are there is not yet relevant report.In consideration of it, inventor carries out deeply the above problem
Enter research, there is this case generation then.
Bibliography：
[1]Gordon R L.Acoustic Doppler Current Profile Principles of
Operation,A Practical Primer.San Diego,California USA by RD Instruments.1996,
January 8,7PP.
[2]Roger L,Robert S.Pulse-to-pulse coherent doppler sonar signal
processing technology[J].Journal of Atmosphere and Oceanic Technology,1984,1
(4):293-308.
[3]Blair H,Brumley,Ramon G.Cabrera,Kent L.Deines,and Eugene
A.Terray.Performance of a broad-band acoustic doppler current profiler[J]
.Journal of Oceanic Engineering,1991,16(4):402-407.
[4]JU¨RGEN FISCHER,PETER BRANDT,MARCUS DENGLER,AND MARIO MU¨LLER
Surveying the Upper Ocean with the Ocean Surveyor:A New Phased Array Doppler
Current Profiler[J].Journal of Atmosphere and Oceanic Technology,2003,20:742-
751.
[5]Terrence M.JOYCE.On in situ“calibration”of Shipboard ADCPs[J]
.Journal of Atmospheric and Oceanic Technology,1989,(6):169-172.
[6]David S.Mueller,Jorge D.Abad,Carlos M.García,Jeffery W.Gartner,
Marcelo H.García,and Kevin A.Oberg.Errors in Acoustic Doppler Profiler
Velocity Measurements Caused by Flow Disturbance[J].Journal of Hydraulic
Engineering,2007,1411-1420.
[7]Marian Muste,Dongsu Kim and Juan A.González-Castro.Near-Transducer
Errors in ADCP Measurements:Experimental Findings[J].Journal of Hydraulic
Engineering,2010,275-289.
[8] Yu Yide, Xiong Ying shake the analysis of ADCP measuring errors and correction [J] marine environment science .2012 under moving platform,
31(2):246-249.
[9] Xie Bo, Tian Yueming, Ye Jianhong, Wu builds flourish .ADCP river discharges test and its error analysis [J] water resources are ground
Study carefully .2007,28 (4):34-36.
[10] the flat ironys of Chen Li survey improved method [J] water conservancy and hydropower bulletin .2001 of ADCP flow directional detection errors on ship,
22(18):22-23.
[11] Chen Shourong, fragrant Tianyuan, investigation [J] people that Jiang Jianping .ADCP external equipments influence discharge measurement precision
The Changjiang river .2010,41 (1):29-34.
The content of the invention
It is an object of the invention to provide a kind of side for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision
Method.
The present invention comprises the following steps：
1) buoy is carried when platform carries out long-term anchored-position observation current using ADCP, since ADCP may be positioned over ferrous material
Or near motor, its measurement flowed to is easily influenced be subject to environmental magnetic field；Start flow measurement, measure [0,360 °) four of orientation as
Magnetic compass output, i.e. magnetic north angle inside the ADCP that N number of position (N >=4, and N is integer) is influenced by environmental magnetic field in the range of limit
(i=1 ... N), in this, as actual measurement magnetic north angle；
2) when anchored-position observation current is carried out in step 1), under the conditions of obtaining same orientation using exterior high precision magnetic compass, no
The ADCP magnetic north angle influenced by environmental magnetic field(i=1 ... N), in this, as magnetic north angle standard value；
3) mathematical derivation establishes magnetic compass inside ADCP is influenced caused magnetic north angle output error in all kinds of magnetic fields in by environment
(i.e. magnetic deviation) and the corresponding quantitative relationship flowed between error caused by it；
4) according to magnetic deviation mathematical model, to step 1) and 2) the actual measurement magnetic north angle of the middle N number of position obtained and magnetic north footmark
Quasi- Value Data, uses least square fitting penalty coefficient；
5) penalty coefficient obtained in step 4) is used, each surveys what magnetic north angle should compensate in calculated for subsequent anchored-position observation current
(flowing to error caused by magnetic deviation) Δ ψ is flowed to, ψ is flowed to after must compensating.
In step 1), to make the penalty coefficient of least square fitting as accurate as possible, N number of measurement position is taken to use up
May covering [0,360 °) azimuthal four quadrants；The time for starting flow measurement can be in 24h.
In step 3), magnetic north angle output error (i.e. magnetic deviation) and the corresponding quantitative relationship for flowing to error caused by it
Have：Wherein,Represent magnetic deviation, Δ ψ represents to flow to error accordingly.
In step 4), the magnetic deviation mathematical model is：
Wherein,Represent the actual measurement magnetic north angle influenced by environmental magnetic field,Expression magnetic north angle standard value, A, B, C, D, E are
Penalty coefficient.
ψ=ψ '-Δ ψ is flowed in step 5), after compensation, wherein ψ ' represents actual measurement flow direction, and Δ ψ represents the stream that should be compensated
To.
The present invention utilize [0,360 °) the actual measurement magnetic north angle and outside of N number of position ADCP outputs chosen in azimuth coverage
The magnetic north angle standard value that the high precision magnetic compass of setting obtains, flows long-term anchored-position observation current with least square fitting coefficient
To compensation.
The present invention establishes magnetic compass inside ADCP and is flowed to error by output error caused by magnetic influence and corresponding A/D CP outputs
Between quantitative relationship, establishing ADCP flow direction outputs is influenced the Fundamentals of Mathematics of error compensation by environmental magnetic field；Proposing one kind can have
Magnetic compass is influenced to cause the method for flowing to error by environmental magnetic field inside effect compensation ADCP, improves ADCP flow directional detection precision.
Beneficial effects of the present invention are as follows：
Magnetic compass output error and corresponding quantifying between error is flowed to inside ADCP caused by being influenced first on environmental magnetic field
Relation has carried out mathematical derivation, and such a error that flows to is corrected using mathematical method, and in practical engineering application, having
Effect improves long-term flow directional detection precision of the ADCP when being influenced be subject to environmental magnetic field, lifts its environmental suitability.
Brief description of the drawings
Fig. 1 is transition diagram of the beam coordinate system to carrier coordinate system；
Fig. 2 is transition diagram of the geographic coordinate system to carrier coordinate system；
Fig. 3 is the magnetic deviation matched curve that magnetic north angle error and environmental magnetic field produce before being compensated in embodiment；
Fig. 4 is to flow to error and magnetic deviation matched curve before and after being compensated in embodiment in follow-up flow measurement (during depth of water 4m)；
Fig. 5 is to flow to error and magnetic deviation matched curve before and after being compensated in embodiment in follow-up flow measurement (during depth of water 5m)；
Fig. 6 is to flow to error and magnetic deviation matched curve before and after being compensated in embodiment in follow-up flow measurement (during depth of water 6m).
Embodiment
Following embodiments will the present invention is further illustrated with reference to attached drawing.
(1) in waters of Zhangzhou, Fujian, certain unit buoy is carried, is pinpointed for a long time using the ADCP of Nortek companies of Norway
Flow measurement.The ADCP tranmitting frequency 1MHz, set blind area depth 0.2m, thickness 1m, transmission time interval 1s, average time is
100s.Since float portion composition contains ferrous material, ADCP flow directional detections can be had an impact.At one day 12 to next day 13
When, [0 °, 360 °) 150 orientation are measured in azimuthal scope, obtained by magnetic compass inside ADCP by environment magnetic
The magnetic north angle measured value that field influences；
(2) the output relative datum of exterior high precision magnetic compass is demarcated so that and the output phase pair of ADCP inside magnetic compass
Benchmark is consistent, and magnetic north angle standard value under the conditions of same orientation is obtained using exterior magnetic compass；
(3) mathematical derivation establish environmental magnetic field influence caused by ADCP magnetic north angle output error and corresponding flow between error
Quantitative relationship, detailed process is as follows：
What it is due to actual use is flow velocity in geographic coordinate system, the wave beam flow velocity that transducer in ADCP is measured
The flow velocity being transformed into geographic coordinate system, detailed process are：The wave beam flow velocity that transducer measures in ADCP, is become by coordinate twice
Change：ADCP transducer beams coordinate system (hereinafter referred to as " beam coordinate system ") → ADCP carrier coordinate systems (hereinafter referred to as " sit by carrier
Mark system ") → geographic coordinate system, flow velocity output (ADCP Coordinate Transformation Formulas finally can be obtained
and Calculations.San Diego,California USA by RD Instruments.1998,July)。
The process that beam coordinate system is transformed into carrier coordinate system is：If ADCP flow measurements structure is in actual use most four
Wave beam Janus type structures, four wave beamsWithBeam coordinate system is formed, as shown in Figure 1.Each wave beam and water
Plane included angle is α, the projection in the horizontal plane of each wave beam and ybThe angle of axis is β, then the flow velocity on four beam directions is carrying
It is represented by body coordinate system：
Wherein, vni(i=1,2,3,4) is the flow velocity measured on four beam directions, vbj(j=x, y, z) is carrier coordinate system
xb,yb,zbFlow velocity on direction of principal axis.
Conversion for geographic coordinate system to carrier coordinate system, there is following processes：As illustrated in fig. 2, it is assumed that ADCP carriers are sat
Mark system is Oxbybzb, it is connected on instrument, its axis Oxb, Oyb, OzbIt is the transverse axis of instrument, the longitudinal axis and vertical pivot respectively, meet " right-
Before-on " right hand rule, geographic coordinate system Oxtytzt, it is chosen in " east-north-day ".
The rotation of coordinate system completes (Fig. 2) according to order below：Z fixed firsttAxis, rotates counterclockwise course angle φ；Its
Secondary fixed ypAxis, rotates counterclockwise pitching angle theta；Finally fix xp' axis (i.e. xbAxis), roll angle γ is rotated counterclockwise, i.e.,：With inverse
Hour hands rotation direction is positive direction, rotates course angle φ, pitching angle theta, roll angle γ successively, can be by geographic coordinate system OxtytztTurn
Change to carrier coordinate system Oxbybzb.So, by the transition matrix of geographic coordinate system to carrier coordinate systemIt can be expressed as follows：
Since the transition matrix is orthogonal matrix, then by the transition matrix of carrier coordinate system to geographic coordinate systemFor：
If the velocity vector that ADCP is measured is expressed as v in carrier coordinate systemb=[vbx vby vbz] ', in geographic coordinate system
In be expressed as vt=[vtx vty vtz] ', then in geographic coordinate system, it is represented by：
I.e.：
Wherein, vE,vN,vURepresent respectively east orientation of the velocity vectors that measure of ADCP in geographic coordinate system, north orientation and day to
Component.
Final output flow velocity size v and flow to ψ and be respectively：
Assuming that course angle standard value is φ, it is-ψ to flow to standard value accordinglyFlow direction(due to flow direction, to be defined as geographical north orientation suitable
Clockwise has " ﹣ " number herein to the angle formed between final flow rate v), course angle measured value is φ ', then corresponding
It is-ψ ' to flow to measured value, then course angle changes delta φ=φ '-φ, changes delta ψ=(- ψ ')-(- ψ of flow directionFlow direction), then have：
Wherein,
From formula<8>Understand, Δ ψ=Δ φ.I.e.：When course angle is there are during error delta φ, error delta ψ=Δ is accordingly flowed to
φ.Due to built in ADCP magnetic compass export be magnetic north angle, i.e. rhumb and magnetic north angle, with course angle --- sieve
Angle through orientation and north geographic pole, differs a geomagnetic declination, though the drift angle is different according to specific time and site, is in the same localities short
It is fixed value in phase, can in advance inquires about or on-site measurement obtains.So when the magnetic north angle that magnetic compass built in ADCP exports exists
Magnetic deviationWhen, identical error can be caused to course angle and flow direction, i.e.,
(4) according to magnetic deviation mathematical model (Ma Chengyao, Qian Jinwu, Shen Linyong, the error point of Zhang Yanan flat electronic compass
Analysis and compensation [J] Shanghai University journal (natural science edition) .2009,15 (2):186-190)：
Wherein,Represent the actual measurement magnetic north angle influenced by environmental magnetic field,Expression magnetic north angle standard value, A, B, C, D, E are
Penalty coefficient.
The actual measurement magnetic north angle obtained to N number of position and the quasi- Value Data of magnetic north footmark, system is compensated using least square fitting
Number, detailed process are as follows：
Assuming that [0 °, 360 °) N number of measurement orientation is chosen in sectionThis N is measured by magnetic compass
The result in a orientation is respectivelySo by formula<10>, it is represented by with matrix：
If
Then formula<11>Can abbreviation be：
Y=(X'X)-1X'Z <12>
By formula<12>Penalty coefficient A, B, C, D, E can be obtained, then according to formula<10>Each compass actual measurement magnetic can be calculated
It should be compensated under BeijiaoAnd then draw angle that the corresponding flow direction in each compass actual measurement magnetic north angle should compensate (i.e.)。
The penalty coefficient fitted can be set into upper computer software, the measured result subsequently flowed to is compensated with facilitating.
The 150 magnetic north angle measured values and corresponding magnetic north angle standard value that are obtained in (1) and (2) are pressed into formula<10>Intended
Close, the magnetic deviation matched curve that magnetic north angle error and environmental magnetic field produce before compensation is as shown in figure 3, fitting coefficient is shown in formula in figure.
As seen from the figure, which has covered four quadrants, and the magnetic deviation matched curve that environmental magnetic field produces can be retouched preferably
State the tendency component contained before compensating in magnetic north angle error.
(5) according to formula<10>, the penalty coefficient obtained in (4) is used, magnetic north is each surveyed in calculated for subsequent anchored-position observation current
The flow direction that angle should compensate.In order to illustrate compensation effect, flowed to by setting seat bottom type ADCP to obtain standard, and with flowing to error
Root-mean-square value is weighed.Fig. 4, Fig. 5 and Fig. 6 are respectively depth of water 4m, under 5m and 6m situations, use the penalty coefficient in (4), i.e. A
=-13.863, B=-24.132, C=3.375, D=-4.624, E=16.790, the result compensated to follow-up flow measurement.Can
To find out, when the depth of water is 4,5 and 6m respectively, it is preceding compared with compensation closer to the straight line that value is 0 that error is flowed to after compensation；From
Table 1 it can also be seen that, no matter which kind of depth of water, the root-mean-square error of flow direction improves 70% or so, illustrates to flow to error big
Width reduces, and compensation effect is obvious.
Table 1 compensates the front and rear error mean square root that flows to and contrasts
The present invention proposes one kind and effectively improves acoustic Doppler fluid velocity profile instrument (Acoustic Doppler Current
Profiler, ADCP) flow directional detection precision method.Pass through founding mathematical models, the change of analysis of magnetic Beijiao and final stream first
To the relation between change, draw：When only depositing the change of magnetic north angle, the angle variable quantity is equal with flowing to variable quantity.In this base
On plinth, using least square fitting flow direction by magnetic influence error, and by fitting coefficient be used for compensate ADCP actual measurement flow to it is defeated
Go out.Compared with standard flows to, the present invention can finally realize that flow direction is reduced about 70% by the root-mean-square value of magnetic influence error.The present invention
Can [0,360 °) in azimuth coverage inside effective compensation ADCP magnetic compass by environmental magnetic field disturb caused by flow to error,
So as to can greatly improve flow directional detection precision in comprehensive scope.The present invention has the long-term anchored-position observation current in oceanographic observation
There is guidance value.
Claims (6)
- A kind of 1. method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision, it is characterised in that including following step Suddenly：1) when carrying the buoy platform long-term anchored-position observation current of progress using ADCP, since ADCP may be positioned over ferrous material or motor Near, its measurement flowed to is easily influenced be subject to environmental magnetic field；Start flow measurement, measure [0,360 °) four quadrant scopes in orientation Magnetic compass output, i.e. magnetic north angle inside the ADCP that interior N number of position is influenced by environmental magnetic fieldIn this, as actual measurement Magnetic north angle；Wherein, N >=4, and N is integer；2) when anchored-position observation current is carried out in step 1), under the conditions of obtaining same orientation using exterior high precision magnetic compass, from ring The ADCP magnetic north angle that border magnetic field influencesIn this, as magnetic north angle standard value；3) mathematical derivation establishes magnetic compass inside ADCP is influenced caused magnetic north angle output error and its in all kinds of magnetic fields in by environment The caused corresponding quantitative relationship flowed between error；Magnetic north angle output error, that is, magnetic deviation caused by all kinds of magnetic field influences；4) according to magnetic deviation mathematical model, to step 1) and 2) the actual measurement magnetic north angle of the middle N number of position obtained and magnetic north angle standard value Data, use least square fitting penalty coefficient；5) penalty coefficient obtained in step 4) is used, the flow direction that magnetic north angle should compensate each is surveyed in calculated for subsequent anchored-position observation current Error is flowed to caused by error delta ψ, i.e. magnetic deviation, ψ is flowed to after must compensating.
- 2. a kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision as claimed in claim 1, it is special Sign is that in step 1) to make the penalty coefficient of least square fitting as accurate as possible, taking N number of measurement position to use up can Can covering [0,360 °) azimuthal four quadrants.
- 3. a kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision as claimed in claim 1, it is special Sign is that in step 1) time for starting flow measurement is in 24h.
- 4. a kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision as claimed in claim 1, it is special Sign is that in step 3) magnetic north angle output error and the quantitative relationship for accordingly flowing to error caused by it have：Wherein,Represent magnetic deviation, Δ ψ represents to flow to error accordingly.
- 5. a kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision as claimed in claim 1, it is special Sign is that in step 4) the magnetic deviation mathematical model is：Wherein,Represent the actual measurement magnetic north angle influenced by environmental magnetic field,Represent magnetic north angle standard value, A, B, C, D, E is compensation system Number.
- 6. a kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision as claimed in claim 1, it is special Sign is in step 5), and ψ=ψ '-Δ ψ is flowed to after compensation, and wherein ψ ' represents actual measurement flow direction, and Δ ψ represents the flow direction that should be compensated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510270429.7A CN104965102B (en) | 2015-05-25 | 2015-05-25 | A kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510270429.7A CN104965102B (en) | 2015-05-25 | 2015-05-25 | A kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104965102A CN104965102A (en) | 2015-10-07 |
| CN104965102B true CN104965102B (en) | 2018-04-27 |
Family
ID=54219145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510270429.7A Active CN104965102B (en) | 2015-05-25 | 2015-05-25 | A kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104965102B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105891541B (en) * | 2016-06-13 | 2019-02-01 | 南京世海声学科技有限公司 | The surface layer ADCP blind area flow velocity evaluation method based on layer dependencies |
| CN112684207B (en) * | 2020-12-17 | 2022-03-11 | 东南大学 | ADCP (advanced digital control Performance) speed estimation and correction algorithm for deep submersible vehicle |
| CN113049052B (en) * | 2021-03-25 | 2023-08-15 | 长江水利委员会水文局长江下游水文水资源勘测局(长江水利委员会水文局长江下游水环境监测中心) | Flow measurement method for river with large sand content |
| CN114485636A (en) * | 2022-01-18 | 2022-05-13 | 中国人民解放军军事科学院国防科技创新研究院 | Bionic compass |
| 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 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0968431A (en) * | 1995-08-31 | 1997-03-11 | Furuno Electric Co Ltd | Electromagnetic compass |
| CN1786664A (en) * | 2005-09-22 | 2006-06-14 | 高华明 | Digital compass |
| CN101241010A (en) * | 2007-10-25 | 2008-08-13 | 杭州米特科技有限公司 | Magneto- compass deviation automatic correction method and its device |
| CN101241009A (en) * | 2007-12-28 | 2008-08-13 | 北京科技大学 | Magneto- electronic compass error compensation method |
| CN101393022A (en) * | 2008-11-07 | 2009-03-25 | 北京航空航天大学 | Digital magnetic compass demarcating method in magnetic field |
| CN101629823A (en) * | 2009-07-27 | 2010-01-20 | 赵柯 | Correction method for the deviation of magnetic compass |
| CN104502633A (en) * | 2014-12-29 | 2015-04-08 | 南京世海声学科技有限公司 | Flow field data correction method for acoustic Doppler flow velocity profiler |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006234581A (en) * | 2005-02-24 | 2006-09-07 | Aichi Micro Intelligent Corp | Electronic compass and azimuth measuring method |
-
2015
- 2015-05-25 CN CN201510270429.7A patent/CN104965102B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0968431A (en) * | 1995-08-31 | 1997-03-11 | Furuno Electric Co Ltd | Electromagnetic compass |
| CN1786664A (en) * | 2005-09-22 | 2006-06-14 | 高华明 | Digital compass |
| CN101241010A (en) * | 2007-10-25 | 2008-08-13 | 杭州米特科技有限公司 | Magneto- compass deviation automatic correction method and its device |
| CN101241009A (en) * | 2007-12-28 | 2008-08-13 | 北京科技大学 | Magneto- electronic compass error compensation method |
| CN101393022A (en) * | 2008-11-07 | 2009-03-25 | 北京航空航天大学 | Digital magnetic compass demarcating method in magnetic field |
| CN101629823A (en) * | 2009-07-27 | 2010-01-20 | 赵柯 | Correction method for the deviation of magnetic compass |
| CN104502633A (en) * | 2014-12-29 | 2015-04-08 | 南京世海声学科技有限公司 | Flow field data correction method for acoustic Doppler flow velocity profiler |
Non-Patent Citations (5)
| Title |
|---|
| 平面电子罗盘的误差分析及补偿方法;马成瑶等;《上海大学学报》;20990430;第15卷(第2期);第186-190页 * |
| 数字磁罗盘的航向角干扰补偿方法研究;陆建山等;《传感器与微系统》;20100930;第29卷(第6期);第75-76、79页 * |
| 磁罗盘姿态解算及误差补偿;李凤英等;《计算机测量与控制》;20110708;第19卷(第7期);第1771-1773、1783页 * |
| 铁质测船上ADCP流向测量误差的改进方法;陈力平;《水利水电快报》;20010930;第22卷(第18期);第22-23页 * |
| 铁质船体对磁罗经海流计流向影响分析;李占桥等;《海洋测绘》;20120731;第32卷(第4期);第60-63页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104965102A (en) | 2015-10-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109324330B (en) | USBL/SINS tight combination navigation positioning method based on mixed derivative-free extended Kalman filtering | |
| CN104965102B (en) | A kind of method for effectively improving acoustic Doppler fluid velocity profile instrument flow directional detection precision | |
| CN110031882B (en) | External measurement information compensation method based on SINS/DVL integrated navigation system | |
| CN105823480B (en) | Underwater moving target location algorithm based on single beacon | |
| Jinwu et al. | Study on installation error analysis and calibration of acoustic transceiver array based on SINS/USBL integrated system | |
| CN111829512B (en) | AUV navigation positioning method and system based on multi-sensor data fusion | |
| CN111380518B (en) | SINS/USBL tight combination navigation positioning method introducing radial velocity | |
| CN110703259B (en) | Underwater acoustic array channel phase consistency calibration method based on moving sound source | |
| CN111896962A (en) | Submarine transponder positioning method, system, storage medium and application | |
| CN113311436A (en) | Method for correcting wind measurement of motion attitude of laser wind measuring radar on mobile platform | |
| CN106679662A (en) | Combined underwater robot navigation method based on TMA (target motion analysis) technology and single beacon | |
| White et al. | A southern hemisphere verification for the TOPEX/POSEIDON satellite altimeter mission | |
| CN106123917B (en) | Consider the Strapdown Inertial Navigation System compass alignment methods of outer lever arm effect | |
| CN110207698B (en) | Polar region grid inertial navigation/ultra-short baseline tight combination navigation method | |
| Zhang et al. | A calibration method of ultra-short baseline installation error with large misalignment based on variational Bayesian unscented Kalman filter | |
| Yu | In-situ calibration of transceiver alignment for a high-precision USBL system | |
| Guo et al. | Application of multi-beam bathymetry system in shallow water area | |
| Grządziel et al. | Estimation of effective swath width for dual-head multibeam echosounder | |
| Zhao et al. | Study on underwater navigation system based on geomagnetic match technique | |
| CN112083425A (en) | SINS/LBL tight combination navigation method introducing radial velocity | |
| Zhang et al. | Research on position correction method for AUV large depth navigation based on ranging positioning | |
| Zhang et al. | A robust calibration method for the underwater transponder position based on Gauss-Newton iteration algorithm | |
| CN115096302A (en) | Strapdown inertial base navigation system information filtering robust alignment method, system and terminal | |
| CN110057383B (en) | Lever arm error calibration method of AUV (autonomous Underwater vehicle) push navigation system | |
| CN101793529B (en) | Double pseudo satellite aided position calibration method of inertial navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |