CN108253934B - Underwater terrain measurement simulation method and simulator thereof - Google Patents
Underwater terrain measurement simulation method and simulator thereof Download PDFInfo
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Abstract
The invention relates to the technical field of ocean surveying and mapping, in particular to an underwater topography measurement simulation method and a simulator thereof. The user changes the ship speed and rudder angle of the simulated survey ship through the survey ship simulation controller, and calculates the position of the simulated survey ship through a position simulation algorithm; sending the GPS positioning signal to an upper computer through a positioning signal simulation algorithm; generating the sound wave emission direction of the depth finder of the ship attitude by a simulation algorithm of the ship attitude; calculating the instantaneous tidal water level height through a tidal forecast algorithm according to a period defined by a user; and calculating a measurement result of the instantaneous water depth through a water depth simulation algorithm, and sending the measurement result to an upper computer provided with underwater topography measurement navigation acquisition software. And under the condition of not carrying out wading measurement, providing a measurement result similar to the real water depth measurement for the navigation acquisition software for measuring the sea channel. The invention aims to provide a vivid water depth measuring environment for users through the simulated underwater topography measuring signals generated by the simulation system.
Description
Technical Field
The invention relates to the technical field of ocean surveying and mapping, in particular to an underwater topography measurement simulation method and a simulator thereof.
Background
At present, with the comprehensive development of ocean and inland water area resource development, the demand for underwater topography measurement is increased sharply, and a large number of experienced underwater topography measurers are needed. The underwater topography measurement has high requirements on the working experience of a measurer, and the measurer with abundant experience can correctly measure various underwater targets according to the sea channel measurement standard and can correctly process the influence of sea conditions and hydrological parameter changes on the measurement result in the measurement process. However, underwater topography is costly to implement by measuring vessels in marine or inland rivers. When a general college and surveying and mapping training institution trains a surveyor, the measurement process can be demonstrated to the trained personnel only indoors in a mode of replaying the measurement result. Although some units with better conditions can use the measuring boat for teaching on water, it is difficult to find various typical underwater targets in the training water area. These conditions greatly limit the effectiveness and efficiency of the bathymetry training. The simulation training is carried out indoors through a simulator or a simulation trainer, and the effective way for improving the training efficiency and the training effect is achieved. At present, the most similar realization scheme of the invention is the depth measurement demonstration function of the depth measurement instrument. For example, the HD8000X single-beam depth sounder produced by China Haida satellite navigation technology company allows a user to operate a simulation measuring boat to move on a demonstration interface through a keyboard under the demonstration interface, and fixed simulation water depth data are generated. The prior art has the defect that a real underwater environment cannot be simulated. The depth finder can only generate fixed simulated water depth data in the self-contained demonstration function, and aims to demonstrate the operation and use method of the depth finder, the underwater terrain in the measurement result is completely flat, no underwater target is included, and no sea condition or hydrographic parameter change exists. Through the demonstration function, a user can only master the most basic operation method of the water depth measurement system, and cannot learn the underwater terrain simulation method in the real underwater environment.
Disclosure of Invention
In view of the defects of the prior art, the technical problem to be solved by the invention is how to provide a measurement result similar to the real water depth measurement for the navigation acquisition software for measuring the sea channel without wading measurement. The invention aims to provide a vivid water depth measuring environment for users through the simulated underwater topography measuring signals generated by the simulation system.
In order to achieve the above object, a technical solution of the present invention is to provide an underwater topography measurement simulation method, which includes the following steps:
step 1: the user changes the ship speed and rudder angle of the simulated survey ship through the survey ship simulation controller, and the underwater topography survey simulator calculates the position of the simulated survey ship through a position simulation algorithm according to the ship speed and rudder angle input from the survey ship simulation controller and in a period defined by the user under the control of a clock in the system;
step 2: the underwater topography measurement simulator generates a GPS positioning signal with a delay effect according to the position of the simulated measurement ship through a positioning signal simulation algorithm, and sends the GPS positioning signal to an upper computer through a serial port in a required format in a positioning period defined by a user;
and step 3: the underwater topography measurement simulator generates a sound wave emission direction of a depth finder corresponding to the attitude of the measurement ship at the current moment according to a sea state level set by a user through a measurement ship attitude simulation algorithm and a period defined by the user under the control of a clock in the system;
and 4, step 4: the underwater topography measurement simulator calculates the instantaneous tide water level height according to the tide harmonic constant stored in the database through a tide forecasting algorithm, and displays the instantaneous tide water level height on a screen of the underwater topography measurement simulator according to a period defined by a user.
And 5: the underwater topography measurement simulator calculates the measurement result of the instantaneous water depth according to the position of the simulated measurement ship, the sound wave emission direction of the depth finder and the underwater topography simulation basic data stored in the database through a water depth simulation algorithm, and sends the measurement result of the instantaneous water depth to an upper computer provided with underwater topography measurement navigation acquisition software through a serial port according to a format and a period defined by a user.
Further, the position simulation algorithm is based on the position (X0, Y0) of the simulated survey ship at the time T0 and a heading angle β 0, the ship speed V0 and the rudder angle α 0 input by a user, the tidal current speed Vr set by the user, and the tidal current direction
The method comprises the following steps of calculating the position (X1, Y1) of a simulated measuring ship at the time T1 by using the tidal current direction change speed omega, the tidal current direction random disturbance value Rt and the simulated measuring ship steering sensitivity S, wherein the specific algorithm is as follows:
β1＝(β0+V0*△t*α0*S)Mod 360；
t0 and T1 are two adjacent simulation moments, T1 is T0+ △ T, △ T is a clock period defined by a user, and the default time is 0.1 second;
the default value of the steering sensitivity S is 0.5, and can be set to any value between {0.1, 0.3, 0.5, 0.7, 0.9 and 1.0} by a user;
the default value of the tidal current direction change speed omega is 0.1 degree/second, and can be set to any one value of {0.1, 0.3 and 0.5} by a user;
the power flow direction random disturbance value Rt takes a random number which is uniformly distributed between-2.0 degrees and +2.0 degrees.
Further, the positioning signal simulation algorithm is used for generating a GPS positioning signal with a delay effect according to the delay time set by a user and the current position of the measuring ship. The specific algorithm is as follows:
step 2.1: defining a one-way linked list to store the positions of the measuring ships, wherein each item of content in the linked list is the position (X, Y) of the measuring ship;
step 2.2, calculating the position (X, Y) of the measuring ship once by the system according to a position simulation algorithm every time the system passes a self-defined clock period △ t, and inserting the position (X, Y) into the head of the linked list;
step 2.3, if the length of the linked list is greater than N, Td/△ t, deleting the last node of the linked list;
step 2.4: the system takes out the last node of the linked list according to the positioning signal period set by the user, converts the position (X, Y) of the measuring ship contained in the last node into the format required by the upper computer and outputs the format from the serial port 1.
Further, the underwater topography database comprises a water depth data table, a tide harmonic constant table and an underwater sound velocity profile table; the water depth data table stores underwater topography point cloud data of the simulated survey area; the tide harmonic constant table stores 11 tide harmonic constants of the simulated measuring area; the sound velocity profile table stores the sound wave propagation velocity of the simulated measuring area at different depths. The specific structure of each data table is as follows:
(1) water depth data table
(2) Table for tidal harmony constant
(3) Underwater sound velocity profile table
| Name of field | Data type | Remarks for note |
| ID | Int | Self-adding mark |
| Depth of water | Int | Depth of water value |
| Speed of sound | Decimal | Underwater sound velocity value |
Further, the instantaneous tide water level height is calculated according to the tide harmonic constant stored in the database through a tide forecasting algorithm and is displayed on a screen of the underwater topography measurement simulator according to a period defined by a user.
Further, the survey vessel attitude simulation algorithm is a plane coordinate of the sound wave emitted by the analog depth finder in the center of the seabed irradiation range calculated according to the sea state level and the analog survey vessel position set by the user, and the specific algorithm is as follows:
step 3.1: defining the position coordinate of the simulated survey ship as (Xc, Yc,0), inquiring a water depth point P with the minimum distance to the (Xc, Yc) plane from a water depth data table in a database, and taking out a water depth value Zp of the point;
step 3.2: taking the position (Xc, Yc,0) of the simulated measuring ship as a coordinate origin, and calculating the central positions Xr, Yr and Zr of sound waves emitted by the simulated depth finder in the seabed irradiation range when the measuring ship is influenced by sea waves and rolls and pitches according to the following formula;
in the formula, Roll is the Roll angle of the measuring ship, and takes the value of a random number uniformly distributed in an interval [ -3 × G, +3 × G ]; pitch is the Pitch angle of the measuring ship, and takes the value of a random number uniformly distributed in an interval [ -2 × G, +2 × G ]; g is the sea state level set by the user, the value is any one number of [0,1,2,3,4 and 5], and the default value is 0;
step 3.3: calculating the plane position coordinate (Xcent, Ycent) of sound wave emitted by the depth finder in the center of the seabed irradiation area according to the following formula
And Th is the height of the tide at the current moment, and is calculated by a tide forecasting algorithm according to a harmonic constant in the database.
Further, the water depth simulation method is to calculate instantaneous water depth measurement result data obtained by measurement according to the central position of the sound wave emitted by the depth finder in the seabed irradiation range, underwater topography basic data and a sound wave beam angle set by a user, and the specific algorithm is as follows:
step 5.1: according to a beam angle theta set by a user, the water depth Zp at the position of the measuring ship and the instantaneous tide height Th, calculating the radius R (Zp + Th) tan (theta) of the irradiation range of the sound wave emitted by the analog depth finder on the seabed;
step 5.2: selecting 4 candidate points P1 (X) with (Xcent, Ycent) as the centerP1，YP1)，P2(XP2，YP2)，P3(XP3，YP3)，P4(XP4，YP4) Wherein:
step 5.3: respectively searching all neighborhood water depth points with the plane distance smaller than R/2 from each candidate point in a water depth data table of the database, calculating the plane distance between each candidate point and each neighborhood water depth point of the candidate point, and finally calculating the water depths Z1, Z2, Z3 and Z4 of the four candidate points P1, P2, P3 and P4 through an inverse distance weighted interpolation algorithm;
step 5.4: respectively calculating the distances between the four candidate points and the position (Xc, Yc,0) of the analog depth finder according to the plane coordinates and the water depth of the four candidate points
i is 1,2,3, 4; selecting the smallest Di as a water depth value D of the current position;
step 5.5: calculating the total transmission of sound waves from emission to reception corresponding to the water depth D according to the underwater sound velocity data stored in the databaseThe time of the broadcast T is,
wherein i corresponds to the sequence number of the deep water layer calculated from the sea surface, m is the sequence number of the deep water layer corresponding to the depth D, △ Hi is the distance between the ith layer and the (i + 1) th layer and is obtained by subtracting the corresponding depths of the two layers in the database, and ViAnd Vi+1The underwater sound velocities of the ith layer and the (i + 1) th layer are respectively;
step 5.6: calculating instantaneous bathymetry
Where Vs is the user-set underwater average speed of sound.
On the other hand, the technical scheme provided by the application is that the underwater topography measurement simulator comprises underwater topography measurement simulation software, an underwater topography simulation database, underwater topography measurement simulation equipment and a measuring ship simulation manipulator on a logic structure.
The underwater topography measurement simulation software is installed in the underwater topography measurement simulation equipment and used for receiving ship speed and rudder angle data sent by a user through a ship measurement simulation controller, calculating an instantaneous water depth signal and a satellite positioning signal in real time according to the data and basic data stored in an underwater topography simulation database, and sending the instantaneous water depth signal and the satellite positioning signal to an underwater topography measurement navigation acquisition system through a serial port on the equipment;
the underwater topography simulation database is used for providing various basic data of calculation simulation data for underwater topography measurement simulation software, and the basic data comprises underwater topography point cloud data of a simulation measurement area, a tidal harmonic constant of the simulation measurement area and underwater sound velocity profile data;
the underwater topography measurement simulation device is used for installing underwater topography measurement simulation software and an underwater topography simulation database, the device comprises a liquid crystal display screen, three USB interfaces, four serial interfaces and an RJ-45 network interface, the device internally comprises a mainboard and a hard disk, and a CPU, a memory and a display card are integrated on the mainboard; the underwater topography measurement simulation equipment is used for operating underwater topography measurement simulation software and providing an interface for sending data to the outside; the liquid crystal display is used for displaying the ship speed, the course, the rudder angle, the beam angle, the tidal current flow speed, the tidal current flow direction, the tidal height and the simulator working state information in real time;
the measuring ship simulation controller is a standard windows game joystick (steering wheel), is used for providing a platform for a user to operate the simulation measuring ship, and is connected to the underwater topography measuring simulation equipment through a USB transmission line; the user can change the speed and rudder angle of the simulated survey ship through the buttons on the survey ship simulated manipulator, and can also set various parameters of the simulator through the buttons on the manipulator.
Interpretation of terms in the present invention:
underwater topography measurement: also known as water depth measurement, marine measurements. The measuring ship sails on the water surface according to a planned air route, the water depth and the plane position at the current position are measured through an echo depth finder and a satellite positioning instrument which are arranged on the measuring ship, and meanwhile tide observation is carried out at a specific place in a measuring area. And finally, inputting the observed water depth value, the plane position and the tidal height into underwater topography measurement data processing software to obtain the underwater topography in the measurement area.
Parameters of the drawing board: before underwater topography measurement is carried out, firstly, a drawing board corresponding to a measurement area is established in underwater topography measurement navigation acquisition software, and parameters of the drawing board comprise coordinates of contour points on the drawing board, a drawing board scale and a drawing board projection type.
Planning a measuring line: before underwater topography measurement is carried out, a plurality of auxiliary lines are laid in a drawing board established by underwater topography measurement navigation acquisition software to represent a course. When underwater topography measurement is carried out, a measurer needs to operate a measuring ship to sail along a planned measuring line.
Single beam echo sounder: an instrument for measuring water depth by using ultrasonic waves. The instrument transmits a cone-shaped sound wave beam with a certain open angle to the underwater through the transducer, and the sound wave is reflected by the sea bottom/riverbed and then is received by the transducer on the instrument. And the depth finder calculates the water depth at the current position according to the round trip time of the sound wave and the underwater sound velocity.
Distance inverse ratio weighted interpolation algorithm: common spatial point interpolationAnd (4) an algorithm. Let the spatial interpolation point be P (Xp, Yp, Zp), and there are known scattered points Qi (Xi, Yi, Zi) in the neighborhood of P, i ═ 1,2, …. n. And (3) interpolating the attribute value Zp of the P point by using an inverse distance weighting method, wherein Zp is the weighted average of the attribute values Zi of the scattered points in the neighborhood of the P point, namely:
where Di is the distance between P and the ith point in its neighborhood.
Underwater topography measurement navigation acquisition software: navigation acquisition software used in the underwater topography measuring system runs on a computer, receives measurement original data sent by the underwater topography measuring system, mainly comprises position and water depth data, stores measurement results of a measuring ship in each planned navigation line in the computer in the form of independent files, and is used by subsurface topography measuring data analysis software. The currently common underwater topography measurement navigation acquisition software in China comprises: a navigation and acquisition system for measuring the sea course, a HYPACK navigation and acquisition system.
An upper computer: the computer provided with the underwater topography measurement navigation acquisition software is provided with a plurality of serial interfaces and can receive data sent by the depth finder and the satellite positioning instrument.
Sea state grade: also called sea level, mainly refers to the wind and wave on the water surface and the current in the water. The waves on the water surface can cause the measuring ship to swing in the left-right direction (roll) or in the front-back direction (pitch), so that the sound wave beams emitted by the depth finder fixed on the measuring ship deviate from the correct direction, and the correct measuring result cannot be obtained. The sea condition grades specified in China are divided into 10 grades, the wave height of 0 grade is 0 meter, the sea surface is calm, and the transverse rocking angle and the longitudinal rocking angle of a common measuring ship are both 0; the wave height of 5 grades is about 2.5-4 meters, and the transverse rocking angle of the common measuring ship can reach 15 degrees and the longitudinal rocking angle can reach 10 degrees. When underwater topography measurement is carried out, in order to ensure the measurement quality, the sea state level is generally required to be less than 3; when the sea state level is greater than 3, a large number of invalid water depth points appear in the measurement result.
Measuring raw data: and measuring records output from a depth finder, a GPS and other devices. The depth finder outputs the measurement result through a serial port, and the format of the result is specified by a depth finder manufacturer and generally given in a depth finder technical manual. The GPS outputs the measurement result in a universal NAME 0183 format through a serial port.
Positioning signals with time delay, wherein when positioning is carried out according to signals transmitted by GPS satellites, about △ T time is needed from the time when the satellite signals are received by the positioning instruments to the time when the positioning results are output by the positioning instruments, (△ T can generally reach 0.1-0.5S). since the measuring ship is in a moving state all the time during the marine measurement, when the underwater terrain measurement is carried out, the positioning signals received by the underwater terrain measurement navigation acquisition system correspond to the position of the measuring ship before △ T time, and the phenomenon is called the time delay of the positioning signals.
Underwater sound velocity profile: the underwater sound velocity profile refers to the sound velocity at different depths from the sea surface. Influenced by factors such as temperature, salinity and pressure under water, the sound velocity of sound waves under water changes along with the change of water depth, and the change range of the sound velocity under water in seawater is about 1400-1700 m/s.
Tidal harmonic constant: the mean amplitude and lag for each partial tide resolved from the measured tidal data. Also known as the moisture-dividing harmonic constant. Called harmonic constant for short. After the tide harmonic constant is calculated, the ocean tide can be forecasted through a tide forecasting algorithm, the tide type is judged, and the water depth measurement depth reference plane is calculated.
And (3) a tide forecasting algorithm: the ocean tide phenomenon can be regarded as the superposition of a series of partial tides with different periods of hypothetical celestial bodies. The moon equilibrium tide height formula and the sun equilibrium tide height formula can be used for deriving a tide height expression of each partial tide:
h＝Rcos[ωt+(Vo+U)]
in the formula, h is the moisture separation tide height; r is the theoretical amplitude of partial tide (i.e. half-tide differential); omega is the angular rate of the partial tide; when t is the longitude place of the survey station, ω t is the phase angle in time measurement; vo + U is the astronomical initial phase angle of the tide, and is calculated according to 1 month and 1 day green mean time 0 every year.
According to the equilibrium tide theory, when the climax of any partial tide should occur at the upper (lower) midday time of the hypothetical celestial body, i.e., the phase angle [ ω t + (Vo + U) ], is 0, the climax of the offshore actual tide occurs a period of time (i.e., the climax gap) after the upper (lower) midday of the moon due to the sea floor friction, the seawater inertia, and the like. The tide height at a certain moment is required to be obtained, a correction angle K is required to be added, namely, a K value delay is assumed to exist in the phase angle of each partial tide, namely, the time when the actual partial tide is higher than the equilibrium tide height is behind K/omega hour. K is called local or lag. The above formula should be:
h＝Rcos[ωt+(Vo+U)－K]
wherein R is a variable, and R is fH, if it is replaced by a yearly average (mean amplitude). f is the amplitude correction value of the partial tide, and is called node factor or amplitude factor; f is a function of time, usually taken in the middle of a year, say green 7, 2, 12 (leap years taken 0), and is calculated year by year for each split tide. [ ω t + (Vo + U) -K ] is a tide-dividing phase angle, and is expressed by the local time of the longitude of the survey station (the conversion of Green time, zone time and local time is time and zone time), and the final expression of tide-dividing tide height is as follows:
h＝fHcos[ωt+(Vo+U)－K]
namely: the tide height H of the partial tide at a certain time t can be calculated by H and K of each partial tide, wherein the H and K are harmonic constants.
The tide height is determined according to the harmonic constant, 11 tide divisions including 4 full-day tide divisions, 4 half-day tide divisions and 3 shallow water tide divisions are usually selected for observation, each tide division is drawn into a cosine curve, h is Rcos (omega t-Q), R and Q are actual amplitude and lag, and the superimposed curve can reflect the complex actual tide process. The tidal harmonic constant varies from place to place, but is constant for a fixed survey station.
And (3) tide observation: tidal observation is commonly referred to as water level observation, also known as tidal signature. The purpose of tidal observation is to know the local tidal properties, use the obtained tidal observation data, calculate the tidal harmonic constant, average sea level, depth datum plane, tidal forecast of the area, provide water level correction numbers for measuring different moments, and the like, and supply the data to military departments, traffic departments, aquatic departments, surveying and mapping departments. Tidal observation typically records tidal values at a time as data for tidal corrections. Two hours before and after the high tide and the low tide, the time interval is recorded to be shorter, and is generally recorded once for 10 minutes. In the case of a flat tide, the recorded time interval may be suitably extended. The most common tidal observation used in underwater topography measurements at sea is manual recording of tidal height via a water gauge standing at sea.
The invention has the beneficial effects that: the simulated underwater topography measurement signal generated by the simulator provides a vivid water depth measurement simulated environment and a simulated measuring instrument for a user, so that an operator can conveniently perform simulated measurement on a measurement area, and the simulated measurement result can be processed by universal water depth data analysis software, thereby realizing the simulated training function of the underwater topography measurement method; in addition, a scientific research institution can also verify the underwater terrain data processing algorithm according to the simulation measurement result generated by the simulator.
Drawings
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a schematic diagram of a simulation process for simulating the position of a survey vessel;
FIG. 3 is a schematic diagram of a satellite positioning signal simulation algorithm;
FIG. 4 is a schematic diagram of a water depth measurement signal simulation algorithm;
fig. 5 is a connection structure diagram of the underwater topography measurement simulator.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the following description is made with reference to the accompanying drawings and specific examples.
The invention aims to simulate the whole process of underwater topography measurement, can control and simulate a measurement ship to sail, and provides the position of the measurement ship and water depth data of the position for an upper computer provided with underwater topography measurement navigation acquisition software in real time. An underwater topography measurement simulation method comprises the following specific steps:
step 1: a user changes the simulated speed and rudder angle of the simulated survey ship through the survey ship simulated controller, and the underwater topography survey simulator calculates the position of the simulated survey ship through a position simulation algorithm under the control of a clock in the system according to the speed and rudder angle input from the survey ship simulated controller;
step 2: the underwater topography measurement simulator generates a GPS positioning signal with a delay effect according to the position of the simulated measurement ship through a positioning signal simulation algorithm, and sends the GPS positioning signal to an upper computer through a serial port in a required format in a positioning period defined by a user;
and step 3: the underwater topography measurement simulator generates a sound wave emission direction of a depth finder corresponding to the attitude of the measurement ship at the current moment under the control of a clock in the system according to the sea condition level set by a user through a measurement ship attitude simulation algorithm;
and 4, step 4: the underwater topography measurement simulator calculates the instantaneous tide water level height according to the tide harmonic constant stored in the database through a tide forecasting algorithm, and displays the instantaneous tide water level height on a screen of the underwater topography measurement simulator according to a period defined by a user.
And 5: the underwater topography measurement simulator calculates the measurement result of the instantaneous water depth according to the position of the simulated measurement ship, the sound wave emission direction of the depth finder and the underwater topography simulation basic data stored in the database through a water depth simulation algorithm, and sends the measurement result of the instantaneous water depth to an upper computer provided with underwater topography measurement navigation acquisition software through a serial port according to a format and a period defined by a user.
Further, the position simulation algorithm is based on the position (X0, Y0) of the simulated survey ship at the time T0 and a heading angle β 0, the ship speed V0 and the rudder angle α 0 input by a user, the tidal current speed Vr set by the user, and the tidal current direction
The method comprises the following steps of calculating the position (X1, Y1) of a simulated measuring ship at the time T1 by using the tidal current direction change speed omega, the tidal current direction random disturbance value Rt and the simulated measuring ship steering sensitivity S, wherein the specific algorithm is as follows:
β1＝(β0+V0*△t*α0*S)Mod 360；
t0 and T1 are two adjacent simulation moments, T1 is T0+ △ T, △ T is a clock period defined by a user, and the default time is 0.1 second;
the default value of the steering sensitivity S is 0.5, and can be set to any value between {0.1, 0.3, 0.5, 0.7, 0.9 and 1.0} by a user;
the default value of the tidal current direction change speed omega is 0.1 degree/second, and can be set to any one value of {0.1, 0.3 and 0.5} by a user;
the power flow direction random disturbance value Rt takes a random number which is uniformly distributed between-2.0 degrees and +2.0 degrees.
Further, the positioning signal simulation algorithm is used for generating a GPS positioning signal with a delay effect according to the delay time set by a user and the current position of the measuring ship. The specific algorithm is as follows:
step 2.1: defining a one-way linked list to store the positions of the measuring ships, wherein each item of content in the linked list is the position (X, Y) of the measuring ship;
step 2.2, calculating the positions X and Y of the measuring ship once by the system according to a position simulation algorithm every time the system passes a self-defined clock period △ t, and inserting the positions X and Y into the head of the linked list;
step 2.3, if the length of the linked list is greater than N, Td/△ t, deleting the last node of the linked list;
step 2.4: the system takes out the last node of the linked list according to the positioning signal period set by the user, converts the position (X, Y) of the measuring ship contained in the last node into the format required by the upper computer and outputs the format from the serial port 1.
Further, the underwater topography database comprises a water depth data table, a tide harmonic constant table and an underwater sound velocity profile table; the water depth data table stores underwater topography point cloud data of the simulated survey area; the tide harmonic constant table stores 11 tide harmonic constants of the simulated measuring area; the sound velocity profile table stores the sound wave propagation velocity of the simulated measuring area at different depths. The specific structure of each data table is as follows:
(1) water depth data table
(2) Table for tidal harmony constant
(3) Underwater sound velocity profile table
| Name of field | Data type | Remarks for note |
| ID | Int | Self-adding mark |
| Depth of water | Int | Depth of water value |
| Speed of sound | Decimal | Underwater sound velocity value |
Further, the instantaneous tide water level height is calculated according to the tide harmonic constant stored in the database through a tide forecasting algorithm and is displayed on a screen of the underwater topography measurement simulator according to a period defined by a user.
Further, the survey vessel attitude simulation algorithm is a plane coordinate of the sound wave emitted by the analog depth finder in the center of the seabed irradiation range calculated according to the sea state level and the analog survey vessel position set by the user, and the specific algorithm is as follows:
step 3.1: defining the position coordinate of the simulated survey ship as (Xc, Yc,0), inquiring a water depth point P with the minimum distance to the (Xc, Yc) plane from a water depth data table in a database, and taking out a water depth value Zp of the point;
step 3.2: taking the position (Xc, Yc,0) of the simulated measuring ship as a coordinate origin, and calculating the central positions Xr, Yr and Zr of sound waves emitted by the simulated depth finder in the seabed irradiation range when the measuring ship is influenced by sea waves and rolls and pitches according to the following formula;
in the formula, Roll is the Roll angle of the measuring ship, and takes the value of a random number uniformly distributed in an interval [ -3 × G, +3 × G ]; pitch is the Pitch angle of the measuring ship, and takes the value of a random number uniformly distributed in an interval [ -2 × G, +2 × G ]; g is the sea state level set by the user, the value is any one number of [0,1,2,3,4 and 5], and the default value is 0;
step 3.3: calculating the plane position coordinate (Xcent, Ycent) of sound wave emitted by the depth finder in the center of the seabed irradiation area according to the following formula
And Th is the height of the tide at the current moment, and is calculated by a tide forecasting algorithm according to a harmonic constant in the database.
Further, the water depth simulation method is to calculate instantaneous water depth measurement result data obtained by measurement according to the central position of the sound wave emitted by the depth finder in the seabed irradiation range, underwater topography basic data and a sound wave beam angle set by a user, and the specific algorithm is as follows:
step 5.1: according to a beam angle theta set by a user, the water depth Zp at the position of the measuring ship and the instantaneous tide height Th, calculating the radius R (Zp + Th) tan (theta) of the irradiation range of the sound wave emitted by the analog depth finder on the seabed;
step 5.2: selecting 4 candidate points P1 (X) with (Xcent, Ycent) as the centerP1，YP1)，P2(XP2，YP2)，P3(XP3，YP3)，P4(XP4，YP4) Wherein:
step 5.3: respectively searching all neighborhood water depth points with the plane distance smaller than R/2 from each candidate point in a water depth data table of the database, calculating the plane distance between each candidate point and each neighborhood water depth point of the candidate point, and finally calculating the water depths Z1, Z2, Z3 and Z4 of the four candidate points P1, P2, P3 and P4 through an inverse distance weighted interpolation algorithm;
step 5.4: respectively calculating the distances between the four candidate points and the position (Xc, Yc,0) of the analog depth finder according to the plane coordinates and the water depth of the four candidate points
i is 1,2,3, 4; and choose the smallestOne Di is used as the water depth value D of the current position;
step 5.5: calculating the total propagation time T from emission to reception of the sound wave corresponding to the water depth D according to the underwater sound velocity data stored in the database,
wherein i corresponds to the sequence number of the deep water layer calculated from the sea surface, m is the sequence number of the deep water layer corresponding to the depth D, △ Hi is the distance between the ith layer and the (i + 1) th layer and is obtained by subtracting the corresponding depths of the two layers in the database, and ViAnd Vi+1The underwater sound velocities of the ith layer and the (i + 1) th layer are respectively;
step 5.6: calculating instantaneous bathymetry
Where Vs is the user-set underwater average speed of sound.
On the other hand, the technical scheme provided by the application is that the underwater topography measurement simulator comprises underwater topography measurement simulation software, an underwater topography simulation database, underwater topography measurement simulation equipment and a measuring ship simulation manipulator on a logic structure.
The underwater topography measurement simulation software is installed in the underwater topography measurement simulation equipment and used for receiving ship speed and rudder angle data sent by a user through a ship measurement simulation controller, calculating an instantaneous water depth signal and a satellite positioning signal in real time according to the data and basic data stored in an underwater topography simulation database, and sending the instantaneous water depth signal and the satellite positioning signal to an underwater topography measurement navigation acquisition system through a serial port on the equipment;
the underwater topography simulation database is used for providing various basic data of calculation simulation data for underwater topography measurement simulation software, and the basic data comprises underwater topography point cloud data of a simulation measurement area and a tidal harmonic constant of the simulation measurement area;
the underwater topography measurement simulation device is used for installing underwater topography measurement simulation software and an underwater topography simulation database, the device comprises a liquid crystal display screen, three USB interfaces, four serial interfaces and an RJ-45 network interface, the device internally comprises a mainboard and a hard disk, and a CPU, a memory and a display card are integrated on the mainboard; the underwater topography measurement simulation equipment is used for operating underwater topography measurement simulation software and providing an interface for sending data to the outside; the liquid crystal display is used for displaying the ship speed, the course, the rudder angle, the beam angle, the tidal current flow speed, the tidal current flow direction, the tidal height and the simulator working state information in real time;
the measuring ship simulation controller is a standard windows game joystick (steering wheel), is used for providing a platform for a user to operate the simulation measuring ship, and is connected to the underwater topography measuring simulation equipment through a USB transmission line; the user can change the speed and rudder angle of the simulated survey ship through the buttons on the survey ship simulated manipulator, and can also set various parameters of the simulator through the buttons on the manipulator.
The technical scheme of the underwater topography measurement simulator is as follows:
as shown in fig. 1, the simulator includes a survey vessel simulation control module, a simulation survey vessel position simulation module, a simulation survey vessel attitude simulation module, a tide simulation module and a water depth simulation module in terms of software structure. All modules work cooperatively and output water depth and position data according to a period designated by a user.
When the underwater topographic survey navigation collecting software works, the water depth measuring simulator is connected with an upper computer provided with the underwater topographic survey navigation collecting software through a serial port line. And then, generating the ship speed and rudder angle of the simulated survey ship in real time by the survey ship simulation controller, and controlling the simulated survey ship to sail according to the planned survey line. The position simulation module automatically generates a corresponding GPS positioning signal according to the position of the analog measuring ship, the attitude simulation module calculates an irradiation area of the analog depth finder for transmitting sound waves on the seabed according to sea conditions set by a user, and the tide simulation module calculates the tide height corresponding to the current moment according to a tide harmonic constant stored in the database. And the water depth simulation module calculates the corresponding measured water depth according to the simulation result, and finally sends the water depth signal and the GPS signal to the navigation acquisition system simultaneously to complete the water depth measurement simulation.
The functions of the software modules are as follows:
(1) the measuring ship simulation control module: the main function of the analog control module of the measuring ship is to control the analog measuring ship to advance in the analog measuring area according to the direction designated by the user under a certain sea condition and output the instantaneous position of the analog measuring ship. The simulation principle and process of the position of the simulated measuring ship are shown in figure 2.
(2) The measuring ship position simulation module: the core of the simulation module for measuring the ship position is to correctly reflect the set GPS signal delay time in the output simulation signal. For a survey vessel in motion, the given GPS position will always be delayed for a period of time, approximately 0.1 to 0.5 seconds, due to the computing power of the GPS device itself. The GPS signal simulation module stores the received positions of the measuring ships in a linked list with fixed length according to the time sequence. Every second when the signal is output, the delayed GPS coordinates are looked up according to the linked list, the principle of which is shown in fig. 3.
(3) The survey ship posture simulation module: the main function of the survey vessel attitude simulation module is to simulate the range of the wave beam emitted by the depth finder in the seabed irradiation area under the influence of sea surface storms. The simulator calculates the instantaneous roll angle and the pitch angle of the sound wave transmitted by the analog depth finder according to the sea condition set by the user, and further calculates the range of the wave beam transmitted by the depth finder in the seabed irradiation area according to the current position of the analog measuring vessel
(4) The tide simulation module: the tidal simulation module functions to simulate the instantaneous tidal height corresponding to the current moment. The tidal simulation module calculates the instantaneous tidal height by a tidal forecast algorithm and tidal harmonic constants stored in a database.
(5) A water depth measurement signal simulation module: the water depth measurement signal simulation module is based on the principle that the direction of a simulated ultrasonic wave beam is determined according to the current sea state, the beam range irradiated by a measuring ship at the water bottom is calculated according to the position of the measuring ship, 4 candidate points are determined in the beam range, the water depth at the position of each candidate point is calculated according to the water depth point in the neighborhood of each candidate point through an inverse distance weighting interpolation algorithm, then the slant distance from each candidate point to a transducer is calculated, the minimum one is selected, and the current tidal height is added to serve as the measured water depth. The principle is shown in fig. 4.
The embodiment has the characteristics that: and simulating and generating water depth and position signals output by a depth finder and a GPS receiver in underwater topography measurement through an underwater topography measurement simulator, and simulating to control the operation of the survey vessel. The method specifically comprises the following steps: (1) operating the analog measurement ship to navigate through the analog measurement ship control equipment; (2) continuously outputting a simulated measuring ship position signal in the navigation of the simulated measuring ship through a custom algorithm; (3) and continuously outputting a water depth signal in the navigation of the simulated measuring ship through a custom algorithm.
An underwater topography measurement simulator comprises underwater topography measurement simulation software, an underwater topography simulation database, underwater topography measurement simulation equipment and a measuring ship simulation manipulator on a logic structure.
The underwater topography measurement simulation software is installed in the underwater topography measurement simulation equipment and used for receiving ship speed and rudder angle data sent by a user through a ship measurement simulation controller, calculating an instantaneous water depth signal and a satellite positioning signal in real time according to the data and basic data stored in an underwater topography simulation database, and sending the instantaneous water depth signal and the satellite positioning signal to an underwater topography measurement navigation acquisition system through a serial port on the equipment;
the underwater topography simulation database is used for providing various basic data of calculation simulation data for underwater topography measurement simulation software, and the basic data comprises underwater topography point cloud data of a simulation measurement area and a tidal harmonic constant of the simulation measurement area; the underwater topography measurement simulation device is used for installing underwater topography measurement simulation software and an underwater topography simulation database, the device comprises a liquid crystal display screen, three USB interfaces, two serial interfaces and an RJ-45 network interface, the device internally comprises a mainboard and a hard disk, and a CPU, a memory and a display card are integrated on the mainboard; the underwater topography measurement simulation equipment is used for operating underwater topography measurement simulation software and providing an interface for sending data to the outside; the liquid crystal display is used for displaying the ship speed, the course, the rudder angle, the beam angle, the tidal current flow speed, the tidal current flow direction, the tidal height and the simulator working state information in real time; the measuring ship simulation control equipment is used for controlling the simulation measuring ship to sail according to a planned survey line by a user; the analog measuring boat control equipment is a WINDOWS game rocker in the form of a steering wheel, and in the invention, the functions of all buttons on the rocker are as follows: button 1: reducing the beam angle of the sound wave; button 2: increasing the sea condition level of the simulation test area; button 3: reducing the sea condition level of the simulation test area; button 4: increasing the beam angle of the sound wave; button 5: increasing the speed of the simulation measuring ship; button 6: reducing the speed of the simulated measurement ship; button 7: stopping simulation; button 8: starting simulation; button 9: reducing the GPS signal delay time; button 10: increasing the GPS signal delay time; visual helmet button: increasing the tidal flow velocity of the simulated survey area; visual helmet lower button: reducing the tidal flow velocity of the simulated survey area; visual helmet left button: reducing the tidal current direction of the simulation measuring area; visual helmet right button: increasing the tidal current direction of the simulation test area; steering wheel left button: the rudder angle is increased towards the port direction; steering wheel right button: the rudder angle increases toward the starboard direction.
When the simulation is carried out, a user changes the rudder angle of the simulation measuring ship through a steering wheel on the controller, and the speed of the simulation measuring ship is set through a gear lever on the controller, so that the simulation measuring ship is controlled to sail along the air route designed by the user. Other buttons are used to set system simulation parameters.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (8)
1. The underwater topography measurement simulation method is characterized by comprising the following steps:
step 1: the user changes the ship speed and rudder angle of the simulated measuring ship through the measuring ship simulation controller, and the underwater topography measuring simulator calculates the position of the simulated measuring ship through a position simulation algorithm according to the ship speed and rudder angle of the simulated measuring ship and the period defined by the user under the control of the internal clock of the system;
step 2: the underwater topography measurement simulator generates a GPS positioning signal with a delay effect according to the position of the simulated measurement ship through a positioning signal simulation algorithm, and sends the GPS positioning signal to an upper computer through a serial port according to a positioning period defined by a user;
and step 3: the underwater topography measurement simulator generates a sound wave emission direction of a depth finder corresponding to the current ship attitude measurement according to a simulation algorithm of the ship attitude measurement, sea condition levels set by a user and a period defined by the user under the control of a clock in the system;
and 4, step 4: calculating the instantaneous tide water level height by the underwater topography measurement simulator according to the tide harmonic constant stored in the database through a tide forecasting algorithm, and displaying the instantaneous tide water level height on a screen of the underwater topography measurement simulator according to a period defined by a user;
and 5: the underwater topography measurement simulator calculates the measurement result of the instantaneous water depth according to the position of the simulated measurement ship, the attitude of the simulated measurement ship and the underwater topography simulation basic data stored in the database through a water depth simulation algorithm, and sends the measurement result of the instantaneous water depth to an upper computer provided with underwater topography measurement navigation acquisition software according to a format and a period defined by a user through a serial port.
2. The underwater topography measurement simulation method according to claim 1, wherein the position simulation algorithm is based on the position (X0, Y0) of the simulated survey vessel at time T0 and a heading angle β 0, a vessel speed V0 and a rudder angle α 0 inputted by a user, a tidal current speed Vr set by the user, a tidal current direction and a direction of the tidal current
The method comprises the following steps of calculating the position (X1, Y1) of a simulated measuring ship at the time T1 by using the tidal current direction change speed omega, the tidal current direction random disturbance value Rt and the simulated measuring ship steering sensitivity S, wherein the specific algorithm is as follows:
β1＝(β0+V0*△t*α0*S)Mod 360；
t0 and T1 are two adjacent simulation moments, T1 is T0+ △ T, △ T is a clock period defined by a user, and the default time is 0.1 second;
the default value of the steering sensitivity S is 0.5, and can be set to any value between {0.1, 0.3, 0.5, 0.7, 0.9 and 1.0} by a user;
the default value of the tidal current direction change speed omega is 0.1 degree/second, and can be set to any one value of {0.1, 0.3 and 0.5} by a user;
the power flow direction random disturbance value Rt takes a random number which is uniformly distributed between-2.0 degrees and +2.0 degrees.
3. The underwater topography measurement simulation method according to claim 1, characterized in that: the positioning signal simulation algorithm is used for generating a GPS positioning signal with a delay effect according to the delay time Td set by a user and the current position of the measuring ship; the specific algorithm is as follows:
step 2.1: defining a one-way linked list to store the positions of the measuring ships, wherein each item of content in the linked list is the position (X, Y) of the measuring ship;
step 2.2, calculating the position (X, Y) of the measuring ship once by the system according to a position simulation algorithm every time the system passes a self-defined clock period △ t, and inserting the position (X, Y) into the head of the linked list;
step 2.3, if the length of the linked list is greater than N, Td/△ t, deleting the last node of the linked list;
step 2.4: the system takes out the last node of the linked list according to the positioning signal period set by the user, converts the position (X, Y) of the measuring ship contained in the last node into the format required by the upper computer and outputs the format from the serial port 1.
4. The underwater topography measurement simulation method according to claim 1, characterized in that: the database comprises a water depth data table, a tide harmonic constant table and a sound velocity profile table; the water depth data table stores underwater topography point cloud data of the simulated survey area; the tide harmonic constant table stores 11 tide harmonic constants of the simulated measuring area; the sound velocity profile table stores the sound wave propagation velocity of the simulated measuring area at different depths.
5. The underwater topography measurement simulation method according to claim 1, characterized in that: the attitude simulation algorithm of the measuring vessel is used for calculating the plane coordinate of the sound wave emitted by the analog depth finder in the center of the seabed irradiation range according to the sea state level and the position of the analog measuring vessel set by a user, and comprises the following specific algorithms:
step 3.1: defining the position coordinate of the simulated survey ship as (Xc, Yc,0), inquiring a water depth point P with the minimum distance to the (Xc, Yc) plane from a water depth data table in a database, and taking out a water depth value Zp of the point;
step 3.2: taking the position (Xc, Yc,0) of the simulated measuring ship as a coordinate origin, and calculating the central positions Xr, Yr and Zr of sound waves emitted by the simulated depth finder in the seabed irradiation range when the measuring ship is influenced by sea waves and rolls and pitches according to the following formula;
in the formula, Roll is the Roll angle of the measuring ship, and takes the value of a random number uniformly distributed in an interval [ -3 × G, +3 × G ]; pitch is the Pitch angle of the measuring ship, and takes the value of a random number uniformly distributed in an interval [ -2 × G, +2 × G ]; g is the sea state level set by the user, the value is any one number of [0,1,2,3,4 and 5], and the default value is 0;
step 3.3: calculating the plane position coordinates (Xcent, Ycent) of the sound waves emitted by the depth finder in the center of the seabed irradiation area according to the following formula;
and Th is the height of the tide at the current moment, and is calculated by a tide forecasting algorithm according to a harmonic constant in the database.
6. The underwater topography measurement simulation method according to claim 1, characterized in that: the water depth simulation method is characterized in that instantaneous water depth measurement result data obtained by measurement is calculated according to the central position of a sound wave emitted by a depth finder in a seabed irradiation range, underwater topography basic data and a sound wave beam angle set by a user, and the specific algorithm is as follows:
step 5.1: according to a beam angle theta set by a user, the water depth Zp at the position of the measuring ship and the instantaneous tide height Th, calculating the radius R (Zp + Th) tan (theta) of the irradiation range of the sound wave emitted by the analog depth finder on the seabed;
step 5.2: selecting 4 candidate points P1 (X) with (Xcent, Ycent) as the centerP1，YP1)，P2(XP2，YP2)，P3(XP3，YP3)，P4(XP4，YP4) Wherein:
step 5.3: respectively searching all neighborhood water depth points with the plane distance smaller than R/2 from each candidate point in a water depth data table of the database, calculating the plane distance between each candidate point and each neighborhood water depth point of the candidate point, and finally calculating the water depths Z1, Z2, Z3 and Z4 of the four candidate points P1, P2, P3 and P4 through an inverse distance weighted interpolation algorithm;
step 5.4: respectively calculating the positions of the four candidate points and the analog depth finder according to the plane coordinates and the water depth of the four candidate pointsDistance between (Xc, Yc,0)
i is 1,2,3, 4; selecting the smallest Di as a water depth value D of the current position;
step 5.5: calculating the total propagation time T from emission to reception of the sound wave corresponding to the water depth D according to the underwater sound velocity data stored in the database,
wherein i corresponds to the sequence number of the deep water layer calculated from the sea surface, m is the sequence number of the deep water layer corresponding to the depth D, △ Hi is the distance between the ith layer and the (i + 1) th layer and is obtained by subtracting the corresponding depths of the two layers in the database, and ViAnd Vi+1The underwater sound velocities of the ith layer and the (i + 1) th layer are respectively;
step 5.6: calculating instantaneous bathymetry
Where Vs is the user-set underwater average speed of sound.
7. The underwater topography measurement simulator is characterized in that:
the underwater topography measurement simulator comprises underwater topography measurement simulation software, an underwater topography simulation database, underwater topography measurement simulation equipment and a measuring ship simulation controller on a logical structure;
the underwater topography measurement simulation software is installed in the underwater topography measurement simulation equipment and used for receiving ship speed and rudder angle data sent by a user through a ship measurement simulation controller, calculating an instantaneous water depth signal and a satellite positioning signal in real time according to the data and basic data stored in an underwater topography simulation database, and sending the instantaneous water depth signal and the satellite positioning signal to an underwater topography measurement navigation acquisition system through a serial port on the equipment;
the underwater topography simulation database is used for providing various basic data of calculation simulation data for underwater topography measurement simulation software, and the basic data comprises underwater topography point cloud data of a simulation measuring area, a tidal harmonic constant of the simulation measuring area and underwater sound velocity profile data of the simulation measuring area;
the underwater topography measurement simulation device is used for installing underwater topography measurement simulation software and an underwater topography simulation database, the device comprises a liquid crystal display screen, three USB interfaces, four serial interfaces and an RJ-45 network interface, the device internally comprises a mainboard and a hard disk, and a CPU, a memory and a display card are integrated on the mainboard; the underwater topography measurement simulation equipment is used for operating underwater topography measurement simulation software and providing an interface for sending data to the outside; the liquid crystal display is used for displaying the ship speed, the course, the rudder angle, the beam angle, the tidal current flow speed, the tidal current flow direction, the tidal height and the simulator working state information in real time;
the measuring vessel simulation manipulator is used for providing equipment for operating the simulation measuring vessel for a user and is connected to the underwater topography measuring simulation equipment through a USB transmission line; the user changes the speed and rudder angle of the simulated survey ship through the buttons on the survey ship simulated controller, and sets various parameters of the simulator through the buttons on the controller.
8. The underwater topography measurement simulator of claim 7, wherein: the measuring ship simulation manipulator is a rocker, a steering wheel or a keyboard.
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