CN108828170B - Mariculture dissolved oxygen concentration acquisition device and method with multi-protocol output - Google Patents
Mariculture dissolved oxygen concentration acquisition device and method with multi-protocol output Download PDFInfo
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- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 title claims abstract description 77
- 229910052760 oxygen Inorganic materials 0.000 title claims abstract description 77
- 239000001301 oxygen Substances 0.000 title claims abstract description 77
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- 238000009364 mariculture Methods 0.000 title claims abstract description 26
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- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 3
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Abstract
The invention discloses a mariculture dissolved oxygen concentration acquisition device with multi-protocol output and a method, and particularly relates to the technical field of mariculture dissolved oxygen concentration monitoring. The mariculture dissolved oxygen concentration acquisition device with multi-protocol output comprises a microcontroller, wherein a filtering unit is arranged in the microcontroller, the input end of the microcontroller is connected with a dissolved oxygen concentration sensor, an AD conversion circuit is arranged between the dissolved oxygen concentration sensor and the microcontroller, and the output end of the microcontroller outputs a voltage signal output end, a controllable current output end, a TTL level output end and a serial port which correspond to the dissolved oxygen concentration; signals which are measured by the dissolved oxygen concentration sensor and contain measurement noise enter the micro controller after being converted by the AD conversion circuit, the micro controller carries out self-adaption on the signals to obtain accurate filter values, and the filter values are converted into voltage signals, controllable currents, TTL level signals and serial port signals to be output after being processed by the micro controller.
Description
Technical Field
The invention relates to the technical field of mariculture dissolved oxygen concentration monitoring, in particular to a mariculture dissolved oxygen concentration acquisition device with multi-protocol output and a method.
Background
Mariculture is a huge industry, meets the requirements of people on marine products, and the demand of the marine products is increasing along with the continuous improvement of the living standard of people. In marine farming, dissolved oxygen concentration is a very critical mariculture parameter, which is mainly measured by sensor means. With the informatization and automation development of mariculture, the requirement on a mariculture parameter measuring sensor is higher and higher, at present, a dissolved oxygen sensor on the market generally has larger measuring error, and is not beneficial to the refined management of mariculture, and meanwhile, the dissolved oxygen sensor on the market has fewer output protocols and is inconvenient to integrate.
Disclosure of Invention
The invention aims to overcome the defects and provides a multi-protocol output mariculture dissolved oxygen concentration acquisition device and method which can improve the measurement precision and can output multiple protocols to a measurement structure.
The invention specifically adopts the following technical scheme:
a mariculture dissolved oxygen concentration acquisition device with multi-protocol output comprises a microcontroller, wherein a filtering unit is arranged in the microcontroller, the input end of the microcontroller is connected with a dissolved oxygen concentration sensor, an AD conversion circuit is arranged between the dissolved oxygen concentration sensor and the microcontroller, and the output end of the microcontroller outputs a voltage signal output end, a controllable current output end, a TTL level output end and a serial port corresponding to the dissolved oxygen concentration; signals which are measured by the dissolved oxygen concentration sensor and contain measurement noise enter the micro controller after being converted by the AD conversion circuit, the micro controller carries out self-adaption on the signals to obtain accurate filter values, and the filter values are converted into voltage signals, controllable currents, TTL level signals and serial port signals to be output after being processed by the micro controller.
Preferably, the dissolved oxygen sensor is a dissolved oxygen concentration sensor that outputs an analog quantity.
Preferably, the dissolved oxygen sensor is a dissolved oxygen concentration sensor that outputs a digital quantity.
Preferably, the value filtered by the filtering unit can be output through the TTL level output port, or can be output through any I/O port by using a microcontroller, and the output protocol is: and waiting for the client to pull down the I/O port, outputting the TTL level of 8 machine periods by the microcontroller to represent the integer part of the dissolved oxygen concentration, outputting the TTL level of 8 machine periods to represent the decimal part of the dissolved oxygen concentration, and finishing the pull-up of the I/O port level.
Preferably, the digital value filtered by the filtering unit outputs a voltage signal through a DA conversion circuit.
The mariculture dissolved oxygen concentration acquisition method with the multi-protocol output adopts the mariculture dissolved oxygen concentration acquisition device with the multi-protocol output, and the filtering unit processes acquired signals by adopting adaptive Kalman filtering, and specifically comprises the following steps:
respectively establishing a state equation and a measurement equation of the dissolved oxygen concentration, wherein the equations are shown in formulas (1) and (2):
X(k+1)＝FX(k)+w(k) (1)
Z(k+1)＝HX(k+1)+v(k+1) (2)
wherein, X (k +1) and X (k) are dissolved oxygen concentration values at the time k +1 and the time k, respectively, F represents a state transition matrix, which represents a relationship between the dissolved oxygen concentration value at the time k +1 and the dissolved oxygen concentration value at the time k, and the dissolved oxygen concentration in the seawater cannot be changed suddenly, where F is 1, H is a system measurement matrix, which represents a gain of a target state variable to a measurement variable, H is 1, w (k), v (k +1) is process noise and measurement noise, a mean value is zero, and white gaussian noise which is irrelevant to each other is taken, and variances are Q and R, respectively;
the Kalman filtering process comprises two recursion links of state prediction and state updating, and specifically comprises the following steps:
and (3) state prediction:
the predicted value based on the last filtered value is found according to equation (3):
the error covariance of the prediction is found from equation (4):
P(k+1|k)＝FP(k|k)FT+Q(k) (4)
and (3) updating the state:
calculating a kalman filter gain according to equation (5):
k(k+1)＝P(k+1|k)·HT[HP(k+1|k)HT+R]-1 (5)
calculating the filtering value at the moment K +1 according to the formula (6), which is the output value, to minimize the mean square error of measurement and prediction,
wherein,
is an innovation sequence;
updating a state estimation error covariance matrix:
the covariance of the filtering error is obtained, the filtering recursion is completed according to the formula (7),
P(k+1|k+1)＝(I-KH)P(k+1|k)(I-KH)T+KRKT (7)
the measured noise variance R in the formula (7) adopts a fixed value; the process noise self-adaptive mode is calculated, and the specific calculation process is as follows:
defining innovation and residual error in the Kalman filtering of the transformation coordinate as formulas (8) and (9)
Obtaining d (k +1) -epsilon (k +1) ═ H (e (k +1| k +1) -e (k +1| k)' from formula (8) and formula (9)
According to the innovation and residual orthogonal principle, the method comprises the following steps:
E[(d(k+1)-ε(k+1))(d(k+1)-ε(k+1))T]＝H(e(k+1|k+1)-e(k+1|k))·(e(k+1|k+1)-e(k+1|k))THT (10)
and (3) simplifying the formula (10) according to the irrelevance between the innovation sequence and the residual sequence to obtain a formula (11):
E(d(k+1)d(k+1)T)+E(ε(k+1)ε(k+1)T)＝HE(e(k+1|k+1)e(k+1|k+1)T)HT+HE(e(k+1|k)e(k+1|k)T)HT＝H(P(k+1|k+1))HT+H(P(k+1|k))HT (11)
obtaining an innovation sequence and a residual sequence in the filtering process, and obtaining the actual variance of the innovation sequence and the residual sequence through a statistical method, namely the following equations (12) and (13):
wherein, M is the width of the estimation window during statistical calculation, and the estimation value of the process noise variance obtained from formulas (4), (11), (12) and (13) is formula (14):
where H is an identity matrix, equation (14) is simplified to equation (15):
therefore, an estimated value of the process variance Q is obtained, and the estimated value is the process variance which should be adopted at the moment K, so that the estimated value of the process variance Q and the variance R of the sensor are adopted to carry out secondary filtering by using the formulas (1) - (4) to obtain an accurate estimated value of the dissolved oxygen concentration.
The invention has the following beneficial effects:
the microcontroller of the mariculture dissolved oxygen concentration acquisition device with multi-protocol output is provided with a plurality of protocol outputs, and is convenient for users to call.
The mariculture dissolved oxygen concentration acquisition method with multi-protocol output has the advantages that the measurement result is more accurate and the error is smaller by integrating the filtering algorithm.
Drawings
FIG. 1 is a block diagram of a mariculture dissolved oxygen concentration acquisition device with multi-protocol output;
FIG. 2 is a schematic circuit diagram of a mariculture dissolved oxygen concentration acquisition device with multi-protocol output;
FIG. 3 is a graph comparing test results.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
as shown in fig. 1, a mariculture dissolved oxygen concentration acquisition device with multi-protocol output comprises a microcontroller, wherein a filtering unit is arranged in the microcontroller, the input end of the microcontroller is connected with a dissolved oxygen concentration sensor, an AD conversion circuit is arranged between the dissolved oxygen concentration sensor and the microcontroller, and the output end of the microcontroller outputs a voltage signal output end, a controllable current output end, a TTL level output end and a serial port corresponding to the dissolved oxygen concentration; signals which are measured by the dissolved oxygen concentration sensor and contain measurement noise enter the micro controller after being converted by the AD conversion circuit, the micro controller carries out self-adaption on the signals to obtain accurate filter values, and the filter values are converted into voltage signals, controllable currents, TTL level signals and serial port signals to be output after being processed by the micro controller.
The dissolved oxygen sensor is a dissolved oxygen concentration sensor outputting an analog quantity, or the dissolved oxygen sensor is a dissolved oxygen concentration sensor outputting a digital quantity, or the dissolved oxygen sensor is a combination of a dissolved oxygen concentration sensor outputting an analog quantity and a dissolved oxygen concentration sensor outputting a digital quantity.
The value filtered by the filtering unit can be output through a TTL level output port, or any I/O port can be output by adopting a microcontroller, and the output protocol is as follows: and waiting for the client to pull down the I/O port, outputting the TTL level of 8 machine periods by the microcontroller to represent the integer part of the dissolved oxygen concentration, outputting the TTL level of 8 machine periods to represent the decimal part of the dissolved oxygen concentration, and finishing the pull-up of the I/O port level.
As shown in fig. 2, this diagram is an output signal diagram, a filtered signal is converted into a voltage signal by a DAC0832 (if necessary, a higher precision DA device can be replaced) and a voltage signal by a U3: a operational amplifier, and the voltage signal is converted into a voltage signal by a U3B operational amplifier, which can be called by other applications, and at the same time, after the voltage signal output by U3: a is amplified by a U3: C, U3D forms a voltage comparator, and the switching degree of a MOS transistor is controlled by a driving signal output by U3D, so that a controllable current signal is formed on R9, and U4A is used to adjust the output current. The value filtered by the filtering unit outputs a voltage signal through the DA conversion circuit.
The mariculture dissolved oxygen concentration acquisition method with the multi-protocol output adopts the mariculture dissolved oxygen concentration acquisition device with the multi-protocol output, and the filtering unit processes acquired signals by adopting adaptive Kalman filtering, and specifically comprises the following steps:
respectively establishing a state equation and a measurement equation of the dissolved oxygen concentration, wherein the equations are shown in formulas (1) and (2):
X(k+1)＝FX(k)+w(k) (1)
Z(k+1)＝HX(k+1)+v(k+1) (2)
wherein, X (k +1) and X (k) are dissolved oxygen concentration values at the time k +1 and the time k, respectively, F represents a state transition matrix, which represents a relationship between the dissolved oxygen concentration value at the time k +1 and the dissolved oxygen concentration value at the time k, and the dissolved oxygen concentration in the seawater cannot be changed suddenly, where F is 1, H is a system measurement matrix, which represents a gain of a target state variable to a measurement variable, H is 1, w (k), v (k +1) is process noise and measurement noise, a mean value is zero, and white gaussian noise which is irrelevant to each other is taken, and variances are Q and R, respectively;
the Kalman filtering process comprises two recursion links of state prediction and state updating, and specifically comprises the following steps:
and (3) state prediction:
the predicted value based on the last filtered value is found according to equation (3):
the error covariance of the prediction is found from equation (4):
P(k+1|k)＝FP(k|k)FT+Q(k) (4)
and (3) updating the state:
calculating a kalman filter gain according to equation (5):
k(k+1)＝P(k+1|k)·HT[HP(k+1|k)HT+R]-1 (5)
calculating the filtering value at the moment K +1 according to the formula (6), which is the output value, to minimize the mean square error of measurement and prediction,
wherein,
is an innovation sequence;
updating a state estimation error covariance matrix:
the covariance of the filtering error is obtained, the filtering recursion is completed according to the formula (7),
P(k+1|k+1)＝(I-KH)P(k+1|k)(I-KH)T+KRKT (7)
the measured noise variance R in the formula (7) adopts a fixed value; the process noise self-adaptive mode is calculated, and the specific calculation process is as follows:
defining innovation and residual error in the Kalman filtering of the transformation coordinate as formulas (8) and (9)
Obtaining d (k +1) -epsilon (k +1) ═ H (e (k +1| k +1) -e (k +1| k)' from formula (8) and formula (9)
According to the innovation and residual orthogonal principle, the method comprises the following steps:
E[(d(k+1)-ε(k+1))(d(k+1)-ε(k+1))T]＝H(e(k+1|k+1)-e(k+1|k))·(e(k+1|k+1)-e(k+1|k))THT (10)
and (3) simplifying the formula (10) according to the irrelevance between the innovation sequence and the residual sequence to obtain a formula (11):
E(d(k+1)d(k+1)T)+E(ε(k+1)ε(k+1)T)＝HE(e(k+1|k+1)e(k+1|k+1)T)HT+HE(e(k+1|k)e(k+1|k)T)HT＝H(P(k+1|k+1))HT+H(P(k+1|k))HT (11)
obtaining an innovation sequence and a residual sequence in the filtering process, and obtaining the actual variance of the innovation sequence and the residual sequence through a statistical method, namely the following equations (12) and (13):
wherein, M is the width of the estimation window during statistical calculation, and the estimation value of the process noise variance obtained from formulas (4), (11), (12) and (13) is formula (14):
where H is an identity matrix, equation (14) is simplified to equation (15):
therefore, an estimated value of the process variance Q is obtained, and the estimated value is the process variance which should be adopted at the moment K, so that the estimated value of the process variance Q and the variance R of the sensor are adopted to carry out secondary filtering by using the formulas (1) - (4) to obtain an accurate estimated value of the dissolved oxygen concentration.
As shown in fig. 3, simulation test is performed by the method for collecting dissolved oxygen concentration in mariculture with multi-protocol output, the true value is set to 10.5, the measured value is superimposed with white gaussian noise with the mean value of 0 and the variance of 0.5 on the basis of the true value, F is 1 and H is 1, the measurement result is shown by the method, the curve 1 is the true value, the curve 2 is the measured value, and the curve 3 is the tracking value, and the filtering value is gradually approximated to the true value through analysis, so that the result is more accurate compared with the measured value.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (1)
1. A mariculture dissolved oxygen concentration acquisition method with multi-protocol output adopts a mariculture dissolved oxygen concentration acquisition device with multi-protocol output, the device comprises a microcontroller, a filtering unit is arranged in the microcontroller, the input end of the microcontroller is connected with a dissolved oxygen concentration sensor, an AD conversion circuit is arranged between the dissolved oxygen concentration sensor and the microcontroller, and the output end of the microcontroller outputs a voltage signal output end, a controllable current output end, a TTL level output end and a serial port which correspond to the dissolved oxygen concentration; signals which are measured by the dissolved oxygen concentration sensor and contain measurement noise are converted by an AD conversion circuit and then enter a microcontroller, the microcontroller carries out self-adaptation on the signals to obtain accurate filter values, and the filter values are converted into voltage signals, controllable currents, TTL level signals and serial port signals to be output after being processed by the microcontroller; the filtered signal is subjected to DAC0832 to output a controllable current signal, the current signal is converted into a voltage signal through U3: A operational amplifier and is converted into a voltage signal which can be called by other applications through U3B operational amplifier, meanwhile, after the voltage signal output by U3: A is amplified through U3: C, U3D forms a voltage comparator, the switching degree of an MOS (metal oxide semiconductor) tube is controlled through a driving signal output by U3D, so that a controllable current signal is formed on R9, U4A is used for adjusting the magnitude of output current, and the value filtered by a filtering unit outputs the voltage signal through a DA (digital-to-analog) conversion circuit;
the dissolved oxygen sensor is a dissolved oxygen concentration sensor which outputs analog quantity or digital quantity;
the value filtered by the filtering unit can be output through the output port of TTL level, or output through any I/O port of the microcontroller, and the output protocol is as follows: waiting for the client to pull down the I/O port, outputting a TTL level of 8 machine periods by the microcontroller to represent an integer part of the dissolved oxygen concentration, outputting a TTL level of 8 machine periods to represent a decimal part of the dissolved oxygen concentration, and finishing the level pull-up of the I/O port; the value filtered by the filtering unit outputs a voltage signal through a DA conversion circuit,
the method is characterized in that the filtering unit adopts adaptive Kalman filtering to process the acquired signals, and specifically comprises the following steps:
respectively establishing a state equation and a measurement equation of the dissolved oxygen concentration, wherein the equations are shown in formulas (1) and (2):
X(k+1)＝FX(k)+w(k) (1)
Z(k+1)＝HX(k+1)+v(k+1) (2)
wherein, X (k +1) and X (k) are dissolved oxygen concentration values at the time k +1 and the time k, respectively, F represents a state transition matrix, which represents a relationship between the dissolved oxygen concentration value at the time k +1 and the dissolved oxygen concentration value at the time k, and the dissolved oxygen concentration in the seawater cannot be changed suddenly, where F is 1, H is a system measurement matrix, which represents a gain of a target state variable to a measurement variable, H is 1, w (k), v (k +1) is process noise and measurement noise, a mean value is zero, and white gaussian noise which is irrelevant to each other is taken, and variances are Q and R, respectively;
the Kalman filtering process comprises two recursion links of state prediction and state updating, and specifically comprises the following steps:
and (3) state prediction:
the predicted value based on the last filtered value is found according to equation (3):
the error covariance of the prediction is found from equation (4):
P(k+1|k)＝FP(k|k)FT+Q(k) (4)
and (3) updating the state:
calculating a kalman filter gain according to equation (5):
k(k+1)＝P(k+1|k)·HT[HP(k+1|k)HT+R]-1 (5)
calculating the filtering value at the moment K +1 according to the formula (6), which is the output value, to minimize the mean square error of measurement and prediction,
wherein,
is an innovation sequence;
updating a state estimation error covariance matrix:
the covariance of the filtering error is obtained, the filtering recursion is completed according to the formula (7),
P(k+1|k+1)＝(I-KH)P(k+1|k)(I-KH)T+KRKT (7)
the measured noise variance R in the formula (7) adopts a fixed value; the process noise self-adaptive mode is obtained by calculation, and the specific calculation process is as follows:
defining innovation and residual error in the Kalman filtering of the transformation coordinate as formulas (8) and (9)
Obtaining d (k +1) -epsilon (k +1) ═ H (e (k +1| k +1) -e (k +1| k)' from formula (8) and formula (9)
According to the innovation and residual orthogonal principle, the method comprises the following steps:
E[(d(k+1)-ε(k+1))(d(k+1)-ε(k+1))T]＝H(e(k+1|k+1)-e(k+1|k))·(e(k+1|k+1)-e(k+1|k))THT (10)
and (3) simplifying the formula (10) according to the irrelevance between the innovation sequence and the residual sequence to obtain a formula (11):
E(d(k+1)d(k+1)T)+E(ε(k+1)ε(k+1)T)＝HE(e(k+1|k+1)e(k+1|k+1)T)HT+HE(e(k+1|k)e(k+1|k)T)HT＝H(P(k+1|k+1))HT+H(P(k+1|k))HT (11)
obtaining an innovation sequence and a residual sequence in the filtering process, and obtaining the actual variance of the innovation sequence and the residual sequence through a statistical method, namely the following equations (12) and (13):
wherein, M is the width of the estimation window during statistical calculation, and the estimation value of the process noise variance obtained from formulas (4), (11), (12) and (13) is formula (14):
where H is an identity matrix, equation (14) is simplified to equation (15):
therefore, an estimated value of the process variance Q is obtained, and the estimated value is the process variance which should be adopted at the moment K, so that the estimated value of the process variance Q and the variance R of the sensor are adopted to carry out secondary filtering by using the formulas (1) - (4) to obtain an accurate estimated value of the dissolved oxygen concentration.
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