CN109941404B - Ship dynamic draft precise measurement integrated system and method thereof - Google Patents

Abstract

The invention relates to a ship dynamic draft precision measurement integrated system and a method thereof, belonging to the technical field of water surveying operation. The invention comprises a measuring device integrated on a peripheral supporting firmware of a ship board, GNSS positioning equipment and a communication system which are arranged on the ship; the measuring device is used for transmitting microwave signals to the water surface, returning the signals through the scattering of the water surface and measuring the draft value of a survey ship and comprises a microwave transceiver and a peripheral supporting firmware; the communication system is used for synchronously entering the microwave ranging data and the GNSS acquisition data into the electronic computer; the GNSS positioning equipment is used for synchronously acquiring, transmitting and recording the microwave ranging data in the electronic computer, and the acquisition, recording and ending are the same as those of the microwave ranging transmitting and receiving device and are controlled by the instruction of the electronic computer. The invention has the advantages of simple installation, convenient operation, little influence from external environment, few error influence factors, high precision, operability in both open sea and near sea and strong application expansibility.

Description

Ship dynamic draft precise measurement integrated system and method thereof

Technical Field

The invention relates to a ship dynamic draft precision measurement integrated system and a method thereof, belonging to the technical field of water surveying operation.

Background

Draft generally refers to the depth of a ship immersed in water, i.e., the vertical distance from the bottom of the ship to the junction of the hull and the water surface, which indirectly reflects the buoyancy force experienced by the ship during travel. The ship draft is divided into design draft and structural draft (draft at the static moment), and the design draft is the vertical distance from the lower edge of a flat keel in the middle of the ship body to the upper edge of a designed waterline; the draught of the structure is the vertical distance from the lower edge of the flat keel in the middle of the ship body to the load line of the ship carrying summer. When a ship sails, the draught of the whole or a part of the ship relative to a static moment can change, the change value is called as the dynamic draught value of the ship, and the value has great influence on the fields of marine surveying, channel dredging, military affairs and the like.

General theory of sea-way survey (Liu Yan Chun, Xiao Pai Min, Tuo Jing Yang, etc.) in 6.2 section, the total number of corrections of depth sounders (devices for measuring water depth) is proposed: Δ Z ═ Δ Zb +. Δ Zn +. Δ ZL +. Δ Zv, where Δ Zb refers to the draft correction. Since the depth finder is immersed a certain distance below the water surface, draft correction should be performed. Taking marine surveying as an example, when marine surveying is carried out, an equipment draft value is measured on a ship carrying detection equipment in advance before sailing, the draft value is corrected to an observed value in post-processing to obtain a detection value of the surveying equipment based on the water surface, the ship draft can be dynamically changed along with the comprehensive influence of factors such as load, ship speed, course, flow velocity, flow direction, wind power, wind direction, sea water density, water temperature, region, ship type and the like during the sailing of the ship, the draft of the carried marine detection equipment can be changed by the dynamic change of the ship draft, and the accuracy of the marine surveying can be directly reduced if the value is ignored.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the integrated system and the method for precisely measuring the dynamic draft of the ship, which have the advantages of simple installation, convenient operation, less influence by external environment, less error influence factors, high precision, operability in both open sea and near sea and strong application expansibility.

The invention relates to a precise measurement integrated system for dynamic draft of a ship, which comprises a measuring device integrated on a peripheral supporting firmware of a ship board, GNSS positioning equipment and a communication system, wherein the GNSS positioning equipment and the communication system are arranged on the ship;

the measuring device is used for transmitting microwave signals to the water surface, returning the signals through the scattering of the water surface and measuring the draft value of a survey ship and comprises a microwave transceiver and a peripheral supporting firmware;

the communication system is used for synchronously entering the microwave ranging data and the GNSS acquisition data into the electronic computer;

the GNSS positioning equipment is used for synchronously acquiring, transmitting and recording the microwave ranging data in the electronic computer, and the acquisition, recording and ending are the same as those of the microwave transceiver and are controlled by the instruction of the electronic computer.

Further, peripheral support firmware includes the support base that comprises outer support plate and the internal fixation board that is parallel to each other to and slidable guide and the telescopic screw of setting on the support base, and the telescopic screw passes through slidable guide and connects on the support base, and the telescopic screw includes vertical telescopic link and horizontal telescopic link, vertical telescopic link and horizontal telescopic link mutually perpendicular and between the two slope be connected with oblique stiffener, be provided with the microwave transceiver at horizontal telescopic link's tip.

Furthermore, the front and back, the left and the right sides of the bracket base are both provided with a slidable guide rail and a telescopic screw rod, and the base is locked by bolts after the size of the base is adjusted; the telescopic screw is also designed into an up-down and inside-outside adjustable structure, can be adjusted according to a ship board hull structure, and can extend the microwave transmitting distance measuring transmitting and receiving sensor to the position which is influenced the minimum by ship navigation surge.

The method of the ship dynamic draft precision measurement integrated system comprises the following steps of:

the method comprises the following steps: the microwave transceiver should be installed near the survey equipment, i.e. the 4# position;

step two: the system collects the distance from the microwave ranging sensor to the water surface, sets the sampling frequency to be 1 second, collects for 10 minutes, eliminates jumping points, and calculates the average value as L1;

step three: the ship sails in a specific water area at a constant speed of a supposed speed v1, the system is used for collecting the distance from a microwave ranging sensor to the water surface, setting the sampling frequency to be 1 second, collecting for 10 minutes, eliminating skip points and calculating the average value to be L2;

step four: calculating the difference delta L which is L1-L2, wherein the delta L is the dynamic draft value of the installation position of the surveying equipment under the current water area environment v1 speed of the ship; as the ship can not be guaranteed to be completely static on the floating water surface, the ship speed v at the moment is synchronously recorded, L values under various ship speeds are recorded, and dynamic draft values under 0m/s and other ship speeds are calculated according to a least square method.

The method of the ship dynamic draft precision measurement integrated system comprises the ship dynamic draft precision measurement integrated system, and is characterized by comprising the following steps of:

the method comprises the following steps: 1 microwave transceiver is arranged at 4 positions of 1# -4# near the surveying equipment;

step two: the No. 1 is positioned at the bow position, the No. 2 and the No. 3 are positioned at two ends of a stern line, and the No. 4 is positioned at the position where a ship carries marine surveying equipment;

step three: the dynamic draft value of 4 points at different ship speeds can be obtained in 1# -4# as same as the measurement program of a single microwave transceiver;

step four: the accurate relative position size is obtained by inquiring and acquiring the dimension of the ship-out drawing, a ship dynamic draft three-dimensional model can be established according to the data of each measuring point, and the dynamic draft value of any ship speed and any position in a set environment can be obtained according to the observation condition and the observation data amount.

Preferably, in the fourth step, if the relative position size cannot be obtained, the total station, the range finder, the steel rule, the level bar and the RTK device are adopted to measure the position relative position parameter of each point according to the existing conditions.

The invention has the beneficial effects that: the integrated system and the method for precisely measuring the dynamic draft of the ship have the advantages of powerful comprehensive observation system, simple installation, convenient operation, less influence by external environment, less error influence factors, high precision, operability in both open sea and near sea and strong application expansibility.

Drawings

Fig. 1 is a schematic diagram of a single microwave transceiver.

Fig. 2 is a diagram of a dynamic draft measurement deck system.

FIG. 3 shows a microwave transceiver observation site

FIG. 4 is a signal flow diagram of an integrated system for precision measurement of kinetic draft.

In the figure: 1. a measuring device; 11. an outer support plate; 12. an inner fixing plate; 13. a slidable guide rail; 14. a vertical telescopic rod; 15. An oblique reinforcing rod; 16. a horizontal telescopic rod; 17. a microwave transceiver; 2. a communication system; 3. a GNSS positioning device; 4. an electronic computer.

Detailed Description

In order to make the object and technical solution of the present invention more apparent, the present invention will be further described in detail with reference to the following examples.

Example 1:

the Hai dao measuring Specification GB12327-1998 appendix H specifies two methods for determining the dynamic draught of the transducer of the depth sounder; the 'water transport engineering measurement specification' JTS131-2012 appendix L provides 3 methods for measuring dynamic draft correction number of a depth finder transducer. Both specifications discuss the kinetic draft correction as a separate chapter, and the importance of the kinetic draft correction can be seen.

The microwave is an electromagnetic wave, and is a mechanical wave with speed equal to light speed in vacuum, i.e. v ═ 3 × 10⁸m/s and wavelength of 0.001-0.1 m, little influence by meteorological environmental factors, non-contact, high precision, fast reaction and the like, is widely applied in the aspects of military positioning, traffic transportation speed measurement, marine scientific research, industrial and agricultural production and the like, has mature theory, and is the basis of the distance measuring technology of the invention. The microwave transmitting sensor sends out microwave signals in a directional mode, when the microwave transmitting sensor meets a measured object, part of the microwave signals are absorbed by the measured object, part of the microwave signals are reflected (or scattered), the receiving antenna receives the microwave signals reflected (or scattered) by the measured object, starting and stopping propagation time t can be obtained through microwave detection and electromagnetic wave signal processing, the transmitting sensor and the receiving sensor are approximately at the same position, and the relative distance from the microwave ranging sensor to the measured object (water surface) can be obtained according to the S which is 1/2 vt.

A Global Navigation Satellite System (GNSS) is a radio Navigation positioning System that provides all-weather 3-dimensional coordinates, velocity, and time information to a user at any location on the earth's surface or in the near-earth space using observed quantities such as pseudoranges, ephemeris, Satellite transmission time, and user clock error of a set of satellites. The invention adopts the GNSS technology to provide the ship navigation position and speed information for the system, and becomes the application basis of the dynamic draft measurement under the conditions of multi-water-area environment and multi-navigation speed.

The microwave distance measuring module, the GNSS and the electronic computer 4 adopt serial ports and network communication to realize the real-time transmission, calculation and storage of distance measuring data, positioning and speed data.

As shown in fig. 1 and fig. 2, the invention provides a novel ship dynamic draft measurement system, which is a comprehensive observation system with powerful functions, simple installation, convenient operation, less influence from external environment, less error influence factors, high precision, operability in both open sea and near sea, and strong application expansibility. The ship dynamic draft precision measurement system consists of four modules and is specifically designed as follows:

the system comprises a measuring device 1 integrated on a peripheral supporting firmware on a ship board, GNSS positioning equipment 3 installed on the ship and a communication system 2; the measuring device 1 is used for transmitting microwave signals to the water surface, returning the signals through the scattering of the water surface and measuring the draft value of a survey ship and comprises a microwave transceiver 17 and a peripheral supporting firmware; the communication system 2 is used for synchronously entering the microwave ranging data and the GNSS acquisition data into the electronic computer 4; the GNSS positioning device 3 is used for synchronously acquiring, transmitting and recording the microwave ranging data in the electronic computer 4, and the acquisition, recording and ending are the same as those of the microwave transceiver and are controlled by the instruction of the electronic computer 4.

As shown in fig. 2, the peripheral supporting member includes a support base formed by an outer support plate 11 and an inner fixing plate 12 which are parallel to each other, and a slidable guide rail 13 and a telescopic screw rod which are arranged on the support base, the telescopic screw rod is connected to the support base through the slidable guide rail 13, the telescopic screw rod includes a vertical telescopic rod 14 and a horizontal telescopic rod 16, the vertical telescopic rod 14 and the horizontal telescopic rod 16 are perpendicular to each other, an inclined reinforcing rod 15 is obliquely connected between the vertical telescopic rod 14 and the horizontal telescopic rod 16, and a microwave transceiver 17 is arranged at an end of the horizontal telescopic rod 16. The front and back and the left and right surfaces of the bracket base are provided with a sliding guide rail 13 and a telescopic screw rod, and the base is locked by bolts after the size of the base is adjusted; the telescopic screw is also designed into an up-down and inside-outside adjustable structure, can be adjusted according to a ship board hull structure, and can extend the microwave transmitting distance measuring transmitting and receiving sensor to the position which is influenced the minimum by ship navigation surge.

A microwave transceiver: the microwave signal has strong anti-interference capability to external influencing factors, long measuring distance and strong stability, and simultaneously, the system elements of the microwave sensor can be integrated into a smaller size,the weight of the device is reduced. The emitter emits microwave signals to the water surface, the signals are scattered and returned by the water surface, the sensor receives the signals, the time t of starting and stopping propagation can be obtained through microwave detection and electromagnetic wave signal processing, the time t is recorded in real time, and the microwave propagation speed v (the distance measurement distance is short, and is defined as the propagation speed v in vacuum being 3 multiplied by 10) is obtained according to the time difference between the emission and the reception of the microwave signals and the known microwave propagation speed v⁸m/s) can calculate the real-time distance from the sensor to the water surface, transmits the acquired data to a computer through serial port or network communication, and realizes the control of transmitting, receiving, recording and storing of computer end instructions by means of existing mature serial port/network communication software (or an autonomous writing communication module). The large ship can realize remote transmission through transcoding by a mobile phone card or a high-frequency device; the single device can also be used for adding an independent memory module to the microwave sensor, and the time needs to be calibrated before measurement. The independent dynamic draft measurement deck system part can carry out measurement in a static state and a constant speed state.

According to different surveying tasks, the marine surveying ships have larger draught difference, are similar to domestic largest scientific research series ships such as a Xuelong ship and a sunny red ship, and have draught less than 10 m. The method adopts K-band microwave (Chinese microwave standard: frequency is 18-27GHZ, wavelength is 1.67-1.11cm), is based on a measuring mode of rapid periodic pulse emission, has extremely high short-distance measuring precision, low cost and low power consumption, and is very suitable for measuring the draft value of a marine survey ship.

The GNSS positioning apparatus 3: the GNSS positioning equipment 3 is placed at a proper position (no shielding is required) of the ship, differential signals are not required to be received, positioning, speed and time data are output and set, the positioning, speed and time data and the microwave ranging data are synchronously acquired, transmitted and recorded in the electronic computer 4, the acquisition, recording and finishing are the same as those of the microwave transceiver, and the instruction control is carried out through the electronic computer 4.

Communication system 2: the invention is characterized in that the synchronous entering of microwave ranging data and GNSS collected data into an electronic computer 4 needs to be realized by means of a communication module, data and instruction transmission is carried out on 1 or more microwave transceivers and the GNSS collected data by adopting an RS-232/RS485 serial port and a TCP/IP network communication protocol, two interfaces coexist to improve the system compatibility, and a communication system 2 needs to be equipped when the TCP/IP communication protocol is adopted to enter the data of a plurality of sensors into the same computer. The microwave distance measuring sensor and the GNSS positioning device 3 are both provided with a storage card to prevent the communication cable from being damaged or the ship body from being used under the condition of large span. The computer 4 serves as a command transmitting/receiving end of the communication system 2 by means of communication software.

Peripheral support firmware: microwave transceivers are mounted on board ships, requiring peripheral firmware support. In order to ensure that the invention is suitable for various ship types and does not damage the ship body as much as possible, the front and back surfaces and the left and right surfaces of the fixed ship board support base are provided with the slidable guide rails 13 and the telescopic screw rods, and the base is locked by bolts after the size of the base is adjusted; the bracing piece also designs for upper and lower and inside and outside adjustable structure, can adjust according to ship board hull structure, can extend to sending microwave range finding transmission receiving transducer to receiving the minimum department of influence of ship's navigation surge simultaneously.

Example 2:

the use process of the invention is as follows: when the system of the present invention comprises only a single microwave transceiver, the microwave transceiver should be installed in the vicinity of the survey equipment, i.e., the position # 4 in fig. 3. The system collects the distance from a microwave ranging sensor to the water surface, sets the sampling frequency to be 1 second, collects the distance for 10 minutes, eliminates jump points, and calculates the average value as L1; the ship sails in a specific water area at a constant speed of a supposed speed v1, the system is used for collecting the distance from a microwave ranging sensor to the water surface, setting the sampling frequency to be 1 second, collecting for 10 minutes, eliminating skip points and calculating the average value to be L2; and calculating the difference delta L which is L1-L2, wherein the delta L is the dynamic draft value of the installation position of the surveying equipment at the current water area environment v1 speed of the ship. In scientific research and high-precision application, because the ship can not be completely static on the floating water surface, the ship speed v at the moment is synchronously recorded, L values under various ship speeds are recorded, and dynamic draft values under 0m/s and other ship speeds are calculated according to a least square method.

The system comprises four microwave transceivers for synchronous observation, 1 is respectively arranged at 4 positions of 1# -4# shown in figure 3, 1# is positioned at the bow position, 2# and 3# are positioned at two ends of a stern line, and 4# is positioned at the position of ship carrying marine surveying equipment, and the measuring program is the same as that of a single microwave transceiver, so that the dynamic draft values of 4 points of 1# -4# at different ship speeds can be obtained. The accurate relative position size is obtained by inquiring and obtaining the ship-out drawing size (if the relative position parameters of each point position can not be obtained by adopting equipment such as a total station, a distance meter, a steel rule, a leveling rod, an RTK and the like according to the existing conditions), a ship dynamic draft three-dimensional model can be established according to the data of each point position, and the dynamic draft value of any ship speed and any position in the set environment can be obtained according to the observation conditions and the observation data amount.

Compared with the prior art, the invention solves the problems or has the advantages that:

the Hai Dai measurement Specification GB12327-1998 appendix H specifies two methods for determining dynamic draught:

1) selecting a sea area with flat seabed and harder geology, wherein the water depth is about 7 times of that of ship draft (if the water depth is measured to be shallower, the measurement area is also measured), and the sea area ensures that the ship sails at various speeds; a leveling instrument is erected at a proper position on the shore, a leveling rod is erected at the position of a transducer on a ship, and the leveling instrument can observe the leveling rod and has a dynamic range of about 1 m; a measuring point is arranged in the sea area to be measured, a buoy is arranged at the point, and a cable of the buoy is shortened as much as possible. When the ship is close to the buoy, stopping, observing the leveling rod by using a level gauge from the shore and recording the reading; then the ship passes through one side of the buoy at various ship speeds during measurement (the ship speed is consistent with the original stop point as much as possible), the leveling instrument is used for aligning the reading of the staff gauge on the ship, the influence of tide is removed through the two readings, and the difference value is taken as the sinking value of the ship body at the position of the transducer. One ship speed should be observed more than three times according to the above method, and then an average value is taken. The value added with the static draft is the dynamic draft of the measuring ship at a certain ship speed.

2) Under the same sea area conditions, a buoy is thrown in the sea area, the ship is stopped beside the buoy, the depth of water is accurately measured by a depth finder, and then the ship passes through the buoy at the same relative position (the depth of water is measured when the ship is stopped) at various speeds during measurement, and the depth of water is measured. The treatment method is the same as 1).

It should be noted that: when the transducer is positioned at one end of the stern, the tail of the ship generally sits down during navigation, so the dynamic draft at this time is the sum of the static draft and the measured stern seating value. If the transducer is at the bow, the bow is generally lifted upwards during sailing, and the dynamic draft is the difference between the static draft minus the measured bow lift.

The two methods described above were analyzed:

(1) based on good sea conditions, the navigation position needs to be at the bank visible distance, the buoy needs to be thrown in advance, two groups of land and water measuring personnel are needed to be matched, the buoy is influenced by waves and emits floating and sinking motion, meanwhile, the buoy is influenced by artificial reading errors, and the measurement accuracy uncertainty is too large; (2) the measurement accuracy is limited due to the influences of factors such as depth accuracy, point location, tide, wave, small data volume and the like.

The invention reduces the influence of human and external environment to the minimum, and is suitable for various climatic conditions and multi-sea-area environments; 1 person who successfully installs can finish measuring; the peripheral support system is suitable for various ship types; the telescopic rod reduces the influence of ship navigation surge; the influence of waves, wind, steering and the like on the posture of the ship body can be weakened due to large data volume; the dynamic draft is calculated by adopting the microwave distance measurement difference values of different ship speeds, so that the intermediate quantity is reduced; the dynamic draft three-dimensional model of the ship body can be established by synchronously observing the plurality of microwave distance measuring transceivers, the influence of the posture change of the ship body is weakened, and the dynamic draft values of different ship body positions at different ship speeds can be calculated.

The invention is applied to the field of channel dredging, can guide a dredging operation ship to control a more accurate rake-setting depth under different conditions, and can generate a profound influence in other fields of water scientific research and military affairs.

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 invention, but rather the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (1)

1. A using method of a ship dynamic draft precision measurement integrated system comprises the ship dynamic draft precision measurement integrated system, a measuring device (1) integrated on a peripheral supporting firmware of a ship board, GNSS positioning equipment (3) installed on a ship and a communication system (2);

measuring device (1) for transmitting microwave signals towards the water surface, returning signals by surface scattering, measuring the draft value of a survey vessel, comprising a microwave transceiver (17) and peripheral support firmware, wherein:

the peripheral supporting firmware comprises a support base consisting of an outer supporting plate (11) and an inner fixing plate (12) which are parallel to each other, a slidable guide rail (13) and a telescopic screw rod which are arranged on the support base, the telescopic screw rod is connected to the support base through the slidable guide rail (13), the telescopic screw rod comprises a vertical telescopic rod (14) and a horizontal telescopic rod (16), the vertical telescopic rod (14) and the horizontal telescopic rod (16) are perpendicular to each other, an inclined reinforcing rod (15) is obliquely connected between the vertical telescopic rod and the horizontal telescopic rod, and a microwave transceiver (17) is arranged at the end part of the horizontal telescopic rod (16);

the front and back and the left and right surfaces of the bracket base are provided with a sliding guide rail (13) and a telescopic screw rod, and the base is locked by bolts after the size of the base is adjusted; the telescopic screw is also designed into a structure capable of being adjusted up and down, inside and outside, can be adjusted according to the structure of the ship board, and can extend the microwave transceiver to the position with the minimum influence of ship navigation surge;

the communication system (2) is used for synchronously entering the microwave ranging data and the GNSS acquisition data into the electronic computer (4);

the GNSS positioning equipment (3) is used for synchronously acquiring, transmitting and recording microwave ranging data in the electronic computer (4), and the acquisition, recording and ending are the same as those of the microwave transceiver and are controlled by instructions of the electronic computer (4);

the integrated system for precisely measuring the dynamic draft of the ship only comprises a single microwave transceiver, and is characterized by comprising the following steps of:

the method comprises the following steps: the microwave transceiver is mounted in the vicinity of the surveying equipment;

step two: the method comprises the steps that a ship floats on the water surface in a static state, the ship dynamic draft precise measurement integrated system collects the distance from a microwave transceiver to the water surface, the sampling frequency is set to be 1 second, the collection time is 10 minutes, jumping points are eliminated, and the average value is calculated and defined as L1;

step three: the method comprises the steps that a ship sails in a specific water area at a constant speed of v1, the distance from a microwave transceiver to the water surface is collected by using the ship dynamic draft precision measurement integrated system, the sampling frequency is set to be 1 second, the collection time is 10 minutes, jumping points are removed, and the average value is calculated and defined as L2;

step four: calculating the difference delta L which is L1-L2, wherein the delta L is the dynamic draft value of the installation position of the surveying equipment under the current water area environment v1 speed of the ship; as the ship can not be guaranteed to be completely static on the floating water surface, the ship speed v at the moment is synchronously recorded, L values under various ship speeds are recorded, and dynamic draft values under 0m/s and other ship speeds are calculated according to a least square method.

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