CN110412080A - A kind of thermohaline depth sensor and the control method for inhibiting heating stagnation curve - Google Patents
A kind of thermohaline depth sensor and the control method for inhibiting heating stagnation curve Download PDFInfo
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- G—PHYSICS
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- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
- G01K7/18—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a linear resistance, e.g. platinum resistance thermometer
- G01K7/20—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a linear resistance, e.g. platinum resistance thermometer in a specially-adapted circuit, e.g. bridge circuit
- G01K7/21—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a linear resistance, e.g. platinum resistance thermometer in a specially-adapted circuit, e.g. bridge circuit for modifying the output characteristic, e.g. linearising
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
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- G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
- G01N27/06—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance of a liquid
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- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
- G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
- G01N27/06—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance of a liquid
- G01N27/08—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance of a liquid which is flowing continuously
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Abstract
The invention belongs to thermohaline depth sensor technical fields, and in particular to a kind of thermohaline depth sensor and the control method for inhibiting heating stagnation curve.Pass through the reference temperature sensor (thermistor in conductivity sensor probe) integrated using conductivity sensor, data comparison (platinum resistance) is carried out with the measurement temperature sensor that thermohaline depth sensor end cap integrates, according to difference range, to select to inhibit the method for heating stagnation curve formula, to obtain the actual conductivity of reference temperature sensor proximity, to be corrected to error span caused by heating stagnation curve.The method of the invention can significantly improve underwater autonomous formula observation platform and carry the precision of measurement data when thermohaline depth sensor passes through thermocline, to make up the deficiency and defect of existing related thermohaline depth profile survey technology.
Description
Technical field
The invention belongs to thermohaline depth sensor technical fields, and in particular to a kind of thermohaline depth sensor and inhibit heating stagnation curve
Control method, be a kind of deep-sea thermohaline depth sensor control method suitable for underwater autonomous navigation platform.
Background technique
Conductivity, temperature, the depth measurement technology of seawater are research, utilize ocean and the fast-changing key of global climate
One of technology.Since early 1970s, deep (CTD) sensor of thermohaline can be obtained as important hydrologic survey tool
Oceanographic physics environmental parameter, to oceanographic physics environment, flow field and in terms of research provide important temperature,
The basic data such as salt, depth.
Underwater autonomous formula observation platform includes that underwater robot, underwater glider and manned deep diving operation device etc. are a variety of
System equipment needs flexibly to move, but also with the observation of deep-sea hydrodynamics multi-parameter and performance sampling ability, seawater
The accurate control of sample stratified sampling and Seafloor sediment sampling needs the thermohaline depth data of high quality.There is heat in CTD sensor
Residual effect is answered, caused by it is the heat stored as conductance cell.Heating stagnation curve is under the hypothesis of quasi steady state heat transfer, and fluid passes through electricity
The temperature anomaly of cylinder and rectangular cylinder caused by the heat of pond cylindrical body wall surface storage is led, heating stagnation curve exists to salinity is calculated
It influences, and can derive the numerical model of the effect.
When underwater autonomous formula observation platform passes through thermocline, the heat being stored in conductance cell diffuses into week
Enclose the measurement accuracy for significantly affecting conductivity sensor and temperature sensor.When underwater autonomous formula observation platform from warm water into
When entering cold water, usually diving stations, the value of measurement can be bigger than true value, causes to obtain biggish salinity.When underwater autonomous shifting
When dynamic formula observation platform enters warm water from cold water, usually floating state, the value of measurement can be smaller than true value, causes to obtain smaller
Salinity.
The thermohaline depth measuring instrument for profile survey of existing market, majority do not have inhibit heating stagnation curve functions with
Corresponding control method, the application that cannot be applicable in the underwater autonomous formula observation platform thermohaline depth in-site measurement in deep-sea well are wanted
It asks.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of hot with inhibition suitable for underwater autonomous formula observation platform
The thermohaline depth sensor control method of stagnant effector function.This method is divided on the conductivity sensor and end cap of thermohaline depth sensor
Not Ji Cheng a high-precision, the temperature sensor of quick response；By being compared to two temperature sensor measured temperatures, root
According to the size and range of temperature difference absolute value, to judge whether to inhibit the algorithm of heating stagnation curve, and selection heating stagnation curve
Correction formula and mathematical model.
The present invention is achieved by the following technical solutions:
A kind of thermohaline depth sensor, comprising: compressive cabin, the end cap being arranged on the compressive cabin, platinum resistance, pressure
Sensor and conductivity sensor；
The conductivity sensor includes conductivity probe and thermistor, and the conductivity probe includes for for tested
The through hole shape conductance cell that seawater flows through, the thermistor are encapsulated in the conductance cell of the conductivity probe.
Further, the thermohaline depth sensor further includes the control module for inhibiting heating stagnation curve, the control module pair
The temperature data of the platinum resistance and the thermosensitive resistance measurement compares, according to the temperature gap range that comparison obtains, choosing
Corresponding inhibition heating stagnation curve formula is selected, to obtain the actual conductivity near the thermistor, and then realizes and heat stagnation is imitated
Error span caused by answering is corrected.
Further, the conductivity sensor further includes the conductivity cylinder being arranged on the end cap, the conductance
Rate probe is connected by the conductivity cylinder with the end cap；The platinum resistance and the pressure sensor are set to the end
It covers.
A kind of thermohaline depth sensor control method inhibiting heating stagnation curve, which comprises
(1) parameter of Initialize installation thermohaline depth sensor measurement control module；
(2) delay waits, and reads the temperature data of platinum resistance acquisition on end cap, filters out to the temperature data of platinum resistance acquisition
Singular value median filter process, four times item fitting formula calculates, and obtains platinum resistance temperature measured value T1；
(3) temperature data for reading the thermistor acquisition encapsulated in conductivity probe, to the temperature of thermistor acquisition
Data filter out singular value median filter process, and four times item fitting formula calculates, and obtain thermistor temp measured value T2；
(4) it compared with subtracting each other temperature measuring data T1 with T2, is selected to inhibit heating stagnation curve formula according to comparison result, with right
The actual conductivity data of conductivity probe measurement are corrected, specifically:
If subtracting each other the absolute value of result | T2-T1 | >=t1, then when the inhibition heating stagnation curve formula used is using abnormal relaxation
Between two parameters of τ and sensitivity γ be modified；
If subtracting each other the absolute value t of result2≤|T2-T1|≤t1, then the inhibition heating stagnation curve formula that uses uses abnormal relaxation
Mono- parameter of time τ is modified；
If subtracting each other the absolute value of result | T2-T1 |≤t2, then do not use and heating stagnation curve formula inhibited to be modified；
Wherein, t1And t2Two threshold values are according to the different variations of temperature sensor concrete application sea area thermocline or specific
Depending on sea situation difference；
(5) delay waits, and opens the driving source of conductivity sensor probe, acquires the conductivity number of conductivity sensor
According to filtering out singular value median filter process to conductivity data, four times item fitting formula calculates, and obtains conductivity measured value C；It connects
Close conductivity sensor probe driving source；
(6) delay waits, and acquires the measurement data of pressure sensor, filters out singular value to the measurement data of pressure sensor
Median filter process, four times item fitting formula calculates, and obtains pressure measured value D.
(7) terminate a thermohaline depth sensor measurement period.
Further, in step (2), to platinum resistance acquisition temperature data filter out singular value median filter process refer to by
The analog-to-digital conversion voltage value for the m raw temperature data that platinum resistance continuously measures, removes maxima and minima, and remaining m-2 is a
The analog-to-digital conversion voltage value of temperature data seeks arithmetic average vT, wherein m >=3；
Four times item fitting formula calculates, and obtains the formula of platinum resistance temperature measured value T1 are as follows:
In formula, a0、a1、a2、a3、a4It is the standard system that platinum resistance is obtained according to national standard GBT 23246-2009 rating test
Number.
Further, in step (3), singular value median filter process is filtered out to the temperature data of thermistor acquisition and is referred to
The analog-to-digital conversion voltage value for the o raw temperature data that platinum resistance is continuously measured removes maxima and minima, remaining o-2
The analog-to-digital conversion voltage value of a temperature data seeks arithmetic average vW；Wherein, o >=3；
Four times item fitting formula calculates, and obtains the formula of thermistor temp measured value T2 are as follows:
In formula, b0、b1、b2、b3、b4It is the standard system that thermistor is obtained according to national standard GBT 23246-2009 rating test
Number.
Further, in step (4),
When | T2-T1 | >=t1When, actual conductivity value calculation formula that conductivity sensor measures are as follows:
CT(n)=- bCT(n-1)+γa[T(n)-T(n-1)]；
When working as t2≤|T2-T1|≤t1When, actual conductivity value calculation formula that conductivity sensor measures are as follows:
CT(n)=- bCT(n-1)+a[T(n)-T(n-1)]
Wherein, CT(n) be current measurement cycle conductivity sensor measure actual conductivity value, CTIt (n-1) is preceding primary
Actual conductivity value that measurement period conductivity sensor measures, T (n) are the heat integrated in current measurement cycle conductivity probe
Actual temperature value that quick resistance measures, T (n-1) are that the thermistor integrated in a preceding measurement period conductivity probe measures
Actual temperature value；γ is sensitivity of the conductivity to temperature；N is sample count, and a, b are coefficient, is calculated by the following formula:
A=4fnαβ-1(1+4fnβ-1)-1；
B=1-2a α-1；
α is with the initial weighting fluid temperature (F.T.) error of 1 DEG C of gradient, fnFor nyquist frequency, τ is the different of water surface temperature
Normal relaxation time, β are the inverse of τ；Coefficient a, b are determined by temperature error α and abnormal relaxation time τ value.
Further, in step (5), singular value median filter process is filtered out to conductivity data, refers to conductivity sensors
Device continuously measures the analog-to-digital conversion voltage value of p original conductivity datas, removes maxima and minima, remaining p-2 conductance
The analog-to-digital conversion voltage value of rate data seeks arithmetic average vC；p≥3；
Four times item fitting formula calculates, and obtains the formula of conductivity measured value C are as follows:
In formula, c0、c1、c2、c3、c4It is that conductivity sensor probe is obtained according to national standard GBT23246-2009 rating test
Typical coefficient.
Further, in step (6), filtering out singular value median filter process to the measurement data of pressure sensor is finger pressure
Force snesor continuously measures the analog-to-digital conversion voltage value of q original pressure data, removes maxima and minima, and remaining q-2 is a
The analog-to-digital conversion voltage value of pressure data seeks arithmetic average vD；q≥3；
Four times item fitting formula calculates, and obtains pressure measured value D:
In formula, d0、d1、d2、d3、d4It is the standard that pressure sensor is obtained according to national standard GBT 23246-2009 rating test
Coefficient.
Further, further comprising the steps of between step (6) and step (7):
After step (6), whether inquiry has the setting of host computer serial communication to instruct, if referring to without host computer communication
It enables, being then directly entered step (7) terminates a thermohaline depth sensor measurement period；It is right if receiving host computer communication instruction
The ASCII character of communications protocol instruction is made a concrete analysis of:
If receiving the first instruction, conductivity sensor probe driving source is closed；
If receiving the second instruction, conductivity sensor probe driving source is opened；
If receiving third instruction, the data output mode of thermohaline depth sensor is analog-to-digital conversion raw voltage values and surveys
Magnitude exports output mode jointly；
If receiving the 4th instruction, the measurement data of thermohaline depth sensor is NORMAL output mode；
If receiving the 5th instruction, the measurement data output of thermohaline depth sensor increases sequence number.
If receiving the 6th instruction, the amendment of thermohaline depth sensor heating stagnation curve, the parameters such as time of measuring interval are set；
After making a concrete analysis of to the ASCII character of communications protocol instruction, entering step (7) terminates a thermohaline depth sensor
Measurement period.
Advantageous effects of the invention:
Method provided by the invention on the conductivity sensor and end cap of thermohaline depth sensor respectively integrate one it is high-precision
Degree, the temperature sensor of quick response；By being compared to two temperature sensor measured temperatures, according to temperature difference absolute value
Size and range, to judge whether to inhibit the algorithm of heating stagnation curve, and selection heating stagnation curve correction formula and mathematics
Model.
Detailed description of the invention
Fig. 1 is thermohaline depth sensor structure schematic diagram in the embodiment of the present invention；
Fig. 2 is the flow chart for inhibiting the thermohaline depth sensor control method of heating stagnation curve function in the embodiment of the present invention；
Appended drawing reference: 1. conductance cells；2. conductivity sensor is popped one's head in；3. thermistor；4. conductivity sensor cylinder；5.
Platinum resistance；6. pressure sensor；7. end cap；8. compressive cabin.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is explained in further detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, and
It is not used in the restriction present invention.
On the contrary, the present invention covers any substitution done on the essence and scope of the present invention being defined by the claims, repairs
Change, equivalent method and scheme.Further, in order to make the public have a better understanding the present invention, below to of the invention thin
It is detailed to describe some specific detail sections in section description.Part without these details for a person skilled in the art
The present invention can also be understood completely in description.
Thermohaline depth sensor of the invention inhibits the control method of heating stagnation curve, is a kind of suitable for underwater autonomous formula
The software control process and algorithm of the lectostratotype section Measuring Oceanic hydrodynamic parameters of observation platform.It using conductivity by being passed
The integrated reference temperature sensor of sensor carries out data comparison with the measurement temperature sensor that thermohaline depth sensor end cap integrates,
According to difference range, to select to inhibit the method for heating stagnation curve formula, to obtain the actual conductance of reference temperature sensor proximity
Rate, to be corrected to error span caused by heating stagnation curve.The above method is remarkably improved underwater autonomous formula observation
Platform carries the precision of measurement data when thermohaline depth sensor passes through thermocline, to make up existing related thermohaline depth profile survey
The deficiency and defect of technology.The thermohaline depth sensor has the long-term online ability to work with self-tolerant measurement, can be applied to
Underwater robot, underwater glider and manned deep diving operation device observation platform, to the marine hydrology kinetic parameter for promoting acquisition
The quality of data has great importance.
The embodiment of the present invention provides a kind of thermohaline depth sensor, as shown in Figure 1, comprising: compressive cabin is arranged described resistance to
End cap, platinum resistance, pressure sensor and conductivity sensor on ballasting body；
The conductivity sensor includes conductivity probe and thermistor, and the conductivity probe includes for for tested
The through hole shape conductance cell that seawater flows through, the thermistor are encapsulated in the conductance cell of the conductivity probe.
Specifically, in the conductance cell internal cross section aperture, simultaneously thermistor probe it will encapsulate wherein and carry out close
Envelope.Wherein the conductance cell internal cross section refers in the internal cambered surface of the cylindrical shape through-hole (i.e. conductance cell) of conductivity probe
Between position, thermistor probe screws through screw thread, and carried out with O-ring by the aperture tapping in this conductance cell internal cross section
Sealing, and sealing silicone grease is filled up in tapping.
In the present embodiment, the thermohaline depth sensor further includes the control module for inhibiting heating stagnation curve, the control mould
Block compares the temperature data of the platinum resistance and the thermosensitive resistance measurement, the temperature gap model obtained according to comparison
It encloses, selects corresponding inhibition heating stagnation curve formula, to obtain the actual conductivity near the thermistor, and then realize to heat
Error span caused by residual effect is answered is corrected.
In the present embodiment, the conductivity sensor further includes the conductivity cylinder being arranged on the end cap, described
Conductivity probe is connected by the conductivity cylinder with the end cap；The platinum resistance and the pressure sensor are set to institute
It states on end cap.
Preferably, the platinum resistance uses the Pt1000 of high-precision, quick response.
Preferably, the thermistor is using high-precision, the NTC thermistor of quick response.
The present invention also provides a kind of thermohaline depth sensor control method embodiments for inhibiting heating stagnation curve, using above-mentioned implementation
The thermohaline depth sensor in example, comprising:
(1) parameter of Initialize installation thermohaline depth sensor measurement control module；Preferably, the parameter includes that serial ports is logical
Interrogate parameter, analog-to-digital conversion acquisition parameter, universal I/O port parameter, house dog parameter, interrupt parameters；
(2) delay waits, and reads the temperature data of platinum resistance acquisition on end cap, filters out to the temperature data of platinum resistance acquisition
Singular value median filter process, four times item fitting formula calculates, and obtains platinum resistance temperature measured value T1；
(3) temperature data for reading the thermistor acquisition encapsulated in conductivity probe, to the temperature of thermistor acquisition
Data filter out singular value median filter process, and four times item fitting formula calculates, and obtain thermistor temp measured value T2；
(4) it compared with subtracting each other temperature measuring data T1 with T2, is selected to inhibit heating stagnation curve formula according to comparison result, with right
The actual conductivity data of the measurement of conductivity probe are corrected, specifically:
If subtracting each other the absolute value of result | T2-T1 | >=t1, then when the inhibition heating stagnation curve formula used is using abnormal relaxation
Between two parameters of τ and sensitivity γ be modified；
If subtracting each other the absolute value t of result2≤|T2-T1|≤t1, then the inhibition heating stagnation curve formula that uses uses abnormal relaxation
Mono- parameter of time τ is modified；
If subtracting each other the absolute value of result | T2-T1 |≤t2, then do not use and heating stagnation curve formula inhibited to be modified；
Wherein, t1And t2Two threshold values are according to the different variations of temperature sensor concrete application sea area thermocline or specific
Depending on sea situation difference；Such as at 21 degree of South Sea north latitude, 118 degree of sea areas of east longitude are deep using the high-performance thermohaline of a plurality of different models
Sensor, a large amount of sea examination date comprisions of through a long time, in 100~200 meters of the depth of water, there are apparent thermoclines.Quick response
Temperature sensor error span≤0.05 DEG C, and error span≤0.1 DEG C of response time slower temperature sensor.Cause
, at 21 degree of South Sea north latitude, 100~200 meters of the depth of water of specific thermocline of 118 degree of this specified sea areas of east longitude sets t for this1=
0.1 DEG C, t2=0.05 DEG C.It should be noted that determining specified sea areas difference thermocline t1And t2Two threshold values are needed using more
The high-performance thermohaline depth sensor of money different model carries out a large amount of sea examination in same sea area different time, and tries data to sea
Compare statistical analysis.
(5) delay waits, and opens the driving source of conductivity sensor probe, acquires the conductivity number of conductivity sensor
According to filtering out singular value median filter process to conductivity data, four times item fitting formula calculates, and obtains conductivity measured value C；It connects
Close conductivity sensor probe driving source；To reduce thermohaline depth biosensor power consumption；
(6) delay waits, and acquires the measurement data of pressure sensor, filters out singular value to the measurement data of pressure sensor
Median filter process, four times item fitting formula calculates, and obtains pressure measured value D.
(7) terminate a thermohaline depth sensor measurement period.
In the present embodiment step (2), singular value median filter process is filtered out to the temperature data of platinum resistance acquisition and is referred to
The analog-to-digital conversion voltage value for the m raw temperature data that platinum resistance is continuously measured removes maxima and minima, remaining m-2
The analog-to-digital conversion voltage value of a temperature data seeks arithmetic average vT, wherein m >=3；Preferably, m=11.
Four times item fitting formula calculates, and obtains the formula of platinum resistance temperature measured value T1 are as follows:
In formula, a0、a1、a2、a3、a4It is platinum resistance according to national standard (GBT 23246-2009 conductivity temperature depth section instrument)
The typical coefficient that rating test obtains.
In the present embodiment step (3), filtering out singular value median filter process to the temperature data of thermistor acquisition is
Refer to the analog-to-digital conversion voltage value for o raw temperature data for continuously measuring platinum resistance, removes maxima and minima, remaining o-
The analog-to-digital conversion voltage value of 2 temperature datas seeks arithmetic average vW；Wherein, o >=3；Preferably, o=11；
Four times item fitting formula calculates, and obtains the formula of thermistor temp measured value T2 are as follows:
In formula, b0、b1、b2、b3、b4It is thermistor according to national standard (GBT23246-2009 conductivity temperature depth section
Instrument) rating test obtain typical coefficient.
In the present embodiment step (4),
When | T2-T1 | >=t1When, actual conductivity value calculation formula that conductivity sensor measures are as follows:
CT(n)=- bCT(n-1)+γa[T(n)-T(n-1)]；
Work as t2≤|T2-T1|≤t1When, actual conductivity value calculation formula that conductivity sensor measures are as follows:
CT(n)=- bCT(n-1)+a[T(n)-T(n-1)]
Wherein, CT(n) be current measurement cycle conductivity sensor measure actual conductivity value, CTIt (n-1) is preceding primary
Actual conductivity value that measurement period conductivity sensor measures, T (n) are the heat integrated in current measurement cycle conductivity probe
Actual temperature value that quick resistance measures, T (n-1) are that the thermistor integrated in a preceding measurement period conductivity probe measures
Actual temperature value；γ is sensitivity of the conductivity to temperature；N is sample count, and a, b are coefficient, is calculated by the following formula:
A=4fnαβ-1(1+4fnβ-1)-1；
B=1-2a α-1；
α is with the initial weighting fluid temperature (F.T.) error of 1 DEG C of gradient, fnIt is nyquist frequency, τ is the different of water surface temperature
Normal relaxation time, β are the inverse of τ；Coefficient a, b are determined by temperature error α and abnormal relaxation time τ value.
In the present embodiment step (5), singular value median filter process is filtered out to conductivity data, refers to conductivity sensors
Device continuously measures the analog-to-digital conversion voltage value of p original conductivity datas, removes maxima and minima, remaining p-2 conductance
The analog-to-digital conversion voltage value of rate data seeks arithmetic average vC；p≥3；Preferably, p is equal to 11.
Four times item fitting formula calculates, and obtains the formula of conductivity measured value C are as follows:
In formula, c0、c1、c2、c3、c4It is conductivity sensor probe according to national standard (GBT23246-2009 conductivity temperature depth
Spend section plotter) rating test obtain typical coefficient.
In the present embodiment step (6), singular value median filter process is filtered out to the measurement data of pressure sensor and is referred to
Pressure sensor continuously measures the analog-to-digital conversion voltage value of q original pressure data, removes maxima and minima, remaining q-2
The analog-to-digital conversion voltage value of a pressure data seeks arithmetic average vD；q≥3；Preferably, q is equal to 11.
Four times item fitting formula calculates, and obtains pressure measured value D:
In formula, d0、d1、d2、d3、d4Be pressure sensor according to national standard (GBT 23246-2009 conductivity temperature depth is cutd open
Face instrument) rating test obtain typical coefficient.
In the present embodiment, further comprising the steps of between step (6) and step (7):
After step (6), whether inquiry has the setting of host computer serial communication to instruct, if referring to without host computer communication
It enables, being then directly entered step (7) terminates a thermohaline depth sensor measurement period；It is right if receiving host computer communication instruction
The ASCII character of communications protocol instruction is made a concrete analysis of:
If receiving the first instruction, conductivity sensor probe driving source is closed；
If receiving the second instruction, conductivity sensor probe driving source is opened；
If receiving third instruction, the data output mode of thermohaline depth sensor is analog-to-digital conversion raw voltage values and surveys
Magnitude exports output mode jointly；
If receiving the 4th instruction, the measurement data of thermohaline depth sensor is NORMAL output mode；
If receiving the 5th instruction, the measurement data output of thermohaline depth sensor increases sequence number.
If receiving the 6th instruction, the amendment of thermohaline depth sensor heating stagnation curve, the parameters such as time of measuring interval are set；
After making a concrete analysis of to the ASCII character of communications protocol instruction, entering step (7) terminates a thermohaline depth sensor
Measurement period.
The related technology contents that do not address in above-mentioned specific embodiment are taken or are used for reference prior art and can be realized.
The control method of the inhibition heating stagnation curve thermohaline depth sensor of the present embodiment also can be widely applied to general sea
Ocean monitoring provides the basis hydrodynamic parameters such as accurate thermohaline is deep with enquiry based work for deep-sea research.
Compared with prior art, advantageous effects of the present invention:
The method of the invention can be instructed by host computer serial communication, modify heating stagnation curve correction formula seawater surface
The abnormal relaxation time τ of temperature or its inverse β, with the initial weighting fluid temperature (F.T.) error alpha and conductivity of 1 DEG C of gradient to temperature
The major parameters such as sensitivity γ.
Thermohaline depth sensor of the invention inhibits the control method of heating stagnation curve, is a kind of suitable for underwater autonomous formula
The software control process and algorithm of the lectostratotype section Measuring Oceanic hydrodynamic parameters of observation platform.It using conductivity by being passed
The integrated reference temperature sensor of sensor (thermistor in conductivity sensor probe), it is integrated with thermohaline depth sensor end cap
Measurement temperature sensor carry out data comparison (platinum resistance), according to difference range, to select to inhibit the side of heating stagnation curve formula
Method, to obtain the actual conductivity of reference temperature sensor proximity, to be corrected to error span caused by heating stagnation curve.
The above method is remarkably improved underwater autonomous formula observation platform and carries measurement data when thermohaline depth sensor passes through thermocline
Precision improve thermohaline depth sensor autonomous to make up the deficiency and defect of existing related thermohaline depth profile survey technology
The measurement accuracy of temperature and salinity under movable type observation application environment.The thermohaline depth sensor has long-term online and holds certainly
The ability to work of formula measurement, can be applied to underwater robot, underwater glider and manned deep diving operation device observation platform, to promotion
The quality of data of the marine hydrology kinetic parameter of acquisition has great importance.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the those of ordinary skill in domain is made within the essential scope of the present invention, also should belong to this hair
Bright protection scope.
Claims (10)
1. a kind of thermohaline depth sensor characterized by comprising compressive cabin, the end cap being arranged on the compressive cabin, platinum
Resistance, pressure sensor and conductivity sensor；
The conductivity sensor includes conductivity probe and thermistor, and the conductivity probe includes for for tested seawater
The through hole shape conductance cell flowed through, the thermistor are encapsulated in the conductance cell of the conductivity probe.
2. a kind of thermohaline depth sensor according to claim 1, which is characterized in that the thermohaline depth sensor further includes inhibiting
The control module of heating stagnation curve, the control module carry out pair the temperature data of the platinum resistance and the thermosensitive resistance measurement
Than, according to the temperature gap range that comparison obtains, corresponding inhibition heating stagnation curve formula is selected, it is attached to obtain the thermistor
Close actual conductivity, and then realize and error span caused by heating stagnation curve is corrected.
3. a kind of thermohaline depth sensor according to claim 1, which is characterized in that the conductivity sensor further includes setting
Conductivity cylinder on the end cap, the conductivity probe are connected by the conductivity cylinder with the end cap；It is described
Platinum resistance and the pressure sensor are set on the end cap.
4. a kind of thermohaline depth sensor control method for inhibiting heating stagnation curve, which is characterized in that the described method includes:
(1) parameter of Initialize installation thermohaline depth sensor measurement control module；
(2) delay waits, and reads the temperature data of platinum resistance acquisition on end cap, filters out to the temperature data of platinum resistance acquisition unusual
It is worth median filter process, four times item fitting formula calculates, and obtains platinum resistance temperature measured value T1；
(3) temperature data for reading the thermistor acquisition encapsulated in conductivity probe, to the temperature data of thermistor acquisition
Singular value median filter process is filtered out, four times item fitting formula calculates, and obtains thermistor temp measured value T2；
(4) it compared with subtracting each other temperature measuring data T1 with T2, is selected to inhibit heating stagnation curve formula according to comparison result, to conductance
The actual conductivity data of rate probe measurement are corrected, specifically:
If subtracting each other the absolute value of result | T2-T1 | >=t1, then the inhibition heating stagnation curve formula that uses using abnormal relaxation time τ with
Two parameters of sensitivity γ are modified；
If subtracting each other the absolute value t of result2≤|T2-T1|≤t1, then the inhibition heating stagnation curve formula that uses uses the abnormal relaxation time
Mono- parameter of τ is modified；
If subtracting each other the absolute value of result | T2-T1 |≤t2, then do not use and heating stagnation curve formula inhibited to be modified；
Wherein, t1And t2Two threshold values are according to the different variations of temperature sensor concrete application sea area thermocline or specific sea situation
Depending on difference；
(5) delay waits, and opens the driving source of conductivity sensor probe, acquires the conductivity data of conductivity sensor, right
Conductivity data filters out singular value median filter process, and four times item fitting formula calculates, and obtains conductivity measured value C；Then it closes
Close the driving source of conductivity sensor probe；
(6) delay waits, and acquires the measurement data of pressure sensor, filters out singular value intermediate value to the measurement data of pressure sensor
Filtering processing, four times item fitting formula calculates, and obtains pressure measured value D.
(7) terminate a thermohaline depth sensor measurement period.
5. a kind of thermohaline depth sensor control method for inhibiting heating stagnation curve according to claim 4, which is characterized in that step
(2) in, singular value median filter process is filtered out to the temperature data of platinum resistance acquisition and refers to m original for continuously measuring platinum resistance
The analog-to-digital conversion voltage value of beginning temperature data removes maxima and minima, the analog-to-digital conversion voltage of remaining m-2 temperature data
Value seeks arithmetic average vT, wherein m >=3；
Four times item fitting formula calculates, and obtains the formula of platinum resistance temperature measured value T1 are as follows:
In formula, a0、a1、a2、a3、a4It is the typical coefficient that platinum resistance is obtained according to national standard GBT 23246-2009 rating test.
6. a kind of thermohaline depth sensor control method for inhibiting heating stagnation curve according to claim 4, which is characterized in that step
(3) in, singular value median filter process is filtered out to the temperature data of thermistor acquisition and refers to o for continuously measuring platinum resistance
The analog-to-digital conversion voltage value of raw temperature data removes maxima and minima, the analog-to-digital conversion electricity of remaining o-2 temperature data
Pressure value seeks arithmetic average vW；Wherein, o >=3；
Four times item fitting formula calculates, and obtains the formula of thermistor temp measured value T2 are as follows:
In formula, b0、b1、b2、b3、b4It is the typical coefficient that thermistor is obtained according to national standard GBT23246-2009 rating test.
7. a kind of thermohaline depth sensor control method for inhibiting heating stagnation curve according to claim 4, which is characterized in that step
(4) in,
When | T2-T1 | >=t1When, actual conductivity value calculation formula that conductivity sensor measures are as follows:
CT(n)=- bCT(n-1)+γa[T(n)-T(n-1)]；
Work as t2≤|T2-T1|≤t1When, actual conductivity value calculation formula that conductivity sensor measures are as follows:
CT(n)=- bCT(n-1)+a[T(n)-T(n-1)]
Wherein, CT(n) be current measurement cycle conductivity sensor measure actual conductivity value, CTIt (n-1) is preceding one-shot measurement
Actual conductivity value that period conductivity sensor measures, T (n) are the temperature-sensitive electricity integrated in current measurement cycle conductivity probe
Hinder the actual temperature value that measures, T (n-1) is reality that the thermistor integrated in a preceding measurement period conductivity probe measures
Temperature value；γ is sensitivity of the conductivity to temperature；N is sample count, and a, b are coefficient, is calculated by the following formula:
A=4fnαβ-1(1+4fnβ-1)-1；
B=1-2a α-1；
α is with the initial weighting fluid temperature (F.T.) error of 1 DEG C of gradient, fnFor nyquist frequency, τ is that the abnormal of water surface temperature relaxes
Henan time, β are the inverse of τ；Coefficient a, b are determined by temperature error α and abnormal relaxation time τ value.
8. a kind of thermohaline depth sensor control method for inhibiting heating stagnation curve according to claim 4, which is characterized in that step
(5) in, singular value median filter process is filtered out to conductivity data, refers to that conductivity sensor continuously measures p original conductances
The analog-to-digital conversion voltage value of rate data removes maxima and minima, the analog-to-digital conversion voltage value of remaining p-2 conductivity data
Seek arithmetic average vC；p≥3；
Four times item fitting formula calculates, and obtains the formula of conductivity measured value C are as follows:
In formula, c0、c1、c2、c3、c4It is the mark that conductivity sensor probe is obtained according to national standard GBT 23246-2009 rating test
Quasi- coefficient.
9. a kind of thermohaline depth sensor control method for inhibiting heating stagnation curve according to claim 4, which is characterized in that step
(6) in, singular value median filter process is filtered out to the measurement data of pressure sensor and refers to that pressure sensor continuously measures q original
The analog-to-digital conversion voltage value of beginning pressure data removes maxima and minima, the analog-to-digital conversion voltage of remaining q-2 pressure data
Value seeks arithmetic average vD；q≥3；
Four times item fitting formula calculates, and obtains pressure measured value D:
In formula, d0、d1、d2、d3、d4It is the standard system that pressure sensor is obtained according to national standard GBT 23246-2009 rating test
Number.
10. according to a kind of 4 thermohaline depth sensor control methods for inhibiting heating stagnation curve are required, which is characterized in that in step
(6) further comprising the steps of between step (7):
After step (6), whether inquiry has the setting of host computer serial communication to instruct, if there is no host computer communication instruction,
Being directly entered step (7) terminates a thermohaline depth sensor measurement period；If receiving host computer communication instruction, communication is assisted
The ASCII character of view instruction is made a concrete analysis of:
If receiving the first instruction, conductivity sensor probe driving source is closed；
If receiving the second instruction, conductivity sensor probe driving source is opened；
If receiving third instruction, the data output mode of thermohaline depth sensor is analog-to-digital conversion raw voltage values and measured value
Common output output mode；
If receiving the 4th instruction, the measurement data of thermohaline depth sensor is NORMAL output mode；
If receiving the 5th instruction, the measurement data output of thermohaline depth sensor increases sequence number.
If receiving the 6th instruction, the amendment of thermohaline depth sensor heating stagnation curve, the parameters such as time of measuring interval are set；
After making a concrete analysis of to the ASCII character of communications protocol instruction, entering step (7) terminates a thermohaline depth sensor measurement
Period.
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