CN110645966B - GPS-based water depth synchronization method and equipment - Google Patents
GPS-based water depth synchronization method and equipment Download PDFInfo
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- CN110645966B CN110645966B CN201911045759.0A CN201911045759A CN110645966B CN 110645966 B CN110645966 B CN 110645966B CN 201911045759 A CN201911045759 A CN 201911045759A CN 110645966 B CN110645966 B CN 110645966B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Hydrology & Water Resources (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a water depth synchronization method based on a GPS, which comprises the following steps: s1, the GPS transmits the GPS signal to the DSP board continuously; and S2, according to the transmission frequency of the GPS signal, the time interval from the transmission of the depth finder to the reception of the water depth signal is used as a pre-estimated value, the pre-estimated value is added before the GPS signal arrives to adjust the transmission signal of the depth finder, so that the DSP board receives the water depth signal and the GPS signal at the same time, and synchronously sends the water depth signal and the GPS signal to the industrial personal computer. The invention synchronously combines the GPS and the water depth measurement technology, eliminates some error factors existing before, plays an increasingly important role in the future surveying and mapping industry, and utilizes the GPS technology to carry out the water depth measurement, so that the water depth measurement project becomes simple, fast and efficient. Therefore, the GPS and water depth synchronization technology can provide high-precision, high-quality and high-benefit application prospect for channel water depth measurement.
Description
Technical Field
The invention belongs to the technical field of detection, and particularly relates to a water depth synchronization method and equipment based on a GPS.
Background
The water depth signal is widely applied to various sonar equipment for underwater target detection. Echo sounders are currently the most common sounding devices that use underwater acoustic signals for ranging. The working principle of the device is that a transducer emits sound waves with certain frequency, when the sound waves propagate in water, reflected signals can be generated when the sound waves encounter media with different densities (such as water bottom or other objects), and the linear distance from the transducer to a reflecting target is obtained according to the round-trip time of the sound waves and the propagation speed of the sound waves in the water of a measured area, namely the water depth is measured.
The non-tide sounding method is to obtain the relation between the position of the measuring point and the reference surface by using the center of the GPS receiving antenna, and the distance between the center of the GPS receiving antenna and the transducer of the depth finder and the distance between the transducer of the depth finder and the mud surface are measured to obtain the elevation of the mud surface, which is the same as the conventional sounding method.
The GPS device is also indispensable for the bathymetry system, and in the combination of the conventional GPS and the bathymetry system, there is a phenomenon that the GPS is not synchronized with the water depth, which is caused by various factors. The error between the GPS and the water depth causes the following factors:
A. the speed of the GPS signals transmitted to the computer is different from the measurement speed of the water depth measurement system, so that a plurality of water depth points possibly exist between two GPS position points, and the computer is easy to cause the error when selecting the water depth points;
B. in the conventional common equipment connection method, a GPS signal is transmitted to a serial port of a computer, a water depth signal is communicated with navigation software through a virtual serial port, and a time error is generated between the physical connection and the virtual connection, so that the GPS and the water depth are not synchronous;
C. when the ship moves, because the principle of the depth finder is to receive the echo signal of the signal sent out last time to judge the water bottom, the actual depth value should be the water depth of the previous frequency transmission position, and the GPS records the information of the current position, so that a single-frequency signal transmission time error is generated, and the error can be basically ignored when the ship moves on a stable water bottom, but the error is more obvious when the ship moves on a steep slope.
As shown in fig. 1, when the ship speed is 5 knots, and the range of the depth finder is 100, the distance between two times of depth measurement is about
Second, plus the time for the system to process the data and transmit to the navigation software is about 0.3 second, when the ship travels from point A to point B, the ship will travel about 0.3 second
Rice, because the steep slope proportion is 1: 2, the vertical height difference of point A, B is 0.386 m, and similarly, when point a travels toward point C, the vertical height difference of point A, C is 0.386 m, and the measurement errors at the same point in two different travel directions are 0.772 m (in the case of ship speed 5 knots, and range 100 m).
In view of this situation, the actual error result is related to the range of the depth finder, and the larger the range is, the larger the error is, and the operating frequency of the depth finder becomes higher after the range is reduced, and the depth finding accuracy is also higher.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a water depth synchronization method and equipment based on a GPS.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention relates to a water depth synchronization method based on a GPS, which comprises the following steps:
s1, the GPS transmits the GPS signal to the DSP board continuously;
and S2, according to the transmission frequency of the GPS signal, the time interval from the transmission of the depth finder to the reception of the water depth signal is used as a pre-estimated value, the pre-estimated value is added before the GPS signal arrives to adjust the transmission signal of the depth finder, so that the DSP board receives the water depth signal and the GPS signal at the same time, and synchronously sends the water depth signal and the GPS signal to the industrial personal computer.
As a preferred technical solution of the present invention, the present invention further provides a GPS-based water depth synchronization method, including the steps of:
s1, the GPS transmits the GPS signal to the DSP board continuously;
s2, obtaining the position information of the point A and the point B of two adjacent end points of GPS signal transmission;
and S3, when the position information of the point A is obtained, the DSP board simultaneously receives the PPS second pulse to start timing, and between the point A and the point B, the DSP board uninterruptedly receives the water depth signal of the depth finder, wherein a corresponding timing timestamp is marked on the received water depth signal every time, and then the time is sent to the industrial personal computer.
As a preferred technical scheme, the invention also provides a water depth synchronization device based on the GPS, which comprises the GPS, a depth finder, a DSP board and an industrial personal computer, wherein a GPS signal end of the GPS is in communication connection with an input end of the DSP board, the DSP board is also in two-way communication connection with the depth finder, and an output end of the DSP board is also in communication connection with an input end of the industrial personal computer.
As a preferred technical scheme of the invention, the PPS signal terminal of the GPS is also in communication connection with the input terminal of the DSP board.
The invention has the beneficial effects that: the invention synchronously combines the GPS and the water depth measurement technology, eliminates some error factors existing before, plays an increasingly important role in the future surveying and mapping industry, and utilizes the GPS technology to carry out the water depth measurement, so that the water depth measurement project becomes simple, fast and efficient. Therefore, the GPS and water depth synchronization technology can provide high-precision, high-quality and high-benefit application prospect for channel water depth measurement.
Drawings
Fig. 1 is a schematic view of a third depth sounding error condition of the prior art.
Fig. 2 is a schematic structural diagram of a GPS-based water depth synchronization apparatus according to a first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a GPS-based water depth synchronization apparatus according to a second embodiment of the present invention.
Fig. 4 is a schematic view of a course of a ship according to a second embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In order to achieve the object of the present invention, in one embodiment of the present invention, a GPS-based water depth synchronization method is provided, including the following steps:
s1, the GPS transmits the GPS signal to the DSP board continuously;
and S2, according to the transmission frequency of the GPS signal, the time interval from the transmission of the depth finder to the reception of the water depth signal is used as a pre-estimated value, the pre-estimated value is added before the GPS signal arrives to adjust the transmission signal of the depth finder, so that the DSP board receives the water depth signal and the GPS signal at the same time, and synchronously sends the water depth signal and the GPS signal to the industrial personal computer.
When the frequency of the GPS signal is 1Hz, the working period of the depth finder is 1 second and 1 time, the DSP board records the GPS signal period and estimates the time of the next arrival, and if the range of the depth finder is 100 meters at this time, the time interval from transmission to reception of the depth finder is 100 × 2/1500 — 0.133 seconds, and the depth finder is transmitted 0.133 seconds before the arrival of the GPS signal to obtain a depth value, and at this time, the error between the GPS position information corresponding to the depth value is substantially negligible, which is a way of reducing the error between the GPS and the depth by using a delay algorithm.
As shown in fig. 2, this embodiment further provides a depth synchronization device based on a GPS, including a GPS, a depth finder, a DSP board, and an industrial personal computer, where a GPS signal end of the GPS is in communication connection with an input end of the DSP board, the DSP board is also in bidirectional communication connection with the depth finder, and an output end of the DSP board is also in communication connection with an input end of the industrial personal computer.
As a preferred technical solution of the present invention, the present invention further provides a GPS-based water depth synchronization method, including the steps of:
s1, the GPS transmits the GPS signal to the DSP board continuously;
s2, obtaining the position information of the point A and the point B of two adjacent end points of GPS signal transmission;
and S3, when the position information of the point A is obtained, the DSP board simultaneously receives the PPS second pulse to start timing, and between the point A and the point B, the DSP board uninterruptedly receives the water depth signal of the depth finder, wherein a corresponding timing timestamp is marked on the received water depth signal every time, and then the time is sent to the industrial personal computer.
In addition, this embodiment still provides a depth of water synchronization equipment based on GPS, including GPS, depth finder, DSP board and industrial computer, GPS's GPS signal end and PPS signal end still respectively with the input communication connection of DSP board, the DSP board still with depth finder both-way communication connection, the output of DSP board still with the input communication connection of industrial computer. The GPS is also connected with the input end of the DSP board in a communication way.
In this operation mode, because there is an access of PPS second pulse (pulse with a period of 1 second), the DSP board can stamp a time stamp (time can be thinned to millisecond) before each water depth data, when the DSP receives a PPS second pulse at a time (assumed to be 16 minutes and 12 seconds), the DSP starts to count time from this time, and the time difference C from receiving a water depth signal is obtained, then a time stamp is marked at the beginning of the format of the water depth signal at this time, and the time C is the time C (time should be 16 minutes and 12 seconds and C millisecond), and it is assumed that the transmission rate of the GPS is 1HZ, that is, 1 second, a GPS signal is sent to the device.
As shown in fig. 3, there are N depth points between A, B location points, because the N depth points are all time-stamped, that is, each depth point has a time difference with respect to A, B location points, between A, B location points, we can default that the ship is traveling at a constant speed, and because the time interval is short, we can default that the path trajectory of the ship is a branch line, so we can determine the location of each depth point by a proportional algorithm according to the time difference between the depth point and A, B location point, and at this time, each depth point corresponds to a corresponding GPS value.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A water depth synchronization method based on GPS is characterized by comprising the following steps:
s1, the GPS transmits the GPS signal to the DSP board continuously;
and S2, according to the transmission frequency of the GPS signal, the time interval from the transmission of the depth finder to the reception of the water depth signal is used as a pre-estimated value, the pre-estimated value is added before the GPS signal arrives to adjust the transmission signal of the depth finder, so that the DSP board receives the water depth signal and the GPS signal at the same time, and synchronously sends the water depth signal and the GPS signal to the industrial personal computer.
2. A water depth synchronization method based on GPS is characterized by comprising the following steps:
s1, the GPS transmits the GPS signal to the DSP board continuously;
s2, obtaining the position information of the point A and the point B of two adjacent end points of GPS signal transmission;
and S3, when the position information of the point A is obtained, the DSP board simultaneously receives the PPS second pulse to start timing, and between the point A and the point B, the DSP board uninterruptedly receives the water depth signal of the depth finder, wherein a corresponding timing timestamp is marked on the received water depth signal every time, and then the time is sent to the industrial personal computer.
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