CN111458050B - Temperature profile fine measurement sensor for sea air interface water boundary layer - Google Patents

Temperature profile fine measurement sensor for sea air interface water boundary layer Download PDF

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CN111458050B
CN111458050B CN202010294679.5A CN202010294679A CN111458050B CN 111458050 B CN111458050 B CN 111458050B CN 202010294679 A CN202010294679 A CN 202010294679A CN 111458050 B CN111458050 B CN 111458050B
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temperature
pressure sensor
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attitude
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CN111458050A (en
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许丽萍
梁津津
高坤
田雨
张挺
李红志
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National Ocean Technology Center
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Abstract

The invention provides a temperature profile refined measurement sensor for a water boundary layer of a sea air interface, which comprises a sealing shell, wherein a temperature measurement array is arranged in the sealing shell, and an end face seal is adopted between the temperature measurement array and the sealing shell; the top and the bottom of the sealed shell are respectively provided with a pressure sensor, the pressure sensor at the top is used for measuring the sea surface air pressure, and the pressure sensor at the bottom is corrected through the established error compensation model; and a measuring circuit, an attitude measuring module and a circuit board support are also arranged in the sealed shell, and radial sealing is adopted between the end cover and the sealed shell and between the pressure sensor and the end cover. The sensor can perform high-precision contact measurement on the seawater temperature field in the depth of 0-0.1m of the sea air interface water boundary layer, and can be used for on-orbit calibration of satellite remote sensing and SST authenticity inspection.

Description

Temperature profile fine measurement sensor for sea air interface water boundary layer
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a temperature profile fine measurement sensor for a water boundary layer of a sea air interface.
Background
The solar radiation energy absorbed by the seawater in the depth of 0-0.5m of the water boundary layer at the sea-air interface accounts for 50% of the total solar radiation energy penetrating into the sea, and the seawater in the range plays an important role in the transmission of heat between the sea and the air. The response of the temperature field to the forcing action of the sea-air interface has important scientific significance for deeply recognizing the sea-air interface process, improving the sea mixing and sea-air flux parameterization scheme and the like. In addition, the sea-air temperature difference, wind speed, rainfall, wave and other processes all affect the temperature and flow field structure in the sea-air interface water boundary layer. Therefore, the temperature field of the water boundary layer presents the states of violent change, fine structure and instability.
Due to the above reasons and the limitation of measurement technology, the acquisition of seawater temperature data in the depth of 0-0.1m of the boundary layer of seawater interface water has been a difficult point for a long time. In data applications, researchers typically use average water temperatures to simplify the model and associated computational equations. For example, the conventional water temperature survey regulations specify a single-point measurement value of the surface water temperature of 1 meter or less. In practical application, researchers often face the problem of selecting which water temperature is taken as a model or formula to carry in value, so that data quality problems caused by different data sources are generated, and the problems can obtain different evaluation results in different element calculations, different calculation methods and different sea areas.
In conclusion, the measurement of the sea water temperature field fine structure in the depth of 0-0.1m of the sea air interface water boundary layer is realized, and the method has important significance for the research of the sea near-surface process, particularly the deep cognition and parameterization of the small-scale sea air interaction process (such as sea air flux, daily change, sea mixing, Langmuir circulation and the like).
Disclosure of Invention
In view of this, the present invention aims to provide a temperature profile fine measurement sensor for a sea air interface water boundary layer, so as to solve the problems existing in the prior art and realize the measurement of the sea water temperature field fine structure within the depth of 0-0.1m of the sea air interface water boundary layer.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a temperature profile fine measurement sensor for a sea air interface water boundary layer comprises a sealing shell, wherein a temperature measurement array is arranged in the sealing shell, and an end face seal is adopted between the temperature measurement array and the sealing shell;
the top and the bottom of the sealed shell are respectively provided with a pressure sensor, the pressure sensor at the top is used for measuring the sea surface air pressure, and the pressure sensor at the bottom is corrected through the established error compensation model;
and a measuring circuit, an attitude measuring module and a circuit board support are also arranged in the sealed shell, and radial sealing is adopted between the end cover and the sealed shell and between the pressure sensor and the end cover.
Furthermore, the total length of the temperature measurement array is not less than 0.1m, temperature measurement nodes are arranged in the temperature measurement array, the number of the nodes is not less than 35, the center distance of the nodes is not more than 3mm, and the positioning accuracy of the nodes is better than +/-2 mm.
Furthermore, the attitude measurement module comprises a gyroscope, an accelerometer and a magnetometer, is used for outputting the measurement values of roll angle and pitch angle, and is electrically connected with a measurement circuit, and the measurement circuit is provided with a main controller.
Furthermore, the attitude measurement module can provide a pitch angle and a roll angle of the temperature profile refined measurement sensor, and under the condition that the position information of each temperature measurement node is known, the actual depth of each temperature measurement node can be measured according to the data information of the top and bottom high-precision pressure sensors of the temperature profile refined measurement sensor.
Further, the specific calculation process is as follows,
the measured value of the known top pressure sensor is d1The measured value of the bottom pressure sensor is d2Then the actual depth at the bottom pressure sensor diaphragm position is:
d＝d2-d1
knowing that the distance between the diaphragm of the bottom pressure sensor and the first temperature node at the bottom of the temperature measurement array is L0The distance between adjacent temperature nodes of the temperature measurement array is L, the actual depth of the diaphragm position of the bottom pressure sensor is d, the pitch angle indication value of the attitude measurement system is theta, the roll angle indication value is gamma, and the actual depth of the first temperature node of the temperature measurement array is as follows:
L1＝d-tanθtanγL0
the depth of the nth (n-2, 3 … …) temperature node is:
Ln＝d-tanθtanγ(L0+(n-1)L)。
furthermore, each temperature measuring node is connected with a microcontroller through an AD chip, and the microcontroller is connected with a main controller of the measuring circuit through an RS485 bus.
Furthermore, the measurement circuit and the attitude measurement module further comprise a selection adaptive complementary filtering attitude fusion algorithm, the quaternion estimated by the MEMS gyroscope is compensated by using the measurement values of the accelerometer and the magnetometer, and meanwhile, the adaptive compensation of the carrier non-gravity acceleration error and the magnetic interference error is introduced, so that the attitude measurement precision is improved.
Furthermore, the calibration of the attitude measurement system is realized by a system error calibration method based on ellipsoid fitting, and the dependence on precise calibration equipment is greatly reduced.
Compared with the prior art, the temperature profile fine measurement sensor for the sea air interface water boundary layer has the following advantages:
the invention provides a temperature profile fine measurement sensor with a miniaturized and dense node temperature measurement array and high-precision depth positioning capability, which can be directly applied to a surface drift buoy and can be additionally provided with an attitude adjusting module for shipborne mooring type measurement. The sensor can perform high-precision contact measurement on a seawater temperature field in the depth of 0-0.1m of a seawater boundary layer at a sea air interface, and can be used for on-orbit calibration of satellite remote sensing and SST authenticity inspection; in addition, the measurement data of the sensor can also be used for the analysis of the relation between the skin temperature and the surface temperature of the water body and the research of the heat flux of the interaction of the sea and the air, lays a foundation for the deep cognition and parameterization of the process of the sea and air interface, particularly the interaction of the small-scale sea and air, and fills up the technical blank in the field.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic three-dimensional structure of a sensor according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of an electrical circuit of a sensor according to an embodiment of the present invention;
FIG. 3 is a three-dimensional view of the overall structure of a sensor according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a connection between a measurement circuit and an attitude measurement module according to an embodiment of the present invention;
fig. 5 is a flowchart of an adaptive complementary filter attitude measurement algorithm according to an embodiment of the present invention.
Description of reference numerals:
1-sealing the shell; 2-temperature measurement array; 3-sea surface; 4-a top pressure sensor; 5-a circuit board support; 6-a measurement circuit and an attitude measurement module; 7-bottom pressure sensor; 8-end cap; 9-temperature node; 10-epoxy resin.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-4, the invention provides a temperature profile fine measurement sensor for a water boundary layer of a sea air interface, which comprises a sealing shell 1, wherein a temperature measurement array 2 is arranged on the sealing shell 1, and an end face seal is adopted between the temperature measurement array 2 and the sealing shell 1; the top and the bottom of the sealed shell 1 are provided with pressure sensors, the top pressure sensor 4 is used for measuring the air pressure of the sea surface 3, and the bottom pressure sensor 7 is corrected through the established error compensation model; a measuring circuit, an attitude measuring module 6 and a circuit board support 5 are further arranged in the sealing shell 1, and radial sealing is adopted between the end cover 8 and the sealing shell 1 and between the pressure sensor and the end cover 8.
Because it is difficult to directly obtain the seawater temperature data in the depth of 0-0.1m of the water boundary layer of the sea-air interface, the variation amplitude of the seawater temperature is inversely proportional to the distance to the sea-air interface according to the surface water temperature gradient, and the closer to the sea-air interface, the more drastic the change of the seawater temperature. Therefore, the total design length of the temperature measurement array 2 is not less than 0.1m, the number of the nodes is not less than 35, the center distance of the nodes is not more than 3mm, and the positioning accuracy of the nodes is better than +/-2 mm.
The thermistor is selected by comprehensively considering the measurement precision and the overall dimension, the negative temperature coefficient thermistor with the diameter of about 0.5mm is selected, and the outer part of the thermistor is provided with a glass armor material, so that the difficulty of subsequent packaging is reduced.
For the installation of thermistor conveniently, adopt end face seal to connect between temperature measurement array 2 and the sealed barrel, realized the modularized design simultaneously, follow-up can be through adjusting the node density of temperature measurement array 2, be applicable to different application scenarios.
The distance between the temperature nodes 9 is realized through high-precision numerical control processing, the watertight characteristic of the temperature nodes is ensured through the encapsulation of epoxy resin 10, and the smaller the heat conductivity coefficient between the temperature measurement array mounting structure material and the epoxy resin is, the smaller the influence on temperature measurement is.
The actual depth of each node in the temperature measurement array 2 is important information for describing the temperature field structure of the water boundary layer. In order to meet the technical requirement that the water depth precision of each temperature node in the temperature array is better than +/-2 mm, the invention designs an attitude measurement module based on a three-axis MEMS gyroscope, an accelerometer and a magnetometer, constructs a high-precision depth positioning model by utilizing a pitch angle, a roll angle and a reference depth given by the attitude measurement module, and accurately measures and calculates the actual depth of each temperature node.
The attitude measurement system can provide the pitch angle and the roll angle of the temperature profile refined measurement sensor, and under the condition that the position information of each temperature measurement node is known, the actual depth of each temperature measurement node can be measured according to the data information of the top and bottom high-precision pressure sensors of the temperature profile refined measurement sensor.
The mounting structure of the temperature measuring node 9 is processed and manufactured by adopting a high-precision numerical control technology, and the processing precision can reach +/-0.01 mm. In order to further ensure the accuracy of measuring and calculating the depth, the temperature profile refines the pressure sensor at the top of the measuring sensor to measure the sea surface air pressure, and corrects the pressure sensor at the bottom through the established error compensation model.
The measured value of the known top pressure sensor is d1The measured value of the bottom pressure sensor is d2Then the actual depth at the bottom pressure sensor diaphragm position is:
d＝d2-d1
knowing that the distance between the diaphragm of the bottom pressure sensor and the first temperature node at the bottom of the temperature measurement array is L0The distance between adjacent temperature nodes of the temperature measurement array is L, the actual depth of the diaphragm position of the bottom pressure sensor is d, the pitch angle indication value of the attitude measurement system is theta, the roll angle indication value is gamma, and the actual depth of the first temperature node of the temperature measurement array is as follows:
L1＝d-tanθtanγL0
the depth of the nth (n-2, 3 … …) temperature node is:
Ln＝d-tanθtanγ(L0+(n-1)L)。
due to the drift of the MEMS gyroscope, accumulated errors exist after long-time work; estimating the attitude angle using accelerometers and magnetometers is affected by linear acceleration of the vehicle and magnetic field disturbances. Therefore, accurate and reliable attitude information cannot be obtained by using one sensor alone, and the data of different sensors must be fused by utilizing an attitude fusion algorithm so as to improve the accuracy and the anti-interference capability of the system. The invention selects the self-adaptive complementary filtering attitude fusion algorithm, compensates the quaternion estimated by the MEMS gyroscope by using the measurement values of the accelerometer and the magnetometer, avoids the influence of course angle errors on horizontal angle measurement under the condition of magnetic field interference, introduces the self-adaptive compensation scheme of carrier non-gravity acceleration errors and magnetic interference errors and improves the attitude measurement precision. The specific method comprises the following steps:
1.1 quaternion-based attitude determination analysis
Defining the coordinate system of the gyroscope, the accelerometer and the magnetometer as a carrier coordinate system oxbybzbThe corresponding geographic coordinate system is the geographic coordinate system oxnynzn. The carrier attitude is the angular position relation of a carrier coordinate system and a geographic coordinate system and can be compositely represented by three ordered rotations of carrier coordinate axes. The project adopts the aviation sequence Euler angle of the Z-X-Y rotation sequence, the positive rotation direction follows the right-hand rule, and the rotation angle
Figure GDA0003274875290000071
Theta and gamma are a course angle, a pitch angle and a roll angle in sequence.
The Euler angle method, the direction cosine method, the quaternion method and the like are commonly used attitude calculation methods, wherein the quaternion method is small in calculation amount, can avoid the singularity problem of the Euler angle, and is wide in application. The rotation of the carrier coordinate system relative to the geographical coordinate system is represented by a quaternion Q:
Q＝q0+q1i+q2j+q3k (1)
the rotation matrix is represented as:
Figure GDA0003274875290000081
the quaternion differential equation is expressed as:
Figure GDA0003274875290000082
in the formula: omega (omega)b) Representing the angular velocity of the carrier coordinate system relative to the geographic coordinate system in the carrier seatThe quaternion of the upper component is labeled. The matrix form is as follows:
Figure GDA0003274875290000083
the quaternion differential equation is solved by using a fourth-order Runge-Kutta method, and the following recursion relation can be obtained:
Figure GDA0003274875290000084
wherein: t is a sampling period;
Figure GDA0003274875290000085
from the updated quaternion, the attitude angle can be derived:
Figure GDA0003274875290000086
1.2 self-adaptive complementary filtering attitude fusion algorithm
In carrier attitude solution by using quaternions, orthogonalization processing is usually required to minimize the random drift error of an attitude transfer matrix, and the gravity vector and the magnetic field vector are expressed in a carrier coordinate system as follows:
Figure GDA0003274875290000091
in the formula:
Figure GDA0003274875290000092
and
Figure GDA0003274875290000093
representing the calculated values of the gravity vector and the magnetic field vector in a carrier coordinate system, gnAnd mnExpressed in a geographical coordinate systemIs projected.
The actual measurement vectors of the accelerometer and magnetometer are:
Figure GDA0003274875290000094
and in order to inhibit the drift of the gyroscope, a self-adaptive complementary filtering method is adopted, and data fusion is carried out by combining the outputs of the accelerometer and the magnetometer to obtain reliable attitude angle information.
And compensating and correcting the quaternion estimated by the gyroscope by using the data measured by the accelerometer, and outputting an accurate horizontal attitude. By quaternion QtAround the vector naAngle of rotation delta thetaaTo compensate for horizontal angle errors, the error quaternion QaeAnd a modified quaternion QaThe expression of (a) is as follows:
Figure GDA0003274875290000095
in the formula: n isaRepresenting equivalent rotation axis direction by means of a space vector naAnd angle scalar Δ θaAnd constructing a quaternion to express the coordinate position of the carrier, namely an expression form of the attitude quaternion 'shaft angle'.
In a static state, the accelerometer can accurately calculate the horizontal attitude angle of the carrier by measuring the acceleration caused by gravity. However, when the carrier has linear acceleration, the magnitude and direction of the acceleration vector measured by the accelerometer are deviated from the gravity vector, and a relatively large error will occur when the attitude angle of the carrier is calculated by using the output value of the accelerometer. However, the gyroscope measurements are not affected by linear acceleration, and therefore the gyroscope data should be used as the primary source of estimation in this case for relatively accurate attitude estimation. To solve this problem, the present invention introduces an adaptive gain coefficient μ in equation (10)aTo reduce the carrier non-gravity acceleration error to attitude measurementThe effect of accuracy.
The expression for the carrier non-gravitational acceleration error is as follows:
Figure GDA0003274875290000101
in the formula: g | |bAnd | | is an acceleration vector module value measured by the accelerometer, and g is the local gravity acceleration. Filter gain factor muaNon-gravitational acceleration error e from carrieraThe relationship between them is as follows:
μa＝f(ea) (12)
f is a piecewise continuous function, and when the linear acceleration of the carrier is small and the non-gravity acceleration error is not greater than a preset threshold value xaThe filter gain factor decreases linearly with increasing non-gravitational acceleration error. If the carrier has a large linear acceleration and the non-gravitational acceleration error is greater than the threshold, then the filter gain factor is equal to zero. The error threshold value can be obtained by testing through measuring the respective precision of the inertial devices, the dynamic strength of the carrier and other conditions.
On the basis of the above work, the obtained quaternion is compensated by using the measurement data of the magnetometer to correct the course angle. Estimated vector of magnetic field in geographic coordinate system:
Figure GDA0003274875290000102
in the formula: (Q)a)*Is a quaternion QaConjugation of (1).
By quaternion QaAround the vector nmAngle of rotation delta thetamTo compensate for yaw angle errors, the error quaternion QmeAnd a modified quaternion QmThe expression of (a) is as follows:
Figure GDA0003274875290000111
in the formula: m isnAnd (010) is a geomagnetic reference vector in which a vertical component is ignored under the geographic coordinate system. Filter gain factor mumIs obtained by the method ofaThe acquisition method is similar and will not be described herein.
Based on the above analysis, a flow chart of the adaptive complementary filter pose fusion algorithm is shown in fig. 5.
Before the temperature profile refined measurement sensor is put into use, under the condition of lacking external auxiliary equipment, accurate calibration and compensation are difficult to carry out, and only some simple linear calibration and compensation means can be used. The methods are applied to accelerometer zero-offset calibration, and the compensation effect is good. For the magnetometer which is interfered by the external magnetic field, the magnetic north-south direction is difficult to directly seek. Aiming at the problems, the invention adopts an operable, quick and simple sensor field calibration compensation method which does not depend on external auxiliary equipment to provide direction reference and horizontal reference, namely a system error calibration method based on ellipsoid fitting. The calibration of the attitude measurement system is realized by the system error calibration method based on ellipsoid fitting, and the dependence on precise calibration equipment can be greatly reduced.
Under the ideal state without magnetic field interference, the magnetic strength measured by the 3 axes of the magnetometer is distributed in a spherical surface shape in space. The magnetic field interference can cause the geomagnetic field strength measured by the magnetometer to generate different degrees of offset deformation in 3 axial directions, and the calculation of the heading angle is influenced.
The general equation for an ellipsoidal surface is:
(x-x0)2+E2(y-y0)2+F2(z-z0)2＝R2 (15)
the least square method is adopted to solve the unique ellipsoid parameter formula as follows:
Figure GDA0003274875290000112
a plurality of measured values (x)i,yi,zi) The substitution of equation (16), a simultaneous linear equation, can be written in matrix form:
Dw＝c (17)
wherein:
Figure GDA0003274875290000121
equation (17) has a least squares solution:
w＝(DTD)-1DTc (19)
selecting at least 6 sets of magnetometer measurements at different attitude orientations
Figure GDA0003274875290000122
Substitution (x)i,yi,zi) Substituting the formula (17) to obtain w, and further determining an ellipsoid parameter (x)0,y0,z0,E,F,R)。
The magnetometer measurements after ellipsoid correction and normalization are:
Figure GDA0003274875290000123
because the contradiction between high-speed acquisition and high-precision measurement exists when dozens of temperature nodes are synchronously observed, the invention adopts the overall technical scheme of multi-path AD chip sampling and data bus transmission to ensure the measurement precision and the synchronism of each temperature node.
And each microcontroller synchronously measures the connected partial temperature nodes in parallel under the control of the main controller. The microcontroller and the plurality of AD form a minimum temperature measuring module, and the modules are communicated with the main controller based on an RS-485 interface. The main controller can synchronously start each temperature measuring module in a broadcasting mode, and flexibly increase or reduce the number of the measuring modules according to the requirement of the actual measuring environment, thereby being convenient for expanding application.
The invention aims to develop a sea air interface water boundary layer temperature profile fine measurement sensor which has a miniaturized and dense node temperature measurement array and has high-precision depth positioning capability. The development and the targeted scientific experiment of the sensor lay a foundation for the research of the ocean near-surface process, in particular for the deep cognition and parameterization of the small-scale ocean-gas interaction process (such as ocean-gas flux, daily change, ocean mixing, Langmuir circulation and the like), and fill up the technical blank in the field.
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, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (5)

1. A temperature profile fine measurement sensor for a sea air interface water boundary layer is characterized in that: the temperature measurement device comprises a sealed shell, wherein a temperature measurement array is arranged in the sealed shell, and the temperature measurement array and the sealed shell are sealed by end faces;
the top and the bottom of the sealed shell are respectively provided with a pressure sensor, the pressure sensor at the top is used for measuring the sea surface air pressure, and the pressure sensor at the bottom is corrected through the established error compensation model;
a measuring circuit, an attitude measuring module and a circuit board bracket are also arranged in the sealed shell, radial sealing is adopted between the end cover and the sealed shell and between the pressure sensor and the end cover,
the attitude measurement module comprises a gyroscope, an accelerometer and a magnetometer, is used for outputting measurement values of a roll angle and a pitch angle, and is electrically connected with a measurement circuit, and the measurement circuit is provided with a main controller;
the attitude measurement module can provide a pitch angle and a roll angle of a temperature profile refined measurement sensor, and under the condition that the position information of each temperature measurement node is known, the actual depth of each temperature measurement node can be measured according to the data information of the top and bottom high-precision pressure sensors of the temperature profile refined measurement sensor;
the specific calculation process for measuring and calculating the actual depth of each temperature measuring node is as follows,
the measured value of the known top pressure sensor is d1The measured value of the bottom pressure sensor is d2Then the actual depth at the bottom pressure sensor diaphragm position is:
d＝d2-d1
knowing that the distance between the diaphragm of the bottom pressure sensor and the first temperature node at the bottom of the temperature measurement array is L0The distance between adjacent temperature nodes of the temperature measurement array is L, the actual depth of the diaphragm position of the bottom pressure sensor is d, the pitch angle indication value of the attitude measurement system is theta, the roll angle indication value is gamma, and the actual depth of the first temperature node of the temperature measurement array is as follows:
L1＝d-tanθtanγL0
the depth of the nth (n-2, 3 … …) temperature node is:
Ln＝d-tanθtanγ(L0+(n-1)L)。
2. the sensor for the refined measurement of the temperature profile of the boundary layer of the seawater interface water as claimed in claim 1, wherein: the total length of the temperature measurement array is not less than 0.1m, temperature measurement nodes are arranged in the temperature measurement array, the number of the nodes is not less than 35, the center distance of the nodes is not more than 3mm, and the positioning accuracy of the nodes is better than +/-2 mm.
3. The sensor for the refined measurement of the temperature profile of the boundary layer of the seawater interface water as claimed in claim 1, wherein: each temperature measuring node is connected with a microcontroller through an AD chip, and the microcontroller is connected with a main controller of the measuring circuit through an RS485 bus.
4. The sensor for the refined measurement of the temperature profile of the boundary layer of the seawater interface water as claimed in claim 1, wherein: the measurement circuit and the attitude measurement module further comprise a selection adaptive complementary filtering attitude fusion algorithm, the quaternion estimated by the MEMS gyroscope is compensated by using the measurement values of the accelerometer and the magnetometer, and meanwhile, the adaptive compensation of carrier non-gravity acceleration errors and magnetic interference errors is introduced, so that the attitude measurement precision is improved.
5. The sensor for the refined measurement of the temperature profile of the boundary layer of the seawater interface water as claimed in claim 1, wherein: the calibration of the attitude measurement system is realized by the system error calibration method based on ellipsoid fitting, and the dependence on precise calibration equipment is reduced.
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