CN111965628A - Method for estimating instantaneous wave parameters of vertical water outlet navigation body - Google Patents

Method for estimating instantaneous wave parameters of vertical water outlet navigation body Download PDF

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CN111965628A
CN111965628A CN202010803168.1A CN202010803168A CN111965628A CN 111965628 A CN111965628 A CN 111965628A CN 202010803168 A CN202010803168 A CN 202010803168A CN 111965628 A CN111965628 A CN 111965628A
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CN111965628B (en
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程琛
张旭
王东
李万鹏
苏里阳
吕文磊
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Unite 91550 Of Pla
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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
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Abstract

The invention discloses a method for estimating instantaneous wave parameters of a vertical water outlet navigation body, which comprises the following steps: establishing reference elevations of a reference zero line, a wave crest and a wave trough according to matrix format wave surface elevation data acquired by an imaging sonar within a certain field range, and estimating instantaneous wave height; establishing a calculation area by taking a water outlet point as a center, calculating an azimuth consistency standard deviation according to front and back 2 frames of data, rotating the calculation area within a range of 0-180 degrees at a certain angle interval, and determining an instantaneous wave direction parameter according to the principle that the azimuth consistency standard deviation is minimized; and extracting a wave profile along the wave direction, and determining instantaneous wave phase parameters according to the wave surface elevation of the water outlet point and a relation between the wave profile and the wave phase. The method can solve the problem that the traditional wave measurement mode is not matched with the transient motion process of the water outlet navigation body in space and time, obtain the estimated values of instantaneous wave height, wave direction and wave phase, and provide fine and accurate wave parameters for the performance evaluation of the vertical water outlet navigation body.

Description

Method for estimating instantaneous wave parameters of vertical water outlet navigation body
Technical Field
The invention belongs to the field of design and test of a vertical water outlet navigation body, and relates to an instantaneous wave parameter estimation method of a navigation body in a water outlet process.
Background
In the design and test process of the vertical water outlet navigation body, the adaptability of the vertical water outlet navigation body to the near water surface wave condition in the water outlet process needs to be evaluated, and whether the performance meets the use requirement under the required sea condition is verified. Because the vertical water outlet process of the navigation body is a transient process, the duration is only several seconds, and the posture of the navigation body can be greatly changed when the navigation body is positioned at different positions such as wave crests, wave troughs and the like in waves. Therefore, in order to establish the correlation between the water outlet performance of the navigation body and the wave conditions, the wave parameters matched with the water outlet point and the water outlet time are required to be accurately measured while the motion parameters of the navigation body are acquired.
At present, the conventional wave parameter measurement means mainly include a wave buoy measurement technology, a radar wave measurement technology, an acoustic wave measurement technology, an optical wave measurement technology, a pressure wave measurement technology, a gas medium acoustic wave measurement technology and the like. The basic principle of the methods is that based on the collected data of the wave surface position change sequence in a period of time, the estimated values of parameters such as wave height, wave direction and period are obtained through statistical analysis, and therefore the obtained wave parameters are characteristic values in the statistical average sense. In the test of the vertical water outlet navigation body, a water outlet point is randomly generated in the navigation of an underwater carrying platform, instantaneous wave parameter information of the water outlet point and the water outlet time needs to be acquired, the traditional wave measurement technology is limited by an installation platform, a layout mode, a measurement principle and the like, the position of the water outlet point is difficult to cover in space, the water outlet time is difficult to match in time, particularly the instantaneous wave phase information of the water outlet point cannot be directly acquired, and the requirement of analyzing and evaluating the performance of the navigation body is not met.
The measuring equipment based on the optical system can acquire a video image of a wave field in a certain field range, and then instantaneous characteristic parameters of waves are extracted. However, such devices typically require mounting on a surface vessel platform and are not capable of capturing the water points of the craft that move randomly with the underwater vehicle platform. The invention provides a technical scheme for estimating instantaneous characteristic parameters such as wave height, wave direction, wave phase and the like based on transient wave surface elevation matrix data acquired by a three-dimensional image sonar in a certain field of view so as to meet the test requirements of a vertical water-out navigation body.
Disclosure of Invention
The invention aims to provide a method for estimating instantaneous wave parameters of a vertical water outlet navigation body, which can effectively estimate the instantaneous wave parameters of the vertical water outlet process of the navigation body and is used for analyzing and evaluating the adaptability of the water outlet environment in an offshore test.
The invention provides a method for estimating instantaneous wave parameters of a vertical water outlet navigation body, which comprises the following steps:
s1, arranging the three-dimensional imaging sonar on an underwater carrying platform, enabling the radiation surface of the acoustic transducer to point to the sea level, covering the water outlet point position of the vertical water outlet navigation body in the observation range of the field of view at the sea level, obtaining the reference elevations of a reference zero line, a wave crest and a wave trough according to the matrix format wave surface elevation data obtained by the three-dimensional imaging sonar, and estimating the instantaneous wave height;
s2, setting a calculation area for parameter estimation by taking a water outlet point as a center, rotating the calculation area at uniform angle intervals until the calculation area passes through the range of 0-180 degrees, calculating an azimuth consistency standard deviation according to front and back 2 frames of data in a wave surface elevation time sequence, and estimating instantaneous wave direction parameters according to the minimum principle of the azimuth consistency standard deviation;
s3, according to the interpolation of the matrix format wave surface elevation data, obtaining a wave section along the wave direction, and estimating instantaneous wave phase parameters according to the wave surface elevation of the water outlet point and the trigonometric function relationship between the wave section and the wave phase.
The step S1 specifically includes that,
s11, based on the acquired wave surface elevation matrix data and the known water outlet point position coordinates, obtaining the instantaneous wave surface elevation eta of the water outlet point through two-dimensional interpolationP；
S12，Rearranging the wave field matrix data in a manner that each row or each column is connected into a one-dimensional wave surface elevation sequence, and calculating the mean value of the sequence as a reference zero line eta0Calculating the 0.95 quantile of the sequence as the peak reference elevation
Figure BDA0002628129100000022
And 0.05 quantile as trough reference elevation
Figure BDA0002628129100000021
S13, calculating the instantaneous wave height H of the water pointP：
Figure BDA0002628129100000031
The step S2 specifically includes that,
s21, establishing a square area with side length L by taking the water outlet point as the center, and uniformly dividing the area into N × M equidistant grids according to N columns and M rows, wherein the X-axis coordinate vector of all grid points in the square area is X ═ X [ X ] M [ -X ] M1,x2,…,xN]，x1＝-L,xNL, Y-axis coordinate vector Y ═ Y1,y2,…,yM]，y1＝-L,yML. Rotating the square area by a rotation angle theta within the range of 0-180 degrees by taking the water outlet point as a center, and obtaining new coordinates [ x ', y ' of a single grid point ']With the original coordinates [ x, y ]]The corresponding relation is as follows:
Figure BDA0002628129100000032
s22, after each rotation transformation, the new grid point coordinates [ x ', y']Performing two-dimensional interpolation to obtain a wave surface elevation matrix of a kth frame of a calculation area defined by coordinates of new grid points
Figure BDA0002628129100000033
Figure BDA0002628129100000034
And then the wave surface elevation difference matrix of the adjacent 2 frames in the wave surface elevation time sequence at the water outlet time is as follows:
ΔZ(k)＝Z(k+1)-Z(k)， (3)
namely:
Figure BDA0002628129100000035
s23, calculating azimuth consistency standard deviation of all grid points corresponding to the angle theta according to wave surface elevation data corresponding to all grid points in the calculation area defined by the new coordinates [ x ', y' ]:
Figure BDA0002628129100000036
wherein the wave surface elevation difference of adjacent 2 frames
Figure BDA0002628129100000037
Height difference mean value of wave surface of ith row
Figure BDA0002628129100000038
S24, rotating theta at equal angle intervals, and calculating the orientation consistency standard deviation corresponding to the angle after each rotation; after theta passes through the variation range of 0-180 degrees, a data sequence of the variation of the standard deviation sigma (theta) of the azimuth consistency along with theta is obtained, and the azimuth when the sigma (theta) reaches a minimum value is calculated according to the sequence:
Figure BDA0002628129100000041
and S25, performing wave direction deblurring processing based on the front and back 2 frames of data in the wave surface elevation time sequence according to the following judgment conditions: condition 1, the wave surface elevation of the water outlet point tends to rise and edge
Figure BDA0002628129100000042
The wave surface elevation of the water outlet point tends to fall and follows the wave trough or the water outlet point
Figure BDA0002628129100000043
The positive direction is a wave crest; condition 2, the wave surface elevation of the water outlet point tends to rise and is along
Figure BDA0002628129100000044
The wave crest is in the positive direction, or the elevation of the wave surface of the water outlet point tends to fall and is along
Figure BDA0002628129100000045
If the positive direction is a trough, the estimated value of the instantaneous wave direction of the water outlet point is as follows:
Figure BDA0002628129100000046
the variation range is 0-360 degrees.
The S3 specifically includes that,
extracting the wave profile of the water point in the wave period along the wave direction, and the wave surface elevation eta of the wave crest (the position of the wave surface elevation maximum value in the wave profile)creCorresponding to the wave phase of 0 and the wave surface elevation eta of the wave trough (the position of the minimum value of the wave surface elevation in the wave section)troThe corresponding wave phase is pi, the wave phase at the reference zero line between the wave crest and the wave trough is pi/2, the wave phase at the reference zero line between the wave trough and the next wave crest is 3 pi/2, and the water outlet point instantaneous wave phase estimation value corresponding to different quadrants is obtained
Figure BDA0002628129100000047
Calculated from the following formula:
Figure BDA0002628129100000048
the invention has the beneficial effects that:
(1) through the three-dimensional imaging sonar equipment additionally arranged on the underwater carrying platform, the wave surface elevation matrix data can be easily acquired, the wave parameters are estimated on the basis of the acquired data, and the problem that the deviation between the station arrangement position and the water outlet point position of the random water outlet navigation body in the marine test is large in the traditional wave parameter measuring equipment can be solved;
(2) the instantaneous wave height and wave direction can be estimated based on more than 2 frames of wave field data, so that the problem that the traditional wave measurement method is not matched with the water outlet navigation body in time in the transient motion process is solved;
(3) the method can solve the problem that the traditional wave measurement method cannot realize the estimation of the transient wave phase, and the parameter is used as the representation of the fine structure of the wave process synchronous with the water outlet process of the navigation body to provide key information of the wave condition for the performance analysis of the water outlet navigation body.
The invention will be illustrated by means of specific embodiments and figures.
Drawings
FIG. 1 is a schematic diagram of instantaneous wave direction estimation based on wave surface elevations of front and rear 2 frames.
FIG. 2 is a graph showing the variation of the standard deviation of the orientation uniformity with the rotation angle of the water outlet point region in example 1.
FIG. 3 is a comparison of elevation curves of the wave surface of 2 frames before and after the wave section in example 1.
FIG. 4 is a diagram illustrating the correspondence between instantaneous wavefront elevation and wave phase.
FIG. 5 is a schematic diagram of phase estimation of the instantaneous wave of the water outlet point in embodiment 1.
FIG. 6 is a graph showing the variation of the standard deviation of the orientation uniformity with the rotation angle of the water outlet point region in example 2.
FIG. 7 is a comparison of elevation curves of the wave surface of 2 frames before and after the wave section in example 2.
FIG. 8 is a schematic diagram of phase estimation of the instantaneous wave of the water outlet point in embodiment 2.
Detailed Description
The implementation of the technical solution of the present invention is illustrated by 2 embodiments. Wherein, the embodiment 1 is a scene that the water outlet point is between the wave crest and the wave trough, and the embodiment 2 is a scene that the water outlet point is close to the wave crest.
Example 1
The underwater carrying platform carries a navigation body to navigate along a preset route in a test sea area, the three-dimensional image sonar is loaded on the underwater carrying platform, and the radiation surface of the acoustic transducer points to the sea surface direction. The three-dimensional image sonar sends out high-frequency sound waves of area array wave beams to the sea surface at a refresh rate not lower than a certain specific refresh rate, and echo data are obtained and then directly output as a time sequence of wave surface elevation matrix data through a data processing system. The vertical water outlet navigation body randomly outputs water in the navigation process of the underwater carrying platform, the process is within the range of a three-dimensional image sonar view field, and the position coordinates of a water outlet point can be directly acquired from image data.
As shown in fig. 1, contour maps as shown in fig. 1a and 1b are obtained based on the elevation matrix data of the instantaneous wave surface of the k-th frame and the k + 1-th frame, and point P is the position of a water outlet point.
According to the kth wave field data and the known water outlet point position coordinates, the instantaneous wave surface elevation eta of the water outlet point is obtained through two-dimensional interpolationPIs-0.25 m; arranging wave field matrix data in rows to form a group of wave surface elevation sequences, and calculating the mean value of the wave surface elevation sequences to obtain a reference zero line eta0Is-0.07 m, and the peak reference elevation is calculated according to 0.95 quantile
Figure BDA0002628129100000061
Is 3.06m, and the trough reference elevation is calculated according to 0.05 quantile
Figure BDA0002628129100000062
Is-2.99 m.
Setting a regular quadrilateral area with the water outlet point as the center and one side as a calculation area, and carrying out clockwise rotation transformation on the calculation area within the range of 0-180 degrees according to the formula (2) with the water outlet point as the center. After each rotation transformation, extracting the wave surface elevation value of the position of the new transformed coordinate, obtaining the wave surface elevation difference of the k frame and the k +1 frame of the matrix according to the formula (4), wherein the contour line is shown in figure 1c, and then pressing
Figure BDA0002628129100000063
And calculating the standard deviation of orientation consistency. The rotation angles are spread in the range of 0-180 degrees at intervals of 0.1 degrees to form a group of orientation consistency standard deviation sequences corresponding to all the rotation angle sequences,the curve characteristic is shown in FIG. 2 according to
Figure BDA0002628129100000064
The calculated direction corresponding to the minimum value of the standard deviation of the direction consistency is obtained, namely
Figure BDA0002628129100000065
As shown in FIG. 3, according to the 2 frames of data before and after the azimuth wave section, the wave surface elevation of the water outlet point tends to rise and follow
Figure BDA0002628129100000066
The forward direction is the peak, and the judgment satisfies the condition 2 according to
Figure BDA0002628129100000067
The wave direction estimated value is calculated to be 200.4 degrees.
As shown in FIG. 4, in the wave direction, a phase value can be uniquely determined according to the relative position of the wave surface elevation of the water outlet point to the wave crests and the wave troughs, and the phase value and the wave surface elevation at the wave crests and the wave troughs satisfy the trigonometric function relation in the formula (8). As shown in fig. 5, the elevation of the wave surface at the peak is 3.37m, which corresponds to a wave phase of 0; the elevation of the wave surface at the wave trough is-3.87 m, and the corresponding wave phase is pi; the reference zero line is-0.07 m, and the wave phase at the reference zero line between the wave crest and the wave trough is pi/2; since the elevation of the wave surface at the water outlet point is-0.25 m and is positioned in the II quadrant, the phase value of the instantaneous wave at the position is 1.62, namely 0.52 pi according to the calculation of the formula (8), and the corresponding angle value is 92.6 degrees.
Example 2
The acquisition of the wavefront elevation matrix data is performed in the same manner as in example 1. For comparison with example 1, the instantaneous wavefront elevation matrix data of the k-th frame and the k + 1-th frame shown in fig. 1 are still used in this example, except that the water outlet point P is adjusted. Obtaining instantaneous wave surface elevation eta of water outlet point by two-dimensional interpolationPAnd was 3.11 m. Since the wave height elevation matrix data are the same, the reference zero line, the peak reference elevation and the trough reference elevation are the same as those in embodiment 1.
A regular quadrilateral area with a certain side as the center and a water outlet point as the centerSetting the calculation area as a calculation area, and carrying out clockwise rotation transformation on the calculation area within the range of 0-180 degrees according to the formula (2) by taking the water outlet point as a center. After each rotation transformation, extracting the wave surface elevation value of the position of the new transformed coordinate, obtaining the wave surface elevation difference of the k frame and the k +1 frame of the matrix according to the formula (4), wherein the contour line is shown in figure 1c, and then pressing
Figure BDA0002628129100000071
And calculating the standard deviation of orientation consistency. The rotation angles are spread over the range of 0-180 degrees at intervals of 0.1 degrees to form a group of orientation consistency standard deviation sequences corresponding to all the rotation angle sequences, the curve characteristics of which are shown in figure 6
Figure BDA0002628129100000072
The calculated direction corresponding to the minimum value of the standard deviation of the direction consistency is obtained, namely
Figure BDA0002628129100000073
As shown in FIG. 7, according to the 2 frames of data before and after the azimuth wave section, the wave surface elevation of the water outlet point tends to rise and follow
Figure BDA0002628129100000074
The forward direction is the peak, and the judgment satisfies the condition 2 according to
Figure BDA0002628129100000075
The wave direction estimated value is calculated to be 202.5 degrees.
As shown in fig. 8, the elevation of the wave surface at the peak is 3.32m, which corresponds to a wave phase of 0; the elevation of the wave surface at the wave trough is-3.63 m, and the corresponding wave phase is pi; the reference zero line is-0.07 m, and the wave phase at the reference zero line between the wave crest and the wave trough is pi/2; since the elevation of the wave surface at the water outlet point is 3.11m and is in the I quadrant, the phase value of the instantaneous wave at the position is 0.29, namely 0.09 pi, and the corresponding angle value is 16.2 degrees according to the calculation of the formula (8).

Claims (4)

1. A method for estimating instantaneous wave parameters of a vertical water-outlet navigation body is characterized by comprising the following steps:
s1, arranging the three-dimensional imaging sonar on an underwater carrying platform, enabling the radiation surface of the acoustic transducer to point to the sea level, covering the water outlet point position of the vertical water outlet navigation body in the observation range of the field of view at the sea level, obtaining the reference elevations of a reference zero line, a wave crest and a wave trough according to the matrix format wave surface elevation data obtained by the three-dimensional imaging sonar, and estimating the instantaneous wave height;
s2, setting a calculation area for parameter estimation by taking a water outlet point as a center, rotating the calculation area at uniform angle intervals until the calculation area passes through the range of 0-180 degrees, calculating an azimuth consistency standard deviation according to front and back 2 frames of data in a wave surface elevation time sequence, and estimating instantaneous wave direction parameters according to the minimum principle of the azimuth consistency standard deviation;
s3, according to the interpolation of the matrix format wave surface elevation data, obtaining a wave section along the wave direction, and estimating instantaneous wave phase parameters according to the wave surface elevation of the water outlet point and the trigonometric function relationship between the wave section and the wave phase.
2. The method for estimating instantaneous wave parameters of a vertical water-leaving navigation body according to claim 1, characterized in that said step S1 specifically comprises:
s11, based on the acquired wave surface elevation matrix data and the known water outlet point position coordinates, obtaining the instantaneous wave surface elevation eta of the water outlet point through two-dimensional interpolationP；
S12, rearranging the wave field matrix data in rows or columns into a one-dimensional wave surface elevation sequence, and calculating the mean value of the sequence as the reference zero line eta0Calculating the 0.95 quantile of the sequence as the peak reference elevation
Figure FDA0002628129090000011
And 0.05 quantile as trough reference elevation
Figure FDA0002628129090000012
S13, calculating the instantaneous wave height H of the water pointP：
Figure FDA0002628129090000013
3. The method for estimating instantaneous wave parameters of a vertical water-leaving navigation body according to claim 1, wherein said step S2 specifically comprises:
s21, establishing a square area with side length L by taking the water outlet point as the center, and uniformly dividing the area into N × M equidistant grids according to N columns and M rows, wherein the X-axis coordinate vector of all grid points in the square area is X ═ X [ X ] M [ -X ] M1,x2,…,xN]，x1＝-L,xNL, Y-axis coordinate vector Y ═ Y1,y2,…,yM]，y1＝-L,yML, rotating the square area by an angle theta within a range of 0-180 degrees with the water outlet point as the center, and obtaining new coordinates [ x ', y ' of a single grid point ']With the original coordinates [ x, y ]]The corresponding relation is as follows:
Figure FDA0002628129090000021
s22, after each rotation transformation, the new grid point coordinates [ x ', y']Performing two-dimensional interpolation to obtain a wave surface elevation matrix of a kth frame of a calculation area defined by coordinates of new grid points
Figure FDA0002628129090000022
Figure FDA0002628129090000023
And then the wave surface elevation difference matrix of the adjacent 2 frames in the wave surface elevation time sequence at the water outlet time is as follows:
ΔZ(k)＝Z(k+1)-Z(k)，
namely:
Figure FDA0002628129090000024
s23, calculating azimuth consistency standard deviation of all grid points corresponding to the angle theta according to wave surface elevation data corresponding to all grid points in the calculation area defined by the new coordinates [ x ', y' ]:
Figure FDA0002628129090000025
wherein the wave surface elevation difference of adjacent 2 frames
Figure FDA0002628129090000026
Height difference mean value of wave surface of ith row
Figure FDA0002628129090000027
S24, rotating theta at equal angle intervals, and calculating the orientation consistency standard deviation corresponding to the angle after each rotation; after theta passes through the variation range of 0-180 degrees, a data sequence of the variation of the standard deviation sigma (theta) of the azimuth consistency along with theta is obtained, and the azimuth when the sigma (theta) reaches a minimum value is calculated according to the sequence:
Figure FDA0002628129090000028
and S25, performing wave direction deblurring processing based on the front and back 2 frames of data in the wave surface elevation time sequence according to the following judgment conditions: condition 1, the wave surface elevation of the water outlet point tends to rise and edge
Figure FDA0002628129090000029
The wave surface elevation of the water outlet point tends to fall and follows the wave trough or the water outlet point
Figure FDA00026281290900000210
The positive direction is a wave crest; condition 2, the wave surface elevation of the water outlet point tends to rise and is along
Figure FDA0002628129090000031
The wave crest is in the positive direction, or the elevation of the wave surface of the water outlet point tends to fall and is along
Figure FDA0002628129090000032
If the positive direction is a trough, the estimated value of the instantaneous wave direction of the water outlet point is as follows:
Figure FDA0002628129090000033
the variation range is 0-360 degrees.
4. The method for estimating instantaneous wave parameters of a vertical water-leaving navigation body according to claim 1, wherein said step S3 specifically comprises:
extracting the wave profile of the water point in the wave period along the wave direction, and the wave surface elevation eta of the wave crest (the position of the wave surface elevation maximum value in the wave profile)creCorresponding to the wave phase of 0 and the wave surface elevation eta of the wave trough (the position of the minimum value of the wave surface elevation in the wave section)troThe corresponding wave phase is pi, the wave phase at the reference zero line between the wave crest and the wave trough is pi/2, the wave phase at the reference zero line between the wave trough and the next wave crest is 3 pi/2, and the water outlet point instantaneous wave phase estimation value corresponding to different quadrants is obtained
Figure FDA0002628129090000034
Calculated from the following formula:
Figure FDA0002628129090000035
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