CN111965628B - Estimation method for instantaneous wave parameters of vertical water-yielding navigation body - Google Patents
Estimation method for instantaneous wave parameters of vertical water-yielding navigation body Download PDFInfo
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Abstract
The invention discloses a method for estimating instantaneous wave parameters of a vertical water-out navigation body, which comprises the following steps: according to the matrix format wave surface elevation data obtained by imaging sonar in a certain view field range, establishing a reference elevation of a reference zero line and a wave crest and a wave trough, and estimating an instantaneous wave height; establishing a calculation area by taking a water outlet point as a center, calculating azimuth consistency standard deviation according to front and rear 2 frame data, rotating the calculation area within a range of 0-180 degrees at a certain angle interval, and determining instantaneous wave direction parameters according to the principle that the azimuth consistency standard deviation is minimized; extracting a wave section along the wave direction, and determining instantaneous wave phase parameters according to a relation between the wave section of the wave surface Gao Chengji of the water outlet point 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-out navigation body in space and time, obtain the estimated values of the instantaneous wave height, wave direction and wave phase, and provide fine and accurate wave parameters for the performance evaluation of the water-out navigation body.
Description
Technical Field
The invention belongs to the field of vertical water-outlet navigation body design and test, and relates to an instantaneous wave parameter estimation method of a navigation body in the water outlet process.
Background
In the design and test process of the vertical water-out navigation body, the adaptability of the vertical water-out navigation body to the near-water surface wave condition in the water-out process needs to be evaluated, and whether the performance of the vertical water-out navigation body 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 when the navigation body is positioned at different positions such as the wave crest, the wave trough and the like in the wave, the gesture of the navigation body can be greatly changed. Therefore, in order to establish the correlation between the water outlet performance of the navigation body and the wave conditions, the motion parameters of the navigation body are acquired, and meanwhile, the wave parameters matched with the water outlet point and the water outlet moment are required to be accurately measured.
At present, the traditional wave parameter measurement means mainly comprise 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, an air-medium acoustic wave measurement technology and the like. The basic principle of the method is that based on the acquired data of wave surface position change sequences in a period of time, the estimated values of parameters such as wave height, wave direction, period and the like are obtained through statistical analysis, so that the obtained wave parameters are characteristic values in the statistical average sense. In the vertical water outlet navigation body test, water outlet points are randomly generated in navigation of an underwater carrying platform, instantaneous wave parameter information of the water outlet points and water outlet moments is required to be acquired, the traditional wave measurement technology is limited by a mounting platform, a layout mode, a measurement principle and the like, the positions of the water outlet points are difficult to cover in space, the water outlet moments are difficult to match in time, and especially the instantaneous wave phase information of the water outlet points cannot be directly acquired, so that the requirements of the navigation body performance analysis and assessment are not met.
The measuring equipment based on the optical system can acquire video images of the wave field in a certain field of view range, so that instantaneous characteristic parameters of waves are extracted. Such equipment typically needs to be mounted on a surface vessel platform and cannot capture the water exit point of the vehicle as it moves randomly with the underwater vehicle platform. Based on transient wave surface elevation matrix data acquired by three-dimensional image sonar in a certain view field, the invention provides a technical scheme for estimating instantaneous characteristic parameters such as wave height, wave direction, wave phase and the like so as to meet the test requirement 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-out navigation body, which can realize effective estimation of the instantaneous wave parameters of the vertical water-out process of the navigation body and is used for water-out environment adaptability analysis and evaluation in offshore experiments.
The invention provides a method for estimating instantaneous wave parameters of a vertical water-out navigation body, which comprises the following steps:
s1, arranging a three-dimensional imaging sonar on an underwater carrying platform, enabling a radiation surface of an acoustic transducer to point to a sea level, enabling an observation range of a field of view at the sea level to cover a water outlet point position of a vertical water outlet navigation body, obtaining a reference zero line and reference heights of a wave crest and a wave trough according to matrix format wave surface elevation data obtained by the three-dimensional imaging sonar, and estimating an 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 traverses a range of 0-180 degrees, calculating azimuth consistency standard deviation according to front and rear 2 frame 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, acquiring a wave section along the wave direction according to interpolation of matrix format wave surface elevation data, and estimating instantaneous wave phase parameters according to a trigonometric function relation between the wave section of the wave surface Gao Chengji of the water outlet point and the wave phase.
The step S1 specifically includes,
s11, obtaining an instantaneous wave surface Gao Cheng of the water outlet point through two-dimensional interpolation based on the acquired wave surface elevation matrix data and the known water outlet point position coordinates P ；
S12, connecting and rearranging each row or each column of wave field matrix data into a one-dimensional wave surface elevation sequence, and calculating the average value of the sequence as a reference zero line eta 0 Calculating 0.95 quantiles of the sequence as peak reference elevations0.05 quantile as trough reference elevation +.>
S13, calculating the instantaneous wave height H of the water point P ：
The step S2 specifically includes,
s21, taking a water outlet point as a center, establishing a square area with a side length of L, uniformly dividing the area into N.M equidistant grids according to N columns and M rows, wherein X-axis coordinate vectors of all grid points in the square area are X= [ X ] 1 ,x 2 ,…,x N ]，x 1 ＝-L,x N The Y-axis coordinate vector is y= [ Y = L 1 ,y 2 ,…,y M ]，y 1 ＝-L,y M =l. The square area is rotated by an angle theta in the range of 0-180 degrees by taking the water outlet point as the center, so that new coordinates [ x ', y ' of a single grid point are obtained ']With the original coordinates [ x, y]The corresponding relation of (2) is:
s22, after each rotation transformation, the new grid point coordinates [ x ', y ]']Performing two-dimensional interpolation to obtain wave surface elevation matrix of a k frame of a calculation region defined by new grid point coordinates The wave surface elevation difference matrix of the adjacent 2 frames in the wave surface elevation time sequence at the water outlet moment is as follows:
ΔZ (k) ＝Z (k+1) -Z (k) ， (3)
namely:
s23, calculating the azimuth consistency standard deviation of all grid points corresponding to the angle theta according to the wave surface elevation data corresponding to all grid points of the calculation region defined by the new coordinates [ x ', y' ]:
wherein, the wave surface elevation difference of adjacent 2 framesWave surface elevation difference mean value of ith row
S24, rotating theta at equal angular intervals, and calculating the azimuth consistency standard deviation corresponding to the angle after each rotation; after theta traverses a 0-180 degree variation range, a data sequence of the standard deviation sigma (theta) of azimuth consistency along with the change of theta is obtained, and the azimuth when the sigma (theta) reaches the minimum value is calculated according to the sequence:
s25, carrying out wave direction de-blurring processing according to the following judging conditions based on front and rear 2 frames of data in the wave surface elevation time sequence: condition 1, the elevation of the wave surface of the water outlet point tends to rise and followThe forward direction is the trough, or the elevation of the wave surface of the water outlet point tends to decrease and the water outlet point is along +.>The positive direction is the wave crest; condition 2, the elevation of the wave surface of the water outlet point tends to rise and is along +.>The forward direction is the wave crest, or the elevation of the wave surface of the water outlet point tends to decrease and the water outlet point is along +.>The forward direction is the trough, then the instantaneous wave direction estimated value of the water outlet point is:
the variation range is 0-360 degrees.
The step S3 specifically includes the steps of,
extracting a wave profile in a wave period where a water point is located along a wave direction, and extracting a wave surface Gao Cheng at a wave crest (a position where a maximum value of a wave surface elevation in the wave profile is located) cre Wave surface Gao Cheng at the trough (where the minimum value of the wave surface elevation in the wave profile is located) corresponds to a wave phase of 0 tro Corresponding to the wave phase pi, the wave phase pi/2 at the reference zero line between the wave crest and the wave trough, and the wave phase 3 pi/2 at the reference zero line between the wave trough and the next wave crest, the instantaneous wave phase estimated values of the water outlet points of different quadrants are correspondingCalculated from the following formula:
the invention has the beneficial effects that:
(1) The three-dimensional imaging sonar equipment additionally arranged on the underwater carrying platform is easy to collect wave surface elevation matrix data, wave parameters are estimated based on the wave surface elevation matrix data, and the problem that the deviation between the station distribution 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 measurement equipment can be solved;
(2) The method can estimate the instantaneous wave height and wave direction based on wave field data of more than 2 frames, so as to solve the problem that the traditional wave measurement method is not matched with the instantaneous motion process of the water-out navigation body in time;
(3) The method can solve the problem that the traditional wave measurement method can not realize transient wave phase estimation, and the parameter is used as the characterization of a wave process fine structure synchronous with the water outlet process of the navigation body, so that key information of wave conditions is provided for the performance analysis of the water outlet navigation body.
The invention will be illustrated by means of specific embodiments and the accompanying drawings.
Drawings
Fig. 1 is a schematic diagram of instantaneous wave direction estimation based on wave surface elevation of 2 frames before and after.
Fig. 2 is a plot of the standard deviation of the azimuth uniformity as a function of the rotation angle of the water outlet area in example 1.
FIG. 3 is a comparison of 2 frames of wavefront elevation curves before and after the wavefront in example 1.
FIG. 4 is a graph showing the correspondence between instantaneous wavefront elevation and wavefront phase.
Fig. 5 is a schematic diagram of phase estimation of instantaneous wave at water outlet in embodiment 1.
Fig. 6 is a plot of the standard deviation of orientation uniformity as a function of the rotation angle of the water outlet area in example 2.
FIG. 7 is a comparison of 2 frame wavefront elevation profiles before and after the wavefront in example 2.
Fig. 8 is a schematic diagram of phase estimation of instantaneous wave at water outlet in example 2.
Detailed Description
The implementation manner of the technical scheme of the invention is described below through 2 embodiments. The embodiment 1 is a scene where the water outlet point is between the wave crest and the wave trough, and the embodiment 2 is a scene where the water outlet point is near the wave crest.
Example 1
The underwater carrying platform carries the navigation body to navigate along a preset route in the 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 emits high-frequency sound waves of the area array wave beams to the sea surface at a specific refresh rate, echo data are obtained, and then the echo data are directly output by a data processing system to be a time sequence of wave surface elevation matrix data. The vertical water-out navigation body can randomly water out in the navigation process of the underwater carrying platform, the process is in the range of a three-dimensional image sonar view field, and the coordinates of water-out points can be directly obtained in image data.
As shown in fig. 1, contour maps shown in fig. 1a and 1b are obtained based on the k-th frame and k+1th frame instantaneous wave surface elevation matrix data, and the P point is the water outlet point position.
By the wave field data of the kth frame and the known coordinates of the position of the water outlet pointInstantaneous wave surface Gao Cheng of water outlet point obtained by two-dimensional interpolation P Is-0.25 m; wave field matrix data are arranged according to rows to form a group of wave surface elevation sequences, and the average value of the wave surface elevation sequences is calculated to obtain a reference zero line eta 0 At-0.07 m, calculating according to 0.95 quantile to obtain peak reference elevationIs 3.06m, and the trough reference elevation is calculated according to 0.05 quantile>Is-2.99 m.
Setting a regular quadrilateral area with a certain side length and taking a water outlet point as a center as a calculation area, and carrying out clockwise rotation transformation on the calculation area within a 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 kth frame and the (k+1) th frame of the matrix according to the formula (4), wherein the contour line is shown as the figure 1c, and then according to the formulaAnd calculating the standard deviation of the azimuth consistency. The rotation angles are traversed through the range of 0-180 degrees by taking 0.1 degrees as intervals to form a group of azimuth consistency standard deviation sequences corresponding to all rotation angle sequences, and the curve characteristics are shown in figure 2 according to +/∈>Calculating to obtain azimuth corresponding to the minimum value of azimuth consistency standard deviation, namely +.>As shown in FIG. 3, the elevation of the water outlet wave surface tends to rise and be along +.>The positive direction is the peak, and the condition 2 is judged to be satisfied according to +.>The calculated wave direction estimate is 200.4.
As shown in fig. 4, in the wave direction, a phase value can be uniquely determined according to the relative positions of the wave surface elevation of the water outlet point with respect to the wave crest and the wave trough, and the phase value and the wave surface elevation at the wave crest and the wave trough satisfy the trigonometric function relation in the formula (8). As shown in fig. 5, the wave surface elevation at the peak is 3.37m, which corresponds to a wave phase of 0; the wave surface elevation at the 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 wave surface elevation at the water outlet point is-0.25 m, in quadrant II, the instantaneous wave phase value at this position is 1.62, i.e. 0.52 pi, calculated according to equation (8), with a corresponding angle value of 92.6 °.
Example 2
The wave front elevation matrix data is obtained in the same manner as in embodiment 1. In order to facilitate comparison with embodiment 1, the k-th frame and k+1-th frame instantaneous wavefront elevation matrix data shown in fig. 1 are still used in this example, except that the water outlet point P is set. Instantaneous wave surface Gao Cheng of water outlet point obtained by two-dimensional interpolation P 3.11m. Since the wave elevation matrix data is the same, the reference zero line, peak reference elevation and trough reference Gao Chengjun are identical to those of example 1.
Setting a regular quadrilateral area with a certain side length and taking a water outlet point as a center as a calculation area, and carrying out clockwise rotation transformation on the calculation area within a 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 kth frame and the (k+1) th frame of the matrix according to the formula (4), wherein the contour line is shown as the figure 1c, and then according to the formulaAnd calculating the standard deviation of the azimuth consistency. The rotation angles are traversed through the range of 0-180 degrees by taking 0.1 degrees as intervals to form a group of azimuth consistency standard deviation sequences corresponding to all rotation angle sequences, and the curve characteristics are shown in figure 6 according to +/∈>Calculating to obtain azimuth corresponding to the minimum value of azimuth consistency standard deviation, namely +.>As shown in FIG. 7, the elevation of the water outlet wave surface tends to rise and be along +.>The positive direction is the peak, and the condition 2 is judged to be satisfied according to +.>The calculated wave direction estimate is 202.5.
As shown in fig. 8, the wave surface elevation at the peak is 3.32m, which corresponds to a wave phase of 0; the wave surface elevation at the 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 wave surface elevation at the water outlet point is 3.11m, in the I quadrant, the instantaneous wave phase value at this position is 0.29, i.e. 0.09 pi, calculated according to equation (8), with a corresponding angle value of 16.2 °.
Claims (4)
1. The method for estimating the instantaneous wave parameters of the vertical water-out navigation body is characterized by comprising the following steps of:
s1, arranging a three-dimensional imaging sonar on an underwater carrying platform, enabling a radiation surface of an acoustic transducer to point to a sea level, enabling an observation range of a field of view at the sea level to cover a water outlet point position of a vertical water outlet navigation body, obtaining a reference zero line and reference heights of a wave crest and a wave trough according to matrix format wave surface elevation data obtained by the three-dimensional imaging sonar, and estimating an 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 traverses a range of 0-180 degrees, calculating azimuth consistency standard deviation according to front and rear 2 frame 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, acquiring a wave section along the wave direction according to interpolation of matrix format wave surface elevation data, and estimating instantaneous wave phase parameters according to a trigonometric function relation between the wave section of the wave surface Gao Chengji of the water outlet point and the wave phase.
2. The method for estimating instantaneous wave parameters of a vertical water-out vehicle according to claim 1, wherein the step S1 specifically comprises:
s11, obtaining an instantaneous wave surface Gao Cheng of the water outlet point through two-dimensional interpolation based on the acquired wave surface elevation matrix data and the known water outlet point position coordinates P ；
S12, connecting and rearranging each row or each column of wave field matrix data into a one-dimensional wave surface elevation sequence, and calculating the average value of the sequence as a reference zero line eta 0 Calculating 0.95 quantiles of the sequence as peak reference elevations0.05 quantile as trough reference elevation +.>
S13, calculating the instantaneous wave height H of the water point P ：
3. The method for estimating instantaneous wave parameters of a vertical water-out vehicle according to claim 1, wherein the step S2 specifically comprises:
s21, taking a water outlet point as a center, establishing a square area with a side length of L, uniformly dividing the area into N.M equidistant grids according to N columns and M rows, wherein X-axis coordinate vectors of all grid points in the square area are X= [ X ] 1 ,x 2 ,…,x N ]，x 1 ＝-L,x N The Y-axis coordinate vector is y= [ Y = L 1 ,y 2 ,…,y M ]，y 1 ＝-L,y M When the square area rotates by an angle theta in the range of 0-180 degrees by taking the water outlet point as the center, new coordinates [ x ', y ' of a single grid point are obtained ']With the original coordinates [ x, y]The corresponding relation of (2) is:
s22, after each rotation transformation, the new grid point coordinates [ x ', y ]']Performing two-dimensional interpolation to obtain wave surface elevation matrix of a k frame of a calculation region defined by new grid point coordinatesj=1, 2, …, N, then the wave surface elevation difference matrix of the adjacent 2 frames in the wave surface elevation time sequence at the water outlet moment is:
ΔZ (k) ＝Z (k+1) -Z (k) ，
namely:
s23, calculating the azimuth consistency standard deviation of all grid points corresponding to the angle theta according to the wave surface elevation data corresponding to all grid points of the calculation region defined by the new coordinates [ x ', y' ]:
wherein, the wave surface elevation difference of adjacent 2 framesWave surface elevation difference mean value of ith row +.>
S24, rotating theta at equal angular intervals, and calculating the azimuth consistency standard deviation corresponding to the angle after each rotation; after theta traverses a 0-180 degree variation range, a data sequence of the standard deviation sigma (theta) of azimuth consistency along with the change of theta is obtained, and the azimuth when the sigma (theta) reaches the minimum value is calculated according to the sequence:
s25, carrying out wave direction de-blurring processing according to the following judging conditions based on front and rear 2 frames of data in the wave surface elevation time sequence: condition 1, the elevation of the wave surface of the water outlet point tends to rise and followThe forward direction is the trough, or the elevation of the wave surface of the water outlet point tends to decrease and the water outlet point is along +.>The positive direction is the wave crest; condition 2, the elevation of the wave surface of the water outlet point tends to rise and is along +.>The forward direction is the wave crest, or the elevation of the wave surface of the water outlet point tends to decrease and the water outlet point is along +.>The forward direction is the trough, then the instantaneous wave direction estimated value of the water outlet point is:
the variation range is 0-360 degrees.
4. The method for estimating instantaneous wave parameters of a vertical water-out vehicle according to claim 1, wherein the step S3 specifically comprises:
extracting the wave profile of the water point in the wave period along the wave direction, and extracting the wave surface Gao Cheng at the wave crest cre The corresponding wave phase is0, wave surface Gao Cheng at the trough tro The corresponding wave phase is pi, the wave crest is the position of the maximum value of the wave surface elevation in the wave section, the wave trough is the position of the minimum value of the wave surface elevation in the wave section, 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, the estimated value of the instantaneous wave phase of the water outlet point corresponding to different quadrantsCalculated from the following formula:
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