CN112013914A - Simple and convenient ADCP (adaptive data center point) flow calibration method and system - Google Patents

Simple and convenient ADCP (adaptive data center point) flow calibration method and system Download PDF

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CN112013914A
CN112013914A CN202010776734.4A CN202010776734A CN112013914A CN 112013914 A CN112013914 A CN 112013914A CN 202010776734 A CN202010776734 A CN 202010776734A CN 112013914 A CN112013914 A CN 112013914A
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CN112013914B (en
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陈志高
李大军
班亚
陈小叶
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East China Institute of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/66—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by measuring frequency, phase shift or propagation time of electromagnetic or other waves, e.g. using ultrasonic flowmeters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F25/00—Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity

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Abstract

The invention provides a simple and convenient ADCP flow calibration method and a system, comprising the steps of calculating a coordinate vector difference deduced by bottom tracking ship speed, a coordinate vector difference deduced by GPS positioning information and a difference value between the coordinate vector difference and the GPS positioning information; distributing the difference value to the bottom tracking ship speed of each epoch according to the size of the bottom tracking ship speed of each epoch, and realizing the deviation correction of the bottom tracking ship speed; calculating the corrected absolute flow velocity by using the relative flow velocity obtained by ADCP water tracking and the corrected bottom tracking ship velocity; and calculating the section flow according to the corrected bottom tracking ship speed and the corrected absolute flow velocity, and realizing ADCP flow calibration. The technical scheme of the invention eliminates the influence of bottom material flow on the bottom tracking ship speed by using the low-precision GPS dynamic positioning result, realizes the precise calibration of ADCP flow, and is very suitable for hydrological measurement and hydraulic engineering application.

Description

Simple and convenient ADCP (adaptive data center point) flow calibration method and system
Technical Field
The invention relates to a technical scheme for eliminating the influence of bottom material flow on the speed of an ADCP bottom tracking ship and realizing the accurate calibration of ADCP flow, belonging to the fields of hydrological measurement and hydraulic engineering.
Background
An Acoustic Doppler Current Profiler (ADCP) can obtain a three-dimensional flow velocity profile in real time by subtracting the ship speed obtained by bottom tracking from a relative flow velocity profile obtained by water tracking, has the advantages of high speed, high precision, no interference to a flow field and the like, and is widely used in flow velocity observation and flow measurement. The ADCP bottom tracking speed is the ship speed reference for conventional underway ADCP flow measurements. However, in the presence of substrate flow, ADCP bottom tracking may result in less than actual boat speed, which in turn may result in less than actual flow measurements. At present, scholars at home and abroad generally calculate the speed by using positioning information of a GPS (global positioning system) fore-and-aft epoch, and replace the bottom tracking ship speed.
Figure BDA0002618713410000011
Figure BDA0002618713410000012
In the formula, subscripts x and y represent east and north components of the geographic coordinate system; dx,GPS/Dy,GPSIs the east/north component coordinate difference between adjacent epochs; b is2The geodetic latitude of the current epoch; b is1The geodetic latitude of the previous epoch; l is2Geodetic longitude as the current epoch; l is1Geodetic longitude as the last epoch; 6378137m, the average radius of the earth (WGS-84 ellipsoid); 1/298.257223563 is the oblateness of the earth (WGS-84 ellipsoid); delta t is the time interval of two epochs before and after; vx,GPS/Vy,GPSThe east/north component of the GPS boat speed calculated using the GPS coordinates of adjacent epochs.
On the one hand, however, the accuracy of bottom tracking ship speed is usually better than 1cm/s and much higher than the accuracy of ship speed calculated by using GPS positioning information, particularly single-point positioning information, and the direct ship speed replacement will damage the measurement accuracy of absolute flow velocity when bottom tracking data is effective; on the other hand, if the GPS speed is used as the ship speed reference, since there is a difference between the coordinate reference system of the relative flow rate obtained by ADCP water tracking and the GPS ship speed, a small GPS positioning error will cause a significant deviation in both the magnitude and direction of the absolute flow rate obtained by vector subtraction. Therefore, the traditional method of directly replacing bottom tracking ship speed by adopting single GPS ship speed cannot fundamentally solve the problem of inaccurate ADCP bottom tracking ship speed caused by bottom material flow, and further causes deviation of a flow calculation result.
Disclosure of Invention
The invention aims to solve the technical problem of correcting bottom tracking ship speed by using low-precision GPS dynamic positioning information so as to realize accurate calibration of ADCP flow.
The technical scheme of the invention provides a simple ADCP flow calibration method, which comprises the following steps,
step 1, calculating coordinate vector difference delta P derived from bottom tracking ship speedBTAnd coordinate vector difference Δ P derived from GPS positioning informationGPSThe difference ap between, including the sub-steps of,
step 1.1, calculating coordinate vector difference delta P between a track terminal point and a track starting point in the ADCP sailing process by using the bottom tracking ship speed of each epochBT，
Step 1.2, calculating coordinate vector difference delta P between a track end point and a track starting point in the ADCP sailing process by using GPS positioning information of each epochGPS，
Step 1.3, utilizing the Δ P obtained in step 1.1BTAnd Δ P obtained in step 1.2GPSAnd obtaining the vector difference delta P of the two, and realizing the following steps:
ΔPx＝ΔPx,BT-ΔPx,GPS，ΔPy＝ΔPy,BT-ΔPy,GPS
wherein, Δ Px/ΔPyIs the east/north component of the vector difference Δ P, Δ Px,BT/ΔPy,BTAs a difference in coordinates Δ PBTEast/north component of (1), Δ Px,GPS/ΔPy,GPSAs coordinate vector difference Δ PGPSEast/north component of;
step 2, according to the magnitude of the bottom tracking ship speed of each epoch, allocating the delta P to the bottom tracking ship speed of each epoch to realize the correction of the bottom tracking ship speed deviation caused by the bottom material flow, comprising the following substeps,
step 2.1, tracking ship speed V by delta P and each epoch bottomBTThe association is established, as follows,
is V'BTFor the corrected bottom tracking speed, N is the total number of epochs, i is the epoch index, and is represented by delta P ═ delta PBT-ΔPGPSTo obtain
Figure BDA0002618713410000021
Further obtain
Figure BDA0002618713410000022
Wherein, VBT,iTracking Ship speed, V ', for bottom of ith epoch'BT,iBottom tracking of boat speed, Δ t, for corrected ith epochiIs the time interval between the ith epoch and the (i-1) th epoch;
step 2.2, setting DBT,iFor the distance separation between the ith epoch and the (i-1) th epoch calculated based on bottom-tracked watercraft speed, DGPS,iFor the distance interval between the epochs i and i-1 calculated based on the bottom tracking ship speed, because the ship speed is basically kept at the uniform speed in the ADCP sailing process, the delta P is proportionally distributed to the bottom tracking ship speed V of each epoch according to the flight path length of each epochBTIn (c), the following is achieved:
Figure BDA0002618713410000031
step 2.3, calculating corrected bottom-tracked ship speed V'BTThe implementation is as follows:
Figure BDA0002618713410000032
wherein, Vx,BT,i/Vy,BT,iTracking east/North component of Ship speed, V ', for bottom of ith epoch'x,BT,i/V′y,BT,iTracking an east/north component of the ship speed for the corrected bottom of the ith epoch;
step 3, calibrating the cross-section flow Q, comprising the following substeps,
step 3.1, obtaining the relative flow velocity V by ADCP Water trackingWTAnd corrected bottom track speed V'BTCalculating the corrected absolute flow velocity VWS，VWS＝VWT-V’BT；
Step 3.2, tracking the ship speed V 'according to the corrected bottom'BTAnd corrected absolute flow velocity VWSAnd calculating the calibrated section flow to realize ADCP flow calibration.
And step 1.1, calculating the coordinate vector difference delta P between the track end point and the track starting point in the ADCP sailing process by using the bottom tracking ship speed of each epochBTThe implementation mode is as follows,
let N be the total number of epochs during the course of the voyage, Δ t be the time interval between two epochs before and after, Vx,BT/Vy,BTTracking the speed of the vessel V for the bottomBTEast/north component of (V) by bottom tracking of ship speedBTCalculating the coordinate difference delta P from the last epoch to the first epochBT，
Figure BDA0002618713410000033
Wherein, Δ Px,BT/ΔPy,BTAs a difference in coordinates Δ PBTEast/north component of (c).
And step 1.2, calculating the coordinate vector difference delta P between the track end point and the track starting point in the ADCP sailing process by using the GPS positioning information of each epochGPSThe implementation is as follows:
let BeThe latitude of the earth of the last epoch, BsIs the latitude of the earth, L, of the first epocheGeodetic longitude, L, for the last epochsGeodetic longitude for the first epoch; e is the average radius of the earth and the oblateness of the earth, and the coordinate vector difference delta P between the track end point and the track starting point is obtainedGPS，
Figure BDA0002618713410000041
Wherein, Δ Px,GPS/ΔPy,GPSAs coordinate vector difference Δ PGPSEast/north component of (c).
And, step 3.2, tracking the speed V 'from the corrected bottom'BTAnd corrected absolute flow velocity VWSAnd calculating the calibrated section flow rate to realize the following steps:
let k be the unit vector in the vertical direction, T be the total time of cross-section flight, zL(t) and zU(t) the bottom and top depths of the flow velocity profile obtained from each epoch are respectively obtained, t is the observation time, dz is the differential along the water depth direction, dt is the differential over time, the calibrated section flow Q is obtained,
Figure BDA0002618713410000042
wherein, Vx,WS/Vy,WSIs the east/north component of absolute ship speed, V'x,BT/V′y,BTThe east/north component of the ship's speed is tracked for the corrected bottom.
The invention also provides a simple ADCP flow calibration system which is used for the simple ADCP flow calibration method.
The method of the invention aims at the problem that the traditional method of directly replacing bottom tracking ship speed by GPS ship speed is easy to be influenced by GPS positioning precision and causes low calculation precision of the underway ADCP flow, the low-precision GPS ship speed and the bottom tracking speed are used for calculating the coordinate difference value of the respective track terminal point and the starting point, the two coordinate difference values are subtracted, and the bottom tracking ship speed is corrected according to the actual ship speed of each epoch, thereby effectively eliminating the influence of substrate flow on the flow calculation and obviously improving the flow measurement precision of the underway ADCP section (the relative precision is better than 2%). The technical scheme of the invention eliminates the influence of bottom material flow on bottom tracking ship speed by using a low-precision GPS dynamic positioning result, realizes effective improvement of ADCP flow measurement precision, and is very suitable for the fields of hydrological measurement and hydraulic engineering.
Drawings
Fig. 1 is a flow chart of ADCP flow calibration according to an embodiment of the present invention.
Detailed Description
In order to more clearly understand the present invention, the technical solutions of the present invention are specifically described below with reference to the accompanying drawings and examples.
The embodiment of the invention provides an underway ADCP flow calibration method, and provides a scheme for correcting bottom tracking ship speed by using low-precision GPS dynamic positioning data, so as to calibrate the flow Q of an underway section. The technical scheme of the invention comprises the steps of calculating the coordinate vector difference between the track end point and the starting point of a survey ship by using the ADCP bottom tracking speed, and calculating the coordinate vector difference between the track end point and the starting point of the survey ship by using geodetic coordinates obtained by GPS dynamic positioning; calculating the difference between the bottom tracking speed and the bottom tracking speed of each epoch, and distributing the bottom tracking speed to the bottom tracking speeds of each epoch in equal proportion according to the bottom tracking speed of each epoch, thereby realizing the deviation correction of the bottom tracking ship speed and eliminating the influence of the flowing of bottom materials or the higher concentration of suspended sand on the bottom tracking ship speed; and recalculating the flow by using the relative flow velocity obtained by ADCP water tracking and the corrected bottom tracking ship speed, and realizing flow calibration.
As shown in table 1, a section AB of a water area of a Yangtze river estuary is selected in the example, and the section AB is subjected to walkthrough ADCP measurement for 6 times of round trip in 11, 9 months in 2009. The flow rate observation instrument adopts 300kHz ADCP manufactured by RDI company, the length of a depth unit is 1.0m, and Water tracking and Bottom tracking configurations respectively adopt Water Mode 1 and Bottom Mode 5. In the process of navigation measurement, the navigation positioning adopts a GPS with a model of Tianbao DSM232 to carry out single-point positioning. In order to ensure the validity of the collected data, the quality control is carried out on the marching type ADCP measurement: (1) the flight path is controlled in a range with the width of 10m on the two sides of the section so as to ensure the consistency of the measured flight observation values; (2) the ship speed is controlled to be 2-3 m/s, so that the accuracy of flow velocity measurement is guaranteed. In the embodiment, the accuracy of the bottom tracking ship speed is better than 1cm/s, the dynamic positioning accuracy of a GPS is about 20-50 cm, and the accuracy of the GPS ship speed relative to the bottom tracking ship speed is about 10 cm/s.
TABLE 1 example statistics of 6 voyage times parameters
Figure BDA0002618713410000051
Referring to fig. 1, an embodiment of the present invention provides a simple ADCP flow calibration method, which includes the following steps:
step 1, calculating coordinate vector difference delta P derived from bottom tracking ship speedBTAnd coordinate vector difference Δ P derived from GPS positioning informationGPSThe difference Δ P between, comprising the sub-steps of:
step 1.1, calculating coordinate vector difference delta P between a track terminal point and a track starting point in the ADCP sailing process by using the bottom tracking ship speed of each epochBTThe implementation is as follows:
setting N as the total number of epochs in the process of navigation, setting delta t as the time interval between the two epochs before and after, and the subscripts x and y as the east/north components of a geographic coordinate system; vx,BT/Vy,BTTracking the speed of the vessel V for the bottomBTEast/north component of (1), using bottom to track ship speed VBTCalculating the coordinate difference Δ P from the last epoch (end position) to the first epoch (start position)BT：
Figure BDA0002618713410000061
Wherein, Δ Px,BT/ΔPy,BTAs a difference in coordinates Δ PBTEast/north component of (c).
Step 1.2, calculating coordinate vector difference delta P between a track end point and a track starting point in the ADCP sailing process by using GPS positioning information of each epochGPSThe implementation is as follows:
let BeGeodetic latitude which is the last epoch (end position); b issGeodetic latitude, which is the first epoch (origin position); l iseGeodetic longitude for the last epoch (end position); l issGeodetic longitude for the first epoch (origin position); 6378137m, which is the earth's (WGS-84 ellipsoid) mean radius; 1 ═ 1-298.257223563 is the oblateness of the earth (WGS-84 ellipsoid). The coordinate vector difference delta P between the track end point and the track starting point can be obtainedGPS，
Figure BDA0002618713410000062
Wherein, Δ Px,GPS/ΔPy,GPSAs coordinate vector difference Δ PGPSEast/north component of (c).
Step 1.3, using the Δ P calculated in step 1.1BTAnd Δ P calculated in step 1.2GPSAnd obtaining the vector difference delta P of the two, and realizing the following steps:
ΔPx＝ΔPx,BT-ΔPx,GPS，ΔPy＝ΔPy,BT-ΔPy,GPS (3)
wherein, Δ Px/ΔPyThe east/north component of the vector difference ap.
Although the dynamic GPS positioning accuracy is low, the relative error is small for the total track (typically greater than 100 m); although the accuracy of the bottom tracking ship speed is high, due to the influence of bottom material flow, the coordinate vector difference calculated by the formula (1) is obviously accumulated with errors, so that the accuracy of the coordinate vector difference calculated by the formula (2) is far higher than that of the coordinate vector difference calculated by the formula (1).
Step 2, distributing the delta P to the bottom tracking ship speed of each epoch, and comprising the following substeps:
step 2.1, tracking ship speed V by delta P and each epoch bottomBTEstablishing a relation, and realizing the following steps:
since the speed of the substrate flow and the water flow speed are in a substantially direct proportional relationship, the deviation of the bottom tracking ship speed is directly caused, and the difference between the coordinate vector difference calculated by the formula (2) and the coordinate vector difference calculated by the formula (1) is generated. Thus, the bottom-tracking flow rate can be corrected by Δ P.
Is V'BTFor the corrected bottom tracking speed, N is the total number of epochs (samples), i is the epoch label used for identifying the ith epoch, because Δ P is Δ PBT-ΔPGPSIn combination with formula (1) to obtain:
Figure BDA0002618713410000071
further deducing to obtain:
Figure BDA0002618713410000072
wherein, VBT,iTracking Ship speed, V ', for bottom of ith epoch'BT,iBottom tracking of boat speed, Δ t, for corrected ith epochiIs the time interval between the ith epoch and the (i-1) th epoch.
Step 2.2, setting DBT,iFor the distance separation between the ith epoch and the (i-1) th epoch calculated based on bottom-tracked watercraft speed, DGPS,iFor the distance interval between the epochs i and i-1 calculated based on the bottom tracking ship speed, because the ship speed is basically kept at the uniform speed in the ADCP sailing process, the delta P can be proportionally distributed to the bottom tracking ship speed V of each epoch according to the flight path length of each epochBTIn (c), the following is achieved:
Figure BDA0002618713410000073
where → denotes derivation.
Step 2.3, calculating corrected bottom-tracked ship speed V'BTThe implementation is as follows:
Figure BDA0002618713410000074
wherein, Vx,BT,i/Vy,BT,iTracking east/North component of Ship speed, V ', for bottom of ith epoch'x,BT,i/V′y,BT,iThe east/north component of the ship's speed is tracked for the corrected bottom of the ith epoch.
Step 3, calibrating the section flow Q, comprising the following substeps:
step 3.1, obtaining the relative flow velocity V by ADCP Water trackingWTAnd corrected bottom track speed V'BTCalculating the corrected absolute flow velocity VWSThe realization mode is as follows: vWS＝VWT-V’BT。
Step 3.2, calculating the calibrated section flow Q, and realizing the following steps:
let k be the unit vector in the vertical direction, T be the total time of cross-section flight, zL(t) and zU(t) the bottom and top depths of the flow velocity profile obtained for each epoch, respectively, t is the observation time, dz is the differential in the water depth direction, dt is the differential in time, Vx,WS/Vy,WSIs the east/north component of absolute ship speed, V'x,BT/V′y,BTTo track the east/north component of the ship speed for the corrected bottom, the calibrated section flow Q can be obtained:
Figure BDA0002618713410000081
for the sake of easy understanding of the technical effects of the present invention, the flow results calculated by the conventional method and the method of the present invention are compared as follows:
let QBT1For true flow unaffected by substrate flow, QBT2For flow influenced by substrate flow, QBT3For the flow, Q, calibrated by the method of the inventionGPSIn order to replace the traditional flow calculated by bottom tracking ship speed with GPS ship speed,
Figure BDA0002618713410000082
for the relative error in the flow rate caused by the flow of the substrate,
Figure BDA0002618713410000083
for the relative error of the flow rate after being calibrated by the method of the invention,
Figure BDA0002618713410000084
the flow results and relative errors for the conventional GPS boat speed replacement method for 6 measurements are shown in table 2.
TABLE 2 flow results and relative error for 6 measurements obtained using different methods (flow unit: m:. sup.3/s)
Figure BDA0002618713410000085
As can be seen from Table 2, the relative error of the convection flow caused by the substrate flow can reach 10%; the relative error of the flow of the traditional GPS ship speed direct replacement method is 2.3% -14.5%, and the average relative error is 6.7%; the flow relative error after the method is adopted for calibration is between 0.3 and 2.1 percent, the average relative error is only 1.0 percent, the flow precision after the calibration is obviously superior to that of the traditional ship speed replacing method, and the relative precision is improved by more than 5 percent. For a large river such as the Yangtze river, the improvement effect of the relative accuracy of 5% is remarkable.
In specific implementation, a person skilled in the art can implement the automatic operation process by using a computer software technology, and a system device for operating the method, such as a computer-readable storage medium storing a corresponding computer program according to the technical solution of the present invention and a computer device including a corresponding computer program for operating the corresponding computer program, should also be within the scope of the present invention.
The above embodiments are described only for clearly illustrating the basic technical solutions of the present invention, but the present invention is not limited to the above embodiments; any simple modification, equivalent change and modification made according to the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims (5)

1. A simple ADCP flow calibration method is characterized in that: comprises the following steps of (a) carrying out,
step 1, calculating coordinate vector difference delta P derived from bottom tracking ship speedBTAnd coordinate vector difference Δ P derived from GPS positioning informationGPSThe difference ap between, including the sub-steps of,
step 1.1, calculating coordinate vector difference delta P between a track terminal point and a track starting point in the ADCP sailing process by using the bottom tracking ship speed of each epochBT，
Step 1.2, calculating the ADCP in the course of navigation by using the GPS positioning information of each epochCoordinate vector difference delta P between track end point and track starting pointGPS，
Step 1.3, utilizing the Δ P obtained in step 1.1BTAnd Δ P obtained in step 1.2GPSAnd obtaining the vector difference delta P of the two, and realizing the following steps:
ΔPx＝ΔPx,BT-ΔPx,GPS，ΔPy＝ΔPy,BT-ΔPy,GPS
wherein, Δ Px/ΔPyIs the east/north component of the vector difference Δ P, Δ Px,BT/ΔPy,BTAs a difference in coordinates Δ PBTEast/north component of (1), Δ Px,GPS/ΔPy,GPSAs coordinate vector difference Δ PGPSEast/north component of;
step 2, according to the magnitude of the bottom tracking ship speed of each epoch, allocating the delta P to the bottom tracking ship speed of each epoch to realize the correction of the bottom tracking ship speed deviation caused by the bottom material flow, comprising the following substeps,
step 2.1, tracking ship speed V by delta P and each epoch bottomBTThe association is established, as follows,
is V'BTFor the corrected bottom tracking speed, N is the total number of epochs, i is the epoch index, and is represented by delta P ═ delta PBT-ΔPGPSTo obtain
Figure FDA0002618713400000011
Further obtain
Figure FDA0002618713400000012
Wherein, VBT,iTracking Ship speed, V ', for bottom of ith epoch'BT,iBottom tracking of boat speed, Δ t, for corrected ith epochiIs the time interval between the ith epoch and the (i-1) th epoch;
step 2.2, setting DBT,iFor the distance separation between the ith epoch and the (i-1) th epoch calculated based on bottom-tracked watercraft speed, DGPS,iFor the distance interval between the epochs i and i-1 calculated based on the bottom tracking ship speed, because the ship speed basically keeps uniform speed in the ADCP sailing process, according to the flight path length of each epoch, the ship speed is proportionally adjustedBottom-tracking ship speed V with delta P distributed to each epochBTIn (c), the following is achieved:
Figure FDA0002618713400000021
step 2.3, calculating corrected bottom-tracked ship speed V'BTThe implementation is as follows:
Figure FDA0002618713400000022
wherein, Vx,BT,i/Vy,BT,iTracking east/North component of Ship speed, V ', for bottom of ith epoch'x,BT,i/V′y,BT,iTracking an east/north component of the ship speed for the corrected bottom of the ith epoch;
step 3, calibrating the cross-section flow Q, comprising the following substeps,
step 3.1, obtaining the relative flow velocity V by ADCP Water trackingWTAnd corrected bottom track speed V'BTCalculating the corrected absolute flow velocity VWS，VWS＝VWT-V’BT；
Step 3.2, tracking the ship speed V 'according to the corrected bottom'BTAnd corrected absolute flow velocity VWSAnd calculating the calibrated section flow to realize ADCP flow calibration.
2. The method of simple ADCP flow calibration according to claim 1, wherein: step 1.1, calculating coordinate vector difference delta P between a track terminal point and a track starting point in the ADCP sailing process by using the bottom tracking ship speed of each epochBTThe implementation mode is as follows,
let N be the total number of epochs during the course of the voyage, Δ t be the time interval between two epochs before and after, Vx,BT/Vy,BTTracking the speed of the vessel V for the bottomBTEast/north component of (V) by bottom tracking of ship speedBTCalculating the coordinate difference delta P from the last epoch to the first epochBT，
Figure FDA0002618713400000023
Wherein, Δ Px,BT/ΔPy,BTAs a difference in coordinates Δ PBTEast/north component of (c).
3. The method of simple ADCP flow calibration according to claim 1, wherein: step 1.2, calculating coordinate vector difference delta P between a track end point and a track starting point in the ADCP sailing process by using GPS positioning information of each epochGPSThe implementation is as follows:
let BeThe latitude of the earth of the last epoch, BsIs the latitude of the earth, L, of the first epocheGeodetic longitude, L, for the last epochsGeodetic longitude for the first epoch; e is the average radius of the earth and the oblateness of the earth, and the coordinate vector difference delta P between the track end point and the track starting point is obtainedGPS，
Figure FDA0002618713400000031
Wherein, Δ Px,GPS/ΔPy,GPSAs coordinate vector difference Δ PGPSEast/north component of (c).
4. The method for simple ADCP flow calibration according to claim 1, 2 or 3, wherein: step 3.2, tracking the ship speed V 'according to the corrected bottom'BTAnd corrected absolute flow velocity VWSAnd calculating the calibrated section flow rate to realize the following steps:
let k be the unit vector in the vertical direction, T be the total time of cross-section flight, zL(t) and zU(t) the bottom and top depths of the flow velocity profile obtained from each epoch are respectively obtained, t is the observation time, dz is the differential along the water depth direction, dt is the differential over time, the calibrated section flow Q is obtained,
Figure FDA0002618713400000032
wherein, Vx,WS/Vy,WSIs the east/north component of absolute ship speed, V'x,BT/V′y,BTThe east/north component of the ship's speed is tracked for the corrected bottom.
5. A simple and convenient ADCP flow calibration system which is characterized in that: a simple ADCP flow calibration method as claimed in claims 1 to 4.
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