CN112849349A - Online internal wave early warning system and method - Google Patents
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Abstract
The invention provides an online internal wave early warning system and a method, wherein the system comprises a water surface mobile platform consisting of a plurality of sets of wave gliders and an underwater mobile platform consisting of an underwater autonomous vehicle, wherein the underwater mobile platform is networked and cooperated to operate and advance according to a pre-planned cruising route or an anchoring scheme; the wave glider is flexibly connected with a towed body, the towed body is used for acquiring first data and processing the first data, is also used for communicating with the underwater autonomous vehicle, receiving and processing second data of the underwater autonomous vehicle, and judges whether to send out internal wave early warning of a monitored sea area or not according to a processing result; the underwater autonomous vehicle is provided with a data sensing unit and a communication unit, the data sensing unit is used for acquiring the second data of the underwater autonomous vehicle, and the communication unit is used for communicating with the towed body. The system can carry out long-time cruising operation on the sea, realize the internal wave monitoring in real time and flexibly, and realize the three-dimensional and long-endurance targets of ocean observation.
Description
Technical Field
The invention relates to the technical field of online internal wave early warning, in particular to an online internal wave early warning system and an online internal wave early warning method.
Background
Ocean internal waves are wave motion in the ocean of a sea water density layer knot, are one of common disastrous ocean environments, threaten the stability of a semi-submersible type and an anchoring oil platform, and influence the control of offshore operations such as drilling, riser installation and the like. Therefore, real-time online early warning of the internal waves has very important significance for implementation of ocean engineering, and the operation window period can be widened as much as possible while the operation risk is reduced.
Although the existing internal wave on-line monitoring scheme realizes the monitoring of the internal wave to a certain extent, the existing internal wave on-line monitoring scheme mainly focuses on observing the structure and the dynamic process of the internal wave and has insufficient real-time performance; some monitoring methods observe ocean parameters by using a buoy as a carrier and analyze data to obtain internal wave early warning information, are limited by the characteristics of the buoy, can only carry out early warning at fixed points, and cannot flexibly change the monitoring position according to the change of the ocean environment during construction operation.
Therefore, a real-time and mobile online internal wave early warning system and method are lacked in the prior art.
The above background disclosure is only for the purpose of assisting understanding of the concept and technical solution of the present invention and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
The invention provides an online internal wave early warning system and method for solving the existing problems.
In order to solve the above problems, the technical solution adopted by the present invention is as follows:
an online internal wave early warning system comprises a water surface mobile platform consisting of a plurality of sets of wave gliders and an underwater mobile platform consisting of an underwater autonomous vehicle, wherein the underwater mobile platform is networked and cooperated to operate to advance according to a pre-planned cruising route or an anchoring scheme; the wave glider is flexibly connected with a towed body, the towed body is used for acquiring first data and processing the first data, is also used for communicating with the underwater autonomous vehicle, receiving and processing second data of the underwater autonomous vehicle, and judges whether to send out internal wave early warning of a monitored sea area or not according to a processing result; the underwater autonomous vehicle is provided with a data sensing unit and a communication unit, the data sensing unit is used for acquiring the second data of the underwater autonomous vehicle, and the communication unit is used for communicating with the towed body.
Preferably, the first data comprises layering the depth of the seawater and collecting real-time parameter data of each layer and real-time data of the wave glider; the second data comprises layering the depth of the seawater and collecting real-time parameter data of each layer.
Preferably, the towed body comprises an acoustic Doppler flow velocity profiler and a thermohaline depth instrument which are used for acquiring real-time parameter data of each layer of seawater; the acoustic Doppler current profiler is used for acquiring ocean current data of each layer of seawater; the thermohaline depth gauge is used for collecting thermohaline depth data of each layer of the seawater.
Preferably, the towed body further comprises a motion sensor module and a positioning module for acquiring real-time data of the wave glider; the motion sensor module is used for acquiring attitude information data and motion information data of the wave glider; the positioning module is used for positioning the position of the wave glider and assisting the motion sensor module to acquire the displacement information of the towed body to determine the motion information.
Preferably, one of the wave gliders in the water surface mobile platform is used as a main node, and the rest wave gliders and the underwater autonomous vehicle are used as auxiliary nodes; the main node is used for summarizing data information acquired by the auxiliary node, adjusting a cruising route or an anchoring scheme and modifying parameters of data acquired by the auxiliary node.
The invention also provides an online internal wave early warning method, which adopts the online internal wave early warning system and comprises the following steps: acquiring the first data and the second data in real time by using the online internal wave early warning system, processing the first data and the second data, and judging whether to send out internal wave early warning for monitoring the sea area or not according to a processing result; processing the first data and the second data comprises the steps of: and comparing the obtained first data and the second data with a predetermined threshold, and if any one of the first data or the second data exceeds the predetermined threshold, judging that an internal wave early warning for monitoring the sea area needs to be sent out.
Preferably, the first data comprises layering the depth of the seawater and collecting real-time parameter data of each layer and real-time data of the wave glider; the second data comprises seawater depth layering and real-time parameter data of each layer; the real-time data of the wave glider comprises attitude information data and motion information data; the real-time parameter data of each layer comprises ocean current data and temperature and salinity depth data; the sea current data is a flow velocity vector, and the temperature, salinity and depth data is temperature data and salinity data of seawater; note that the flow velocity vector of each layer is V1、V2......VnAt a temperature of T1、T2......TnSalinity of C1、C2......Cn(ii) a Wherein, Vk、Tk、CkDirect values of velocity vector, temperature and salinity of the kth layer are respectively, and k is 1 … n-1; flow velocity vector between k layer and k +1 layer is obtained from direct values of velocity vector, temperature and salinityAmount, temperature, salinity shear value:
Vsk＝|Vk-Vk+1| (k＝1…n-1)
Tsk＝Tk-Tk+1 (k＝1…n-1)
Csk＝Ck-Ck+1 (k＝1…n-1)
setting threshold values V for direct values of velocity vector, temperature, salinityt、Tt、CtThreshold value V of shear values of flow velocity vector, temperature and salinityst、Tst、Cst；
If any V is presentk>VtOr Tk>TtOr Ck>CtOr Vsk>VstOr Tsk>TstOr Csk>CstIf the suspected internal waves exist, the internal wave early warning of the monitored sea area needs to be sent out, otherwise, the current monitored sea area is considered to have no internal waves.
Preferably, the seawater depth is layered and the sampling period T of the real-time parameter data of each layer is acquiredadcpThe sampling period T of the real-time data of the wave glider satisfies the following relation:
Tadcp>100*T。
preferably, the method further comprises the following steps before comparing with the threshold value: correcting real-time parameter data of each layer of seawater by using the motion information data to obtain corrected first data, comparing the corrected first data with the threshold value, and judging whether to send out internal wave early warning for monitoring the sea area or not according to a comparison result; correcting the real-time parameter data of each layer of the seawater by using the motion information data to obtain corrected first data, wherein the corrected first data comprises the following steps: in the acquisition period of the real-time parameter data of each layer of the seawater, the acquired motion information data is filtered and smoothed to obtain n velocity vectors V1、V2......VnAnd obtaining the velocity vector of the wave glider in the sampling period as V:
the flow velocity vector of each layer of the calibrated seawater is as follows: vk′＝Vk-V。
Preferably, if it is determined according to the comparison result that the internal wave early warning of the monitoring sea area is not sent, the acquired first data and/or second data are compressed at the same or different compression rates.
Preferably, processing the first data and the second data further comprises the steps of: fusing the first data of each wave glider and the second data of the underwater autonomous vehicle, and judging whether to send out an internal wave early warning for monitoring a sea area, wherein the method specifically comprises the following steps: taking one of the wave gliders as a main node, and taking the rest wave gliders and the underwater autonomous vehicle as auxiliary nodes; the main node is used for summarizing data information acquired by the auxiliary node and adjusting a cruising route or an anchoring scheme; and counting the number of data information exceeding the threshold in the data information of the main node and the auxiliary node, and judging that an internal wave early warning for monitoring the sea area needs to be sent out when the number is greater than a preset number threshold.
Preferably, processing the first data and the second data further comprises the steps of: when the number of the data information exceeding the threshold in the data information of the main node and the secondary node is counted to be larger than the preset number threshold, the main node sends adjustment information to the secondary node, and parameters of data collected by the secondary node are adjusted; the main node collects the data information of the auxiliary node after adjusting the parameters of the acquired data again; and counting the number of the data information exceeding the threshold in the data information of the main node and the auxiliary node again, and judging that the internal wave early warning of the monitoring sea area needs to be sent out when the number is larger than the preset number threshold.
Preferably, adjusting the parameters of the secondary node collected data comprises: increasing data sampling frequency, increasing ocean profile stratification number, and decreasing compression rate of the first data and/or the second data.
Preferably, after the internal wave early warning of the monitoring sea area needs to be sent out, the propagation speed V of the internal wave is acquired, and the horizontal distance vector S between the internal wave monitoring site and the offshore operation platform, the internal wave will affect the operation of the offshore operation platform after the time T:
the invention has the beneficial effects that: the invention provides an online internal wave early warning system and method, the system of the invention can convert ocean wave energy into self advancing power by combining a wave glider and an underwater autonomous vehicle together and utilizing a floating body-umbilical cord-submerged body structure, can carry out long-time cruising operation on the sea, can realize real-time and flexible internal wave monitoring and can realize the three-dimensional and long-endurance target of ocean observation.
The method of the invention provides real-time and flexible internal wave monitoring and early warning based on the system provided by the invention.
Furthermore, the method improves the accuracy of the internal wave monitoring and early warning on the basis of providing the internal wave monitoring and early warning in real time and flexibly.
Drawings
Fig. 1 is a schematic diagram of a first online internal wave early warning system in an embodiment of the present invention.
Fig. 2 is a schematic diagram of a second online internal wave early warning system in an embodiment of the present invention.
Fig. 3 is a schematic diagram of a third online internal wave early warning system in an embodiment of the present invention.
Fig. 4 is a schematic diagram of a first online internal wave early warning method in the embodiment of the present invention.
Fig. 5 is a schematic diagram of a second online internal wave early warning method in the embodiment of the present invention.
Fig. 6 is a schematic data processing diagram of a first online internal wave early warning method in the embodiment of the present invention.
Fig. 7 is a schematic data processing diagram of a second online internal wave early warning method according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixing function or a circuit connection function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" 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" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
As shown in fig. 1, the online internal wave early warning system comprises a water surface mobile platform consisting of a plurality of sets of wave gliders and an underwater mobile platform consisting of an underwater autonomous vehicle, wherein the underwater mobile platform is networked to cooperatively operate to advance according to a pre-planned cruising route or an anchoring scheme;
the wave glider is flexibly connected with a towed body, the towed body is used for acquiring first data and processing the first data, is also used for communicating with the underwater autonomous vehicle, receiving and processing second data of the underwater autonomous vehicle, and judges whether to send out internal wave early warning of a monitored sea area or not according to a processing result;
the underwater autonomous vehicle is provided with a data sensing unit and a communication unit, the data sensing unit is used for acquiring the second data of the underwater autonomous vehicle, and the communication unit is used for communicating with the towed body.
The wave glider and the underwater autonomous vehicle are combined together in a cooperative mode, ocean wave energy is converted into self advancing power by the floating body-umbilical cord-submerged body structure, long-time cruising operation can be conducted on the sea, internal wave monitoring is achieved in real time and flexibly, and the three-dimensional and long-endurance target of ocean observation is achieved.
In one embodiment of the invention, the first data comprises layering the depth of the seawater and collecting real-time parameter data of each layer and real-time data of the wave glider; the second data includes layering the depth of the seawater and collecting real-time parameter data for each layer.
As shown in FIG. 2, in one embodiment of the invention, the towed body includes a first data sensing unit and a first communication unit rigidly coupled to the towed body;
the first data sensing unit is used for acquiring the first data;
the first communication unit is used for carrying out communication interaction with the underwater autonomous vehicle.
Specifically, the towed body comprises an acoustic Doppler flow velocity profiler and a thermohaline depth meter, and is used for acquiring real-time parameter data of each layer of seawater;
the acoustic Doppler current profiler is used for acquiring ocean current data of each layer of seawater;
the thermohaline depth gauge is used for collecting thermohaline depth data of each layer of the seawater.
It can be understood that the towed body further comprises an acoustic communicator as a communication unit for realizing communication with the underwater mobile platform and the shore machine server.
In another embodiment of the invention, the towed body further comprises a motion sensor module and a positioning module for acquiring real-time data of the wave glider;
the motion sensor module is used for acquiring attitude information data and motion information data of the wave glider;
the positioning module is used for positioning the position of the wave glider and assisting the motion sensor module to acquire the displacement information of the towed body to determine the motion information.
Furthermore, the towed body comprises a water surface mobile platform towing assembly, a battery cabin assembly, a main floating body and a main control assembly which are sequentially arranged;
the water surface mobile platform towing assembly is used for connecting the wave glider and moving along with the wave glider;
the upper end of the water surface mobile platform towing assembly is connected with the battery compartment assembly, the battery compartment assembly is used for providing power for the wave glider and the main control assembly, and the main floating body is arranged at the upper part of the battery compartment assembly and used for providing buoyancy;
the main control assembly is arranged on the upper portion of the main floating body and used for processing data.
As shown in fig. 3, the underwater autonomous vehicle is provided with a second data sensing unit and a second communication unit;
the second data sensing unit is used for acquiring the second data;
the second communication unit is used for carrying out communication interaction with the towed body.
In an embodiment of the present invention, the second data sensing unit includes an acoustic doppler flow profiler and a thermohaline depth meter, which are used for acquiring real-time parameter data of each layer of seawater;
the acoustic Doppler current profiler is used for acquiring ocean current data of each layer of seawater;
the thermohaline depth gauge is used for collecting thermohaline depth data of each layer of the seawater;
the second communication unit is a sonotrode.
According to the wave glider, the towed body is flexibly connected with the water surface mobile platform, so that the towed body can move along with the water surface mobile platform, the shaking amplitude of the water surface mobile platform can be effectively reduced, and the real-time data of the wave glider collected by the towed body can be used as real data; further, the real-time data of the wave glider is used for calibrating the acoustic Doppler current profiler to collect the ocean current data of each layer of the seawater.
In a specific embodiment, the water surface mobile platform adjusts parameters of motion and acquisition behaviors of the underwater mobile platform according to data operation conditions, or sends instructions to the underwater mobile platform through the voice communication machine to modify the parameters when the underwater mobile platform is instructed by remote manual operation.
One wave glider in the water surface mobile platform serves as a main node, and the rest wave gliders and the underwater autonomous vehicle serve as auxiliary nodes;
the main node is used for summarizing data information acquired by the auxiliary node, adjusting a cruising route or an anchoring scheme and modifying parameters of data acquired by the auxiliary node.
In a specific embodiment, the invention is implemented by adopting two wave gliders and one underwater autonomous vehicle to carry out networking cooperative operation. The wave glider works on the water surface, data are respectively sent to the ground server through wireless transmission, and the wave glider can also communicate with each other through the wireless transmission. The underwater autonomous vehicle works underwater and communicates with a wave glider through an acoustic communication machine, the wave glider is called a main wave glider, and the underwater autonomous vehicle transmits data to the main wave glider.
And the underwater autonomous vehicle is cooperatively connected with the wave glider, wherein all communication among the underwater autonomous vehicle and the wave glider is realized by a communication unit. The wave glider is anchored on the water surface, the underwater autonomous vehicle dives under the wave glider, after the wave glider reaches the preset working water depth of the underwater autonomous vehicle, the underwater autonomous vehicle reports that the wave glider can start maneuvering, the wave glider sends the target course to the underwater autonomous vehicle and starts moving along the target course, and the AUV also moves along the target course after receiving information. The wave glider and the underwater autonomous vehicle report position information mutually at regular intervals, and the underwater autonomous vehicle actively adjusts the course and the speed, so that the underwater autonomous vehicle is ensured to be positioned under the wave glider all the time.
Generally, the online internal wave early warning plans a cruising route or an anchoring scheme for each motion platform in the system before being deployed. In the actual monitoring process, a water surface mobile platform is set as a main node and is responsible for summarizing the observation data of each platform, making task planning, adjusting a cruising route or an anchoring scheme, and modifying parameters such as the acquisition frequency of the observation data and the density of acquired samples. And the rest water surface platforms and the underwater platforms are auxiliary nodes.
When the generation or the attack of internal waves is monitored, the main node sends out early warning information to an operating mechanism or a bank server, and the early warning information is transmitted through remote wireless communication, including but not limited to iridium communication, Beidou communication, GPRS communication and the like.
As shown in fig. 4, based on the above system, the present invention further provides an online internal wave early warning method, which adopts any one of the above online internal wave early warning systems, and includes the following steps:
acquiring the first data and the second data in real time by using the online internal wave early warning system, and processing the first data and the second data;
judging whether to send out internal wave early warning of the monitored sea area or not according to the processing result;
processing the first data and the second data comprises the steps of: and comparing the obtained first data and the second data with a predetermined threshold, and if any one of the first data or the second data exceeds the predetermined threshold, judging that an internal wave early warning for monitoring the sea area needs to be sent out.
In a more specific embodiment, the online internal wave early warning system provided by the invention is used, and comprises an overwater mobile platform consisting of a plurality of sets of wave gliders and an underwater mobile platform consisting of an underwater autonomous vehicle, wherein the underwater mobile platform is networked and cooperated to operate to travel according to a pre-planned cruising route or an anchoring scheme;
the wave glider is flexibly connected with a towed body, the towed body is used for acquiring first data, comparing the first data with a preset first threshold value, communicating with the underwater autonomous vehicle, receiving second data of the underwater autonomous vehicle, comparing the second data with a preset second threshold value, and judging whether to send out internal wave early warning for monitoring a sea area or not according to a processing result;
the underwater autonomous vehicle is used for acquiring the second data of the underwater autonomous vehicle and communicating with the towed body.
It can be understood that the first threshold and the second threshold are the same or different, and the invention is based on an improved system, and the data collected by the wave glider and the underwater autonomous vehicle are respectively compared with the thresholds to flexibly judge whether to send out the internal wave early warning for monitoring the sea area or not according to the processing result.
In one embodiment of the invention, the first data comprises layering the depth of the seawater and collecting real-time parameter data of each layer and real-time data of the wave glider; the second data comprises seawater depth layering and real-time parameter data of each layer; the real-time data of the wave glider comprises attitude information data and motion information data;
the real-time parameter data of each layer comprises ocean current data and temperature and salinity depth data; the sea current data is a flow velocity vector, and the temperature, salinity and depth data is temperature data and salinity data of seawater;
note that the flow velocity vector of each layer is V1、V2......VnAt a temperature of T1、T2......TnSalinity of C1、C2......Cn(ii) a Wherein, Vk、Tk、CkDirect values of velocity vector, temperature and salinity of the kth layer are respectively, and k is 1 … n-1;
obtaining the shear values of the flow velocity vector, the temperature and the salinity between the kth layer and the k +1 layer according to the direct values of the velocity vector, the temperature and the salinity:
Vsk＝|Vk-Vk+1| (k＝1…n-1)
Tsk＝Tk-Tk+1 (k＝1…n-1)
Csk＝Ck-Ck+1 (k＝1…n-1)
setting threshold values V for direct values of velocity vector, temperature, salinityt、Tt、CtThreshold value V of shear values of flow velocity vector, temperature and salinityst、Tst、Cst；
If any V is presentk>VtOr Tk>TtOr Ck>CtOr Vsk>VstOr Tsk>TstOr Csk>CstIf the suspected internal waves exist, the internal wave early warning of the monitored sea area needs to be sent out, otherwise, the current monitored sea area is considered to have no internal waves.
It can be understood that in the invention, by judging the direct value or the shear value between the ocean layered flow velocities, the shear value is to divide the ocean into a plurality of layers according to the depth, the flow velocity difference between different layers is calculated by collecting the flow velocity data of each layer, and when the direct value or the shear value is greater than a certain threshold value, the suspected internal wave is judged.
Similarly, the suspected internal wave can be judged by calculating the temperature difference between layers, and when the difference is greater than a certain threshold value.
Similarly, the absolute values of the ocean layered flow velocity and the seawater temperature are also used for threshold judgment.
In one embodiment of the invention, the seawater depth is layered and the sampling period T of the real-time parameter data of each layer is collectedadcpThe sampling period T of the real-time data of the wave glider satisfies the following relation:
Tadcp>100*T。
as shown in fig. 5, in order to improve the accuracy of the early warning, the method further includes the following steps before comparing with the threshold:
correcting real-time parameter data of each layer of seawater by using the motion information data to obtain corrected first data, comparing the corrected first data with the threshold value, and judging whether to send out internal wave early warning for monitoring the sea area or not according to a comparison result;
correcting the real-time parameter data of each layer of the seawater by using the motion information data to obtain corrected first data, wherein the corrected first data comprises the following steps:
in the acquisition period of the real-time parameter data of each layer of the seawater, the acquired motion information data is filtered and smoothed to obtain n velocity vectors V1、V2......VnAnd obtaining the velocity vector of the wave glider in the sampling period as V:
the flow velocity vector of each layer of the calibrated seawater is as follows: vk′＝Vk-V。
In a specific embodiment, a GPS fusion nine-axis sensor (hereinafter referred to as a nine-axis sensor) is additionally installed on a towed body, the nine-axis sensor outputs attitude information (pitch, roll, yaw) and motion information (motion direction, motion speed) of the towed body, and the attitude information and the motion information of the towed body can be considered to be the same as corresponding information of an acoustic doppler current profiler because the acoustic doppler current profiler is rigidly connected with the towed body. By transmitting the attitude information to the acoustic Doppler current profiler in real time and ensuring that the time delay is in millisecond level, the acoustic Doppler current profiler can automatically calibrate an observation result according to the attitude information and evaluate the credibility of the observation result.
In use, eliminating data with low reliability, and retaining data with high reliability, namely obtaining a group of credible observation data including data of each section layer for each sampling period of the acoustic Doppler current profiler; or the obtained data is the untrusted data and is directly discarded.
For convenience of data processing, when no suspected internal wave information exists, the data is greatly compressed, only core symbolic data is kept, for example, only data of a key layer or a representative layer is kept in multi-layer ocean current information, and the compressed data is transmitted to the water surface main node.
In an embodiment of the invention, if it is determined that the internal wave early warning for monitoring the sea area is not sent out according to the comparison result, the collected first data and/or second data are compressed at the same or different compression rates.
As shown in fig. 6, further, the processing the first data and the second data further includes the following steps:
fusing the first data of each wave glider and the second data of the underwater autonomous vehicle, and judging whether to send out an internal wave early warning for monitoring a sea area, wherein the method specifically comprises the following steps:
taking one of the wave gliders as a main node, and taking the rest wave gliders and the underwater autonomous vehicle as auxiliary nodes;
the main node is used for summarizing data information acquired by the auxiliary node and adjusting a cruising route or an anchoring scheme;
and counting the number of data information exceeding the threshold in the data information of the main node and the auxiliary node, and judging that an internal wave early warning for monitoring the sea area needs to be sent out when the number is greater than a preset number threshold.
Although the positions of all nodes are different, layering is carried out based on the depth of the seawater, parameters of all layers are collected, and for each underwater node, the distance between a corresponding water surface node and the horizontal position of the underwater node is small, so that at least two observation values can be collected for data of the same water depth section under the same coordinate. Meanwhile, when internal waves occur, parameters fluctuate due to different water depths of the coordinate position, so that the direct value and the shearing value of the parameters possibly exceed the threshold values, and when the number of the parameters is larger than the threshold value of the preset number, the internal wave early warning for monitoring the sea area is judged to be required to be sent; otherwise, the monitoring sea area is considered to have no internal wave.
In a further improvement method, when a suspected internal wave is judged, monitoring strategies can be adjusted, for example, a main node gives an instruction to each node, the data acquisition frequency and ocean profile layering number of each sensor of each node are increased, the data compression rate of each platform is reduced, and each platform uploads all observation parameter data without deletion, so that a large amount of observation data are collected in a short time. Based on the high-frequency and comprehensive data, judging again, counting observation parameters and suspected conditions uploaded by each node, counting the number of the conditions exceeding a threshold value, and judging that internal wave early warning for monitoring the sea area needs to be sent out when the number is larger than the threshold value of the preset number; otherwise, the monitoring sea area is considered to have no internal wave.
In a specific embodiment, the work flow of the secondary node is: the method comprises the steps of normally acquiring data at low frequency, sending simplified data to a main node, counting the number and times of exceeding a threshold when data exceed the threshold, and sending detailed acquired data and suspected internal wave signals to the main node when enough number or times are counted in one minute. The main node receives data collected by the secondary node while normally collecting the data, and if no secondary node sends a suspected internal wave signal, the main node sends a simplified data and internal wave-free signal to the shore machine server at low frequency; when a suspected internal wave signal is sent by a secondary node, sending an instruction to each secondary node, increasing the frequency of data acquisition and the number of layers of a speed measurement profile, counting the number and times of each node exceeding a threshold value and calculating the occupation ratio, if the number, times or occupation ratio exceeds a set value within one minute, considering that the internal wave is found, calculating the transmission speed and direction of the internal wave and sending an internal wave early warning to a shore machine server, continuously counting the number and times of data of each node exceeding the threshold value, and calculating the occupation ratio; and if the number, the times or the occupation ratio does not exceed a set value within one minute, sending an instruction to each node, and reducing the data acquisition frequency and the number of layers of the speed measurement profile.
It will be appreciated that the threshold is determined empirically in combination with the number of ocean profile layers and the number of nodes.
As shown in fig. 7, further, the processing the first data and the second data further includes the following steps:
when the number of the data information exceeding the threshold in the data information of the main node and the secondary node is counted to be larger than the preset number threshold, the main node sends adjustment information to the secondary node, and parameters of data collected by the secondary node are adjusted;
the main node collects the data information of the auxiliary node after adjusting the parameters of the acquired data again;
and counting the number of the data information exceeding the threshold in the data information of the main node and the auxiliary node again, and judging that the internal wave early warning of the monitoring sea area needs to be sent out when the number is larger than the preset number threshold.
In an embodiment of the present invention, adjusting the parameters of the data collected by the secondary node includes: increasing data sampling frequency, increasing ocean profile stratification number, and decreasing compression rate of the first data and/or the second data.
After the internal wave early warning of the monitoring sea area needs to be sent out, the propagation velocity V of the internal wave is obtained, the horizontal distance vector S between the internal wave monitoring site and the offshore operation platform, and the internal wave will affect the operation of the offshore platform after the time T:
when not enough data exceed the threshold value, after continuously observing for a period of time, for example, 1 minute can be adopted, the internal wave is not determined, then no internal wave is determined, the monitoring strategy is adjusted, the main node gives instructions to each node, the data acquisition frequency and the density of the acquired sample points of each sensor of each platform are reduced, the data compression rate of each platform is increased, and only the corresponding data of the suspected internal wave or the parameters of the key profile layer are uploaded.
In a more specific embodiment, when the ocean internal wave passes through the ocean, the time lasts for 10 to 20 minutes, and the phenomenon needs to be caught in time, the sampling frequency of the sensing unit is about 1 minute, the sampling points can be relatively sparse, such as one layer deep in 64 meters, and each layer is one sampling point. When a suspected internal wave is found, the sampling frequency is increased to 6 times per minute, the sampling points are changed into 8 meters deep in water, one sampling point is arranged on each layer, and the data volume is increased by 48 times. By analyzing a large amount of data in a short time, the analysis comprises the threshold judgment, and can be expanded to other analysis methods which are not developed yet, whether the internal wave exists or not is judged, and the intensity and the propagation direction of the internal wave can be represented through parameters such as speed, temperature and corresponding shearing value. If the data volume is increased by one minute, it can not be determined that the internal wave exists, or it can be determined that the internal wave does not exist, the method is changed to one sampling point every 64 meters of water depth, and the data volume is reduced to 1/48 once a minute.
The internal wave observation method has the advantages that the internal wave observation method can be arranged in a long distance, the wave gliders and the AUV can automatically go to an operation area, personnel is not needed to be on the sea during the internal wave observation early warning period, the use cost is reduced, and the real-time and flexible internal wave monitoring is realized.
An embodiment of the present application further provides a control apparatus, including a processor and a storage medium for storing a computer program; wherein a processor is adapted to perform at least the method as described above when executing the computer program.
Embodiments of the present application also provide a storage medium for storing a computer program, which when executed performs at least the method described above.
Embodiments of the present application further provide a processor, where the processor executes a computer program to perform at least the method described above.
The storage medium may be implemented by any type of volatile or non-volatile storage device, or combination thereof. The nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic Random Access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAMEN), Synchronous linked Dynamic Random Access Memory (DRAM), and Direct Random Access Memory (DRMBER). The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.
Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.
The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (14)
1. An online internal wave early warning system is characterized by comprising a water surface mobile platform consisting of a plurality of sets of wave gliders and an underwater mobile platform consisting of an underwater autonomous vehicle, wherein the underwater mobile platform is networked and cooperated to operate to advance according to a pre-planned cruising route or an anchoring scheme;
the wave glider is flexibly connected with a towed body, the towed body is used for acquiring first data and processing the first data, is also used for communicating with the underwater autonomous vehicle, receiving and processing second data of the underwater autonomous vehicle, and judges whether to send out internal wave early warning of a monitored sea area or not according to a processing result;
the underwater autonomous vehicle is provided with a data sensing unit and a communication unit, the data sensing unit is used for acquiring the second data of the underwater autonomous vehicle, and the communication unit is used for communicating with the towed body.
2. The online internal wave warning system of claim 1, wherein the first data comprises layering sea depths and collecting real-time parameter data for each layer and real-time data for the wave glider; the second data comprises layering the depth of the seawater and collecting real-time parameter data of each layer.
3. The online internal wave early warning system of claim 2, wherein the towed body comprises an acoustic doppler flow profiler and a thermohaline depth meter for acquiring real-time parameter data of each layer of seawater;
the acoustic Doppler current profiler is used for acquiring ocean current data of each layer of seawater;
the thermohaline depth gauge is used for collecting thermohaline depth data of each layer of the seawater.
4. The online internal wave warning system of claim 3, wherein the towed body further comprises a motion sensor module and a positioning module for collecting real-time data of the wave glider;
the motion sensor module is used for acquiring attitude information data and motion information data of the wave glider;
the positioning module is used for positioning the position of the wave glider and assisting the motion sensor module to acquire the displacement information of the towed body to determine the motion information.
5. The online internal wave warning system of claim 4, wherein one of the wave gliders in the surface mobile platform serves as a primary node, and the remaining wave gliders and the underwater autonomous vehicle serve as secondary nodes;
the main node is used for summarizing data information acquired by the auxiliary node, adjusting a cruising route or an anchoring scheme and modifying parameters of data acquired by the auxiliary node.
6. An online internal wave early warning method, which is characterized in that the online internal wave early warning system of any one of claims 1 to 5 is adopted, and comprises the following steps:
acquiring the first data and the second data in real time by using the online internal wave early warning system, processing the first data and the second data, and judging whether to send out internal wave early warning for monitoring the sea area or not according to a processing result;
processing the first data and the second data comprises the steps of:
and comparing the obtained first data and the second data with a predetermined threshold, and if any one of the first data or the second data exceeds the predetermined threshold, judging that an internal wave early warning for monitoring the sea area needs to be sent out.
7. The on-line internal wave early warning method of claim 6, wherein the first data comprises layering the depth of the sea and collecting real-time parameter data of each layer and real-time data of the wave glider; the second data comprises seawater depth layering and real-time parameter data of each layer; the real-time data of the wave glider comprises attitude information data and motion information data;
the real-time parameter data of each layer comprises ocean current data and temperature and salinity depth data; the sea current data is a flow velocity vector, and the temperature, salinity and depth data is temperature data and salinity data of seawater;
note that the flow velocity vector of each layer is V1、V2......VnAt a temperature of T1、T2......TnSalinity of C1、C2......Cn(ii) a Wherein, Vk、Tk、CkDirect values of velocity vector, temperature and salinity of the kth layer are respectively, and k is 1 … n-1;
obtaining the shear values of the flow velocity vector, the temperature and the salinity between the kth layer and the k +1 layer according to the direct values of the velocity vector, the temperature and the salinity:
Vsk＝|Vk-Vk+1|(k＝1…n-1)
Tsk＝Tk-Tk+1(k＝1…n-1)
Csk＝Ck-Ck+1(k＝1…n-1)
setting threshold values V for direct values of velocity vector, temperature, salinityt、Tt、CtThreshold value V of shear values of flow velocity vector, temperature and salinityst、Tst、Cst；
If any V is presentk>VtOr Tk>TtOr Ck>CtOr Vsk>VstOr Tsk>TstOr Csk>CstIf the suspected internal waves exist, the internal wave early warning of the monitored sea area needs to be sent out, otherwise, the current monitored sea area is considered to have no internal waves.
8. The on-line internal wave early warning method of claim 7, wherein the seawater depth is layered and the sampling period T of the real-time parameter data of each layer is collectedadcpThe sampling period T of the real-time data of the wave glider satisfies the following relation:
Tadcp>100*T。
9. the online internal wave warning method of claim 8, further comprising, before comparing to the threshold, the steps of:
correcting real-time parameter data of each layer of seawater by using the motion information data to obtain corrected first data, comparing the corrected first data with the threshold value, and judging whether to send out internal wave early warning for monitoring the sea area or not according to a comparison result;
correcting the real-time parameter data of each layer of the seawater by using the motion information data to obtain corrected first data, wherein the corrected first data comprises the following steps:
in the acquisition period of the real-time parameter data of each layer of the seawater, the acquired motion information data is filtered and smoothed to obtain n velocity vectors V1、V2……VnAnd obtaining the velocity vector of the wave glider in the sampling period as V:
the flow velocity vector of each layer of the calibrated seawater is as follows: vk′＝Vk-V。
10. The on-line internal wave early warning method according to claim 9, wherein if it is determined that the internal wave early warning for monitoring the sea area is not issued according to the comparison result, the collected first data and/or second data are compressed at the same or different compression rates.
11. The online internal wave warning method of claim 10, wherein processing the first data and the second data further comprises:
fusing the first data of each wave glider and the second data of the underwater autonomous vehicle, and judging whether to send out an internal wave early warning for monitoring a sea area, wherein the method specifically comprises the following steps:
taking one of the wave gliders as a main node, and taking the rest wave gliders and the underwater autonomous vehicle as auxiliary nodes;
the main node is used for summarizing data information acquired by the auxiliary node and adjusting a cruising route or an anchoring scheme;
and counting the number of data information exceeding the threshold in the data information of the main node and the auxiliary node, and judging that an internal wave early warning for monitoring the sea area needs to be sent out when the number is greater than a preset number threshold.
12. The online internal wave warning method of claim 11, wherein processing the first data and the second data further comprises:
when the number of the data information exceeding the threshold in the data information of the main node and the secondary node is counted to be larger than the preset number threshold, the main node sends adjustment information to the secondary node, and parameters of data collected by the secondary node are adjusted;
the main node collects the data information of the auxiliary node after adjusting the parameters of the acquired data again;
and counting the number of the data information exceeding the threshold in the data information of the main node and the auxiliary node again, and judging that the internal wave early warning of the monitoring sea area needs to be sent out when the number is larger than the preset number threshold.
13. The online internal wave early warning method of claim 12, wherein adjusting the parameters of the secondary node collected data comprises: increasing data sampling frequency, increasing ocean profile stratification number, and decreasing compression rate of the first data and/or the second data.
14. The on-line internal wave early warning method of claim 13, wherein after judging that an internal wave early warning for monitoring the sea area needs to be sent, acquiring the propagation velocity V of the internal wave, and acquiring the horizontal distance vector S between the internal wave monitoring site and the offshore operation platform, the internal wave will affect the operation of the offshore operation platform after time T:
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