CN112989258B - Polar sea ice thickness measuring method and device, electronic equipment and storage medium - Google Patents
Polar sea ice thickness measuring method and device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
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- G—PHYSICS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a polar sea ice thickness measuring method, a polar sea ice thickness measuring device, electronic equipment and a storage medium, wherein the polar sea ice thickness measuring method comprises the following steps: acquiring measurement data of an acquisition system; determining the state of the measurement data according to the laser signal and the sound signal; denoising the electromagnetic field signal and the laser signal when the state of the measurement data is determined to be a normal state; and determining a first height of the acquisition system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the acquisition system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height. After the state of the measured data is determined to be normal, the thickness of the sea ice is determined by using the denoised electromagnetic field signal, the denoised laser signal and the inclination angle contained in the measured data, and the thickness of the sea ice can be calculated according to the measured data with the ice area and the denoised measured data, so that the determined thickness of the sea ice is more accurate.
Description
Technical Field
The embodiment of the invention relates to the technical field of data processing, in particular to a polar sea ice thickness measuring method, a polar sea ice thickness measuring device, electronic equipment and a storage medium.
Background
Polar sea ice is an important component in a climate system, and sea air exchange between an ice surface and a water surface is quite different, so that the change of the sea ice has obvious climate effect. In the field of sea ice change research, an effective sea ice thickness observation technology can provide accurate parameters for a digital model of a global climate system.
However, in the current sea ice measurement process, some abnormal or erroneous data often occur due to the limitations of external observation conditions and the performance of processing software. For example, when a scientific research ship is in a thick ice region, intermittent high-frequency noise signals appear in collected data due to ice breaking; the collection of invalid data is still performed in the ice-free area, so that the accuracy of the sea ice thickness is generally affected when the sea ice thickness calculation is performed based on the acquired data.
Disclosure of Invention
The embodiment of the invention provides a polar sea ice thickness measuring method, a polar sea ice thickness measuring device, electronic equipment and a storage medium. So as to realize the accurate measurement of the thickness of the polar sea ice.
In a first aspect, an embodiment of the present invention provides a polar sea ice thickness measurement method, including: acquiring measurement data of an acquisition system, wherein the measurement data comprise electromagnetic field signals, laser signals, sonar signals and navigation inclination angles;
determining the state of the measurement data according to the laser signal and the sound signal, wherein the state comprises an abnormal state and a normal state;
denoising the electromagnetic field signal and the laser signal when the state of the measurement data is determined to be a normal state;
and determining a first height of the acquisition system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the acquisition system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height.
In a second aspect, an embodiment of the present invention provides a polar sea ice thickness measuring apparatus, including: the measuring data acquisition module is used for acquiring measuring data of the acquisition system, wherein the measuring data comprises electromagnetic field signals, laser signals, sonar signals and navigation inclination angles;
the state determining module of the measurement data is used for determining the state of the measurement data according to the laser signal and the sound signal, wherein the state comprises an abnormal state and a normal state;
the denoising module is used for denoising the electromagnetic field signal and the laser signal when the state of the measurement data is determined to be a normal state;
the sea ice thickness determining module is used for determining a first height of the collecting system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the collecting system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the methods of any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the method of any embodiment of the present invention.
In the embodiment of the invention, after the state of the measured data is determined to be the normal state, the thickness of the sea ice is determined by using the denoised electromagnetic field signal, the denoised laser signal and the inclination angle contained in the measured data, and the thickness of the sea ice can be calculated according to the ice-containing region and the denoised measured data, so that the determined thickness of the sea ice is more accurate.
Drawings
FIG. 1 is a flow chart of a polar sea ice thickness measurement method according to an embodiment of the present invention;
fig. 2 is a flowchart of a polar sea ice thickness measuring method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a polar sea ice thickness measuring device according to a third embodiment of the present invention;
fig. 4 is a block diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a polar sea ice thickness measurement method provided by the embodiment of the present invention, where the embodiment is applicable to a situation where a polar sea ice thickness is measured, the method may be performed by a polar sea ice thickness measurement device in the embodiment of the present invention, and the device may be implemented by software and/or hardware, where the method in the embodiment of the present invention specifically includes the following steps:
step S101, acquiring measurement data of an acquisition system, wherein the measurement data comprise electromagnetic field signals, laser signals, sonar signals and navigation inclination angles.
The acquired acquisition data further includes position information, and the acquisition system includes an electromagnetic sensor, a laser range finder, a sonar, an inclinometer and a global positioning system, and each instrument in the acquisition system is connected with the electronic device through an ethernet, that is, each instrument in the acquisition system corresponds to one port, for example, a port corresponding to the global positioning system is 3102, a port corresponding to the electromagnetic sensor is 3101, a port corresponding to the laser range finder is 3105, a port corresponding to the inclinometer is 3104, and a port corresponding to the sonar is 3103.
Optionally, acquiring measurement data of the acquisition system includes: acquiring an electromagnetic field signal acquired by an electromagnetic sensor; acquiring a laser signal acquired by a laser range finder; acquiring sonar signals acquired by a sonar device; acquiring an inclination angle acquired by an inclinometer; and acquiring position information acquired by the global positioning system.
Step S102, determining the state of the measurement data according to the laser signal and the sound signal, wherein the state comprises an abnormal state and a normal state.
Optionally, determining the state of the measurement data according to the laser signal and the sound signal may include: determining laser ranging information according to the laser signals, and determining sonar ranging information according to the sonar signals; calculating the difference between sonar ranging information and laser ranging information; and judging whether the difference value is in a threshold range, if so, determining that the state of the measured data is a normal state, and if not, determining that the state of the measured data is an abnormal state.
Specifically, after the measurement data is acquired, it is necessary to further determine the state of the measurement data, that is, determine whether the acquired measurement data is abnormal data, and since the scientific research ship may pass through the ice-free area during the navigation process, the measurement data acquired in the ice-free area cannot determine the sea ice thickness, the measurement data acquired in the ice-free area is generally used as the abnormal data, that is, the state of the measurement data acquired in the ice-free area is generally an abnormal state. Since the laser range finder cannot acquire the data returned by the laser in the ice-free area, the sonar can acquire the data returned by the sonar. Therefore, the laser ranging information d1 can be determined according to the laser signals, the sonar ranging information d2 can be determined according to the sonar signals, and the difference between d1 and d2 can be calculated, and since a group of information including electromagnetic field signals, laser signals, sonar signals, navigation inclination angles and position information can be acquired at each moment, when the difference is determined to be within the threshold range, the state of the measured data is indicated to be in a normal state, namely the measured data is acquired in an ice area, and the sea ice thickness at the position can be calculated according to the measured data acquired at the moment.
Optionally, the method further comprises: when the state of the measured data is determined to be an abnormal state, a fault sign is added to the measured data; and displaying the measurement data added with the fault marks, and sending out an alarm prompt when the number of the fault marks reaches a number threshold value.
When the difference between sonar ranging information and laser ranging information is not within the threshold value range, the state of the measurement data is abnormal, that is, the measurement data is acquired in an ice-free area, and the measurement data acquired in the ice-free area cannot determine the sea ice thickness, so that a fault mark, particularly a numerical value mark, is added to the measurement data acquired at the moment, and the measurement data added with the fault mark is displayed on a display interface. And when the number of the fault marks reaches the set number threshold, a corresponding alarm mechanism is started, and an alarm prompt is sent out. The alarm prompt may be voice or animation, and the embodiment is not limited to a specific alarm mode.
Step S103, when it is determined that the state of the measurement data is a normal state, denoising the electromagnetic field signal and the laser signal.
Optionally, denoising the electromagnetic field signal and the laser signal may include: filtering high-frequency signals in the electromagnetic field signals and the laser signals by adopting wavelet analysis; the electromagnetic field signal and the low-frequency signal in the laser signal are reserved.
Specifically, since the scientific investigation ship can shake severely in the process of breaking ice in the ice-containing area, in addition, the acquisition system installed on the scientific investigation ship can swing back and forth strongly under the action of sea wind, the external environmental factors can cause noise in the measurement data of the acquisition system, and the noise is usually a high-frequency signal. In order to ensure the accuracy of sea ice thickness measurement, when the state of the measured data is determined to be a normal state, namely, the measured data is determined to be acquired in an ice area, a wavelet analysis is adopted to filter out high-frequency signals in electromagnetic field signals and laser signals. Since the wavelet transform has a good localization characteristic in a time domain, that is, a frequency domain, and the multi-scale refinement analysis can be performed on the signal through operation functions such as expansion and translation, so that a high-frequency noise signal is removed, and the wavelet analysis adopted in the embodiment can be specifically a second-generation wavelet transform mode, and since the specific principle about the second-generation wavelet transform is not an important point of the application, a detailed description thereof is omitted in the embodiment. In this embodiment, after filtering out the high-frequency signals in the electromagnetic field signal and the laser signal, the low-frequency signals in the electromagnetic field signal and the laser signal can be retained, so as to implement a denoising process.
Step S104, determining a first height of the acquisition system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the acquisition system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height.
Specifically, in this embodiment, the first height h1 of the acquisition system from the sea ice lower surface is determined based on the denoised electromagnetic field signal and by using an EM inversion algorithm. The basis for applying the electromagnetic induction principle to measuring sea ice thickness is that sea ice conductivity is much smaller than sea water conductivity, i.e. sea ice conductivity ranges between 0-300mS/m, whereas sea water conductivity is typically between 2000-3000 mS/m. Seawater can be considered to be an effective low frequency magnetic field, with a primary magnetic field being generated by the transmitter coil during measurement. The primary magnetic field causes sea ice to induce an eddy current electric field, and the receiving coil can then receive a secondary magnetic field generated by the eddy current electric field. Therefore, the primary magnetic field intensity H can be obtained according to the denoised electromagnetic field signal p And a secondary magnetic field strength H s The apparent magnetic field conductivity can be obtained according to the following formula (1):
wherein H is s Representing the secondary magnetic field strength, H p Represents the primary magnetic field strength, ω represents the angular frequency, μ represents the spatial magnetic field conductivity, and γ represents the dipole moment.
After obtaining the apparent magnetic conductivity, a first height h of the harvesting system from the sea ice lower surface may be obtained according to the following equation (2) 1 ：
Specifically, in this embodiment, the second height of the collection system from the sea ice surface may be determined according to the denoised laser signal and the inclination angle, and the laser signal is transmitted in a straight line, so that the laser signal is rootThe distance S between the acquisition system and the sea ice upper surface can be determined according to the laser signals, but under the normal condition, sea wind and ice areas exist in the severe environment, so that the scientific investigation ship can bump and move forward along a certain sailing inclination angle with the horizontal plane. In this case, the second height h2 of the collecting system from the sea ice surface is determined according to the relation between S and the inclination angle θ, for example, h2 may be obtained according to s×sin θ, which is, of course, only illustrated in the present embodiment, but not limited to, obtaining h 2 Is described in detail in (a).
Wherein, a first height h of the collecting system from the sea ice lower surface is obtained 1 And a second height h 2 Thereafter, the thickness Δh of sea ice is obtained according to the following formula (3):
Δh＝h 1 -h 2 (3)
in the embodiment of the invention, after the state of the measured data is determined to be the normal state, the thickness of the sea ice is determined by using the denoised electromagnetic field signal, the denoised laser signal and the inclination angle contained in the measured data, and the thickness of the sea ice can be calculated according to the ice-containing region and the denoised measured data, so that the determined thickness of the sea ice is more accurate.
Example two
According to the flow chart of the polar sea ice thickness measuring method provided by the embodiment of the invention in fig. 2, the embodiment is based on the embodiment, after the thickness of the sea ice is determined according to the first height and the second height, the sea ice thickness and the position information are bound, the sea ice thickness corresponding to each position information is obtained, and the sea ice thickness corresponding to each position information is displayed.
As shown in fig. 2, the method of the embodiment of the disclosure specifically includes:
in step S201, measurement data of the acquisition system is acquired, where the measurement data includes electromagnetic field signals, laser signals, sonar signals, and navigation inclination angles.
Optionally, acquiring measurement data of the acquisition system includes: acquiring an electromagnetic field signal acquired by an electromagnetic sensor; acquiring a laser signal acquired by a laser range finder; acquiring sonar signals acquired by a sonar device; acquiring an inclination angle acquired by an inclinometer; and acquiring position information acquired by the global positioning system.
Step S202, determining the state of the measurement data according to the laser signal and the sound signal, wherein the state comprises an abnormal state and a normal state.
Optionally, determining the state of the measurement data according to the laser signal and the sound signal may include: determining laser ranging information according to the laser signals, and determining sonar ranging information according to the sonar signals; calculating the difference between sonar ranging information and laser ranging information; and judging whether the difference value is in a threshold range, if so, determining that the state of the measured data is a normal state, and if not, determining that the state of the measured data is an abnormal state.
In step S203, when it is determined that the state of the measurement data is a normal state, the electromagnetic field signal and the laser signal are denoised.
Optionally, denoising the electromagnetic field signal and the laser signal may include: filtering high-frequency signals in the electromagnetic field signals and the laser signals by adopting wavelet analysis; the electromagnetic field signal and the low-frequency signal in the laser signal are reserved.
Step S204, determining a first height of the acquisition system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the acquisition system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height.
Step S205, binding the sea ice thickness and the position information, obtaining the sea ice thickness corresponding to each position information, and displaying the sea ice thickness corresponding to each position information.
Specifically, since the measurement data acquired at each moment includes the electromagnetic field signal, the laser signal, the sonar signal, the navigation inclination angle and the position information, after determining the sea ice thickness according to the denoised electromagnetic field signal, the denoised laser signal and the navigation inclination angle, the determined sea ice thickness and the position information are bound, so that the sea ice thickness corresponding to each position information can be determined. Because the measurement data are acquired in real time in the forward process of the scientific investigation ship, the sea ice thickness of each position information in the forward process of the scientific investigation ship can be determined, and the sea ice thickness corresponding to each acquired position information is displayed on a man-machine interaction interface. The sea ice thickness corresponding to each position information is displayed, so that a user can conveniently and rapidly acquire a sea ice thickness measurement result, and the user experience is further improved.
In addition, after the sea ice thickness corresponding to each position information is obtained, the obtained measurement result is saved, and specifically, the obtained measurement result can be saved in the form of a text file, a binary file and a data record file supported by Windows presentation foundation (Windows Presentation Foundation, WPF) environment. The binary file is widely applied in the aspects of high-speed streaming disk and safe access by the characteristics of high speed and high efficiency, is suitable for storing and reading mass data, and is particularly suitable for storing a large amount of data in a multichannel way due to the advantages of high reading and writing speed, small occupied hard disk space and the like of an aircraft technical data management system (Technical Document Management System, TDMS) file in a binary file type provided by WPF. In the actual data acquisition process, the data storage has higher requirement on time, and the TDMS bottom VI storage file is adopted to rapidly store the data, so that the running speed of the whole system is improved. A plurality of nodes are arranged in the TDMS selection board, such as TDMS list content, TDMS set attribute, TDMS attribute acquisition and TDMS defragmentation, and a user can flexibly set the attribute according to own requirements, so that data storage and inquiry are facilitated.
In the embodiment of the invention, after the state of the measured data is determined to be the normal state, the thickness of the sea ice is determined by using the denoised electromagnetic field signal, the denoised laser signal and the inclination angle contained in the measured data, and the thickness of the sea ice can be calculated according to the ice-containing region and the denoised measured data, so that the determined thickness of the sea ice is more accurate. And the sea ice thickness corresponding to each position information is displayed, so that a user can conveniently and rapidly and intuitively acquire a sea ice thickness measurement result, and the user experience is further improved.
Example III
Fig. 3 is a schematic structural diagram of a polar sea ice thickness measuring device according to an embodiment of the present invention, which specifically includes: a measurement data acquisition module 310, a measurement data state determination module 320, a denoising module 330 and a sea ice thickness determination module 340.
The measurement data acquisition module 310 is configured to acquire measurement data of the acquisition system, where the measurement data includes an electromagnetic field signal, a laser signal, a sonar signal, and a navigation inclination angle;
a state determining module 320 of the measurement data, configured to determine a state of the measurement data according to the laser signal and the sound signal, where the state includes an abnormal state and a normal state;
the denoising module 330 is configured to denoise the electromagnetic field signal and the laser signal when it is determined that the state of the measurement data is a normal state;
the sea ice thickness determining module 340 is configured to determine a first height of the collecting system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determine a second height of the collecting system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determine the thickness of the sea ice according to the first height and the second height.
Optionally, the collected data further includes location information.
Optionally, the acquisition system comprises an electromagnetic sensor, a laser range finder, a sonar, an inclinometer and a global positioning system;
the measurement data acquisition module is used for acquiring electromagnetic field signals acquired by the electromagnetic sensor;
acquiring a laser signal acquired by a laser range finder;
acquiring sonar signals acquired by a sonar device;
acquiring an inclination angle acquired by an inclinometer;
and acquiring position information acquired by the global positioning system.
Optionally, the state determining module of the measurement data is used for determining laser ranging information according to the laser signal and determining sonar ranging information according to the sonar signal;
calculating the difference between sonar ranging information and laser ranging information;
and judging whether the difference value is in a threshold range, if so, determining that the state of the measured data is a normal state, and if not, determining that the state of the measured data is an abnormal state.
Optionally, the device further comprises an alarm module, which is used for adding a fault sign in the measurement data when the state of the measurement data is determined to be an abnormal state;
and displaying the measurement data added with the fault marks, and sending out an alarm prompt when the number of the fault marks reaches a number threshold value.
Optionally, the denoising module is used for filtering high-frequency signals in the electromagnetic field signal and the laser signal by adopting wavelet analysis; the electromagnetic field signal and the low-frequency signal in the laser signal are reserved.
Optionally, the device further comprises a display module, which is used for binding the sea ice thickness and the position information to obtain the sea ice thickness corresponding to each position information;
and displaying the sea ice thickness corresponding to each position information.
The device can execute the polar sea ice thickness measuring method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method. Technical details not described in detail in this embodiment may be found in the method provided by any embodiment of the present invention.
Example IV
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Fig. 4 illustrates a block diagram of an exemplary electronic device 412 suitable for use in implementing embodiments of the invention. The electronic device 412 shown in fig. 4 is only an example and should not be construed as limiting the functionality and scope of use of embodiments of the invention.
As shown in fig. 4, the electronic device 412 is in the form of a general purpose computing device. Components of electronic device 412 may include, but are not limited to: one or more processors 412, a memory 428, a bus 418 that connects the various system components (including the memory 428 and the processor 416).
Bus 418 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 412 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 412 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 428 is used to store instructions. Memory 428 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 430 and/or cache memory 432. The electronic device 412 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 434 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in fig. 4, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 418 via one or more data medium interfaces. Memory 428 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
A program/utility 440 having a set (at least one) of program modules 442 may be stored in, for example, memory 428, such program modules 442 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 442 generally perform the functions and/or methodologies in the described embodiments of the invention.
The electronic device 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing device, display 424, etc.), one or more devices that enable a user to interact with the electronic device 412, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 412 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 422. Also, the electronic device 412 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through the network adapter 420. As shown, network adapter 420 communicates with other modules of electronic device 412 over bus 418. It should be appreciated that although not shown in fig. 4, other hardware and/or software modules may be used in connection with electronic device 412, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processor 416 performs the polar sea ice thickness measurement method by executing instructions stored in the memory 428: acquiring measurement data of an acquisition system, wherein the measurement data comprise electromagnetic field signals, laser signals, sonar signals and navigation inclination angles; determining the state of the measurement data according to the laser signal and the sound signal, wherein the state comprises an abnormal state and a normal state; denoising the electromagnetic field signal and the laser signal when the state of the measurement data is determined to be a normal state; and determining a first height of the acquisition system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the acquisition system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height.
Example five
A fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a polar sea ice thickness measurement method, the method comprising:
acquiring measurement data of an acquisition system, wherein the measurement data comprise electromagnetic field signals, laser signals, sonar signals and navigation inclination angles; determining the state of the measurement data according to the laser signal and the sound signal, wherein the state comprises an abnormal state and a normal state; denoising the electromagnetic field signal and the laser signal when the state of the measurement data is determined to be a normal state; and determining a first height of the acquisition system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the acquisition system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing an electronic device (which may be a personal computer, a server, or a network device, etc.) to perform the polar sea ice thickness measuring method according to the embodiments of the present invention.
It should be noted that the respective units and modules included in the above embodiments are divided according to the functional logic only, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A polar sea ice thickness measurement method, comprising:
acquiring measurement data of an acquisition system, wherein the measurement data comprise electromagnetic field signals, laser signals, sonar signals and navigation inclination angles;
determining a state of the measurement data according to the laser signal and the sonar signal, wherein the state comprises an abnormal state and a normal state;
denoising the electromagnetic field signal and the laser signal when the state of the measurement data is determined to be a normal state;
determining a first height of the acquisition system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the acquisition system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height;
the determining the state of the measurement data from the laser signal and the sonar signal comprises: determining laser ranging information according to the laser signals, and determining sonar ranging information according to the sonar signals;
calculating the difference value between the sonar ranging information and the laser ranging information;
judging whether the difference value is in a threshold range, if so, determining that the state of the measurement data is a normal state, otherwise, determining that the state of the measurement data is an abnormal state;
wherein the normal state indicates that the measurement data is acquired in an ice-free area, and the abnormal state indicates that the measurement data is acquired in an ice-free area.
2. The method of claim 1, wherein the collected data further includes location information.
3. The method of claim 2, wherein the acquisition system comprises an electromagnetic sensor, a laser range finder, a sonar, an inclinometer, and a global positioning system;
the acquiring measurement data of the acquisition system includes:
acquiring the electromagnetic field signal acquired by the electromagnetic sensor;
acquiring the laser signal acquired by the laser range finder;
acquiring the sonar signals acquired by the sonar device;
acquiring the inclination angle acquired by the inclinometer;
and acquiring the position information acquired by the global positioning system.
4. The method according to claim 1, wherein the method further comprises:
adding a fault flag to the measurement data when the state of the measurement data is determined to be an abnormal state;
and displaying the measurement data added with the fault marks, and sending out an alarm prompt when the number of the fault marks reaches a number threshold value.
5. The method of claim 1, wherein said denoising said electromagnetic field signal and said laser signal comprises:
filtering high-frequency signals in the electromagnetic field signal and the laser signal by adopting wavelet analysis;
the electromagnetic field signal and the low-frequency signal in the laser signal are reserved.
6. The method of claim 2, wherein after determining the thickness of sea ice based on the first height and the second height, further comprising:
binding the sea ice thickness with the position information to obtain the sea ice thickness corresponding to each position information;
and displaying the sea ice thickness corresponding to each position information.
7. A polar sea ice thickness measuring device, the device comprising:
the measuring data acquisition module is used for acquiring measuring data of the acquisition system, wherein the measuring data comprises electromagnetic field signals, laser signals, sonar signals and navigation inclination angles;
a state determining module of measurement data, configured to determine a state of the measurement data according to the laser signal and the sonar signal, where the state includes an abnormal state and a normal state;
the denoising module is used for denoising the electromagnetic field signal and the laser signal when the state of the measurement data is determined to be a normal state;
the sea ice thickness determining module is used for determining a first height of the collecting system from the lower surface of the sea ice according to the denoised electromagnetic field signal, determining a second height of the collecting system from the upper surface of the sea ice according to the denoised laser signal and the inclination angle, and determining the thickness of the sea ice according to the first height and the second height;
the state determining module of the measurement data is used for determining laser ranging information according to the laser signals and sonar ranging information according to the sonar signals;
calculating the difference value between the sonar ranging information and the laser ranging information;
judging whether the difference value is in a threshold range, if so, determining that the state of the measurement data is a normal state, otherwise, determining that the state of the measurement data is an abnormal state;
wherein the normal state indicates that the measurement data is acquired in an ice-free area, and the abnormal state indicates that the measurement data is acquired in an ice-free area.
8. An electronic device, the electronic device comprising:
one or more processors;
a storage means for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-6.
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