CN113335471A - Water gauge measuring method, system and device for ship and computer equipment - Google Patents
Water gauge measuring method, system and device for ship and computer equipment Download PDFInfo
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- CN113335471A CN113335471A CN202110704263.0A CN202110704263A CN113335471A CN 113335471 A CN113335471 A CN 113335471A CN 202110704263 A CN202110704263 A CN 202110704263A CN 113335471 A CN113335471 A CN 113335471A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/12—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating draught or load
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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
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Abstract
The application relates to a method, a system and a device for measuring a water gauge of a ship and computer equipment. The deck above the water gauge to be measured of the ship is provided with a satellite positioning module, and the dock where the ship is close to the berth is provided with a tide station. The method comprises the following steps: acquiring position information fed back by a satellite positioning module and tide height information fed back by a tide station; converting the position information into position coordinates of the satellite positioning module under a preset coordinate system, and converting the tidal water height information into tidal water height coordinates under the preset coordinate system; and determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the height coordinate of the tidal water and the height difference between the satellite positioning module and the bottom of the ship. The water gauge has the characteristics of good applicability and difficult influence of external environment, and can quickly and stably measure the water gauge.
Description
Technical Field
The present application relates to the field of water gauge measurement technologies, and in particular, to a method, a system, a device, a computer device, and a readable storage medium for measuring a water gauge of a ship.
Background
The ship water gauge weighing is the most measurement mode currently used in the bulk cargo transportation industry of ships at home and abroad, and is mainly used for weighing bulk solid commodities with low value and difficult weighing, such as coal, ore and the like. Compared with other metering modes, the water gauge has the advantages of low cost, simplicity in operation, short time consumption and the like. The water gauge measurement is an essential link in water gauge weighing, and the measurement timeliness and data accuracy of the water gauge measurement are very important for safe and efficient operation of ships and loading and unloading quantity business charging.
The water gauge measuring method in the traditional technology has the problems of being easily influenced by the environment and poor in applicability.
Disclosure of Invention
In view of the above, it is desirable to provide a water gauge measuring method, system, device, computer equipment, and readable storage medium for a ship with good applicability.
On one hand, the embodiment of the invention provides a water gauge measuring method of a ship, wherein a deck above a water gauge to be measured of the ship is provided with a satellite positioning module, and a wharf where the ship is close to the ship is provided with a tide station, and the method comprises the following steps: acquiring position information fed back by a satellite positioning module and tide height information fed back by a tide station; converting the position information into position coordinates of the satellite positioning module under a preset coordinate system, and converting the tidal water height information into tidal water height coordinates under the preset coordinate system; and determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the height coordinate of the tidal water and the height difference between the satellite positioning module and the bottom of the ship.
On the other hand, the embodiment of the invention also provides a water gauge measuring system of a ship, which comprises: the tide station is used for acquiring tide height information; the satellite positioning module is arranged at a deck on a water gauge to be measured of the ship and used for acquiring position information of the satellite positioning module at the arrangement position; the processing module is in communication connection with the tide station and the satellite positioning module and is used for acquiring position information fed back by the satellite positioning module and tide height information fed back by the tide station; converting the position information into position coordinates of the satellite positioning module under a preset coordinate system, and converting the tidal water height information into tidal water height coordinates under the preset coordinate system; and determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the height coordinate of the tidal water and the height difference between the satellite positioning module and the bottom of the ship.
In another aspect, an embodiment of the present invention further provides a water gauge measuring device for a ship, wherein a satellite positioning module is disposed on a deck above a water gauge to be measured of the ship, a tide station is disposed on a dock where the ship is parked, and the water gauge measuring device includes: the data acquisition module is used for acquiring position information fed back by the satellite positioning module and tide height information fed back by the tide station; the coordinate conversion module is used for converting the position information into position coordinates of the satellite positioning module under a preset coordinate system and converting the tidal water height information into tidal water height coordinates under the preset coordinate system; and the draft determining module is used for determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the height coordinate of the tidal water and the height difference between the satellite positioning module and the bottom of the ship.
In another aspect, an embodiment of the present invention further provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of any one of the water gauge measuring methods when executing the computer program.
In still another aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of any one of the water gauge measuring methods described above.
The water gauge measuring method, the system, the device, the computer equipment and the readable storage medium based on the ship in the above embodiments. The deck of the water gauge top that awaits measuring of boats and ships is provided with the satellite positioning module, and the installation of satellite positioning module is comparatively simple, applicable in various boats and ships. And according to the position coordinate, the height coordinate of the tide water and the height difference between the satellite positioning module and the bottom of the ship, determining the draft at the water gauge to be measured. The satellite positioning module and the tide station have the advantages of high measuring speed, accurate measuring data, difficulty in being influenced by the external environment and capability of quickly and stably measuring the water gauge.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for measuring a water gauge of a ship according to an embodiment;
FIG. 2 is a schematic flow chart of the steps for determining the draft at the water gauge under test in one embodiment;
FIG. 3 is a diagram of the steps for determining the draft at the water gauge under test in one embodiment;
FIG. 4 is a schematic flow chart of a water gauge measuring method of a ship in another embodiment;
FIG. 5 is a flow diagram illustrating the steps for determining position coordinates of a set target in one embodiment;
FIG. 6 is a schematic flow chart of the steps for determining whether a vessel is drifting in one embodiment;
FIG. 7 is a schematic diagram of a water gauge measurement system of a vessel according to one embodiment;
FIG. 8 is a diagram illustrating an exemplary location of a satellite positioning module;
FIG. 9 is a schematic diagram of an installation location of a satellite positioning module according to another embodiment;
fig. 10 is a block diagram showing a structure of a water gauge measuring apparatus according to an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
As described in the background art, the water gauge measuring method in the prior art has the problems of being susceptible to the environment and poor applicability, and the inventor researches and discovers that the problems occur because the water gauge measuring method is mainly divided into a direct measuring method and an indirect measuring method at present.
The direct measurement method generally adopts a method of visual analysis and calculation after camera shooting and video recording, besides manual shooting, image acquisition also develops relevant researches such as wall-climbing robot configuration camera acquisition, unmanned aerial vehicle airborne camera acquisition, mechanical rod-mounted camera acquisition and the like, and an image recognition algorithm also has different directions such as a traditional machine vision algorithm and a deep learning algorithm. The overall goal is to make water gauge measurements by automatic or semi-automatic image acquisition calculations. The defects that one camera is still required to be aligned to the position of the water gauge, the camera is moved by depending on relatively complex carrying equipment, the carrying equipment needs to be redesigned for different ships, and the applicability is poor.
The indirect measurement method generally adopts means such as ultrasonic waves, microwave radars and the like, and the method is characterized in that the water level is directly measured by installing the edge position of a ship deck and extending a certain distance to the outer side of a ship body and then measuring the water level to the position of the water surface, and the indirect measurement method combines a measuring instrument to indirectly calculate the water gauge at the position of the ship body. The shortcoming is that every position needs fixed and installation, and the support carries inconveniently, and the precision is lower and receive weather effect great, and especially when bad weather, the error that the unsteady and the stack of harbour water wave of boats and ships gesture slope of boats and ships itself brought superposes each other, and it is difficult to find absolute reference point, and the suitability is relatively poor.
Based on the reasons, the invention provides a water gauge measuring method, wherein a satellite positioning module is arranged on a deck above a water gauge to be measured of a ship. The satellite positioning module is a module used for acquiring the position information of the position where the satellite positioning module is arranged, and the common satellite positioning module comprises a GPS positioning module, a Beidou satellite positioning module and the like. The top of the water gauge to be measured can be directly over, but if the satellite positioning module is inconvenient to install directly over the water gauge to be measured, the position nearby directly over can also be selected to be set. The dock where the ship is moored is provided with a tide station. The tide gauging station is a station for collecting tide height information, the tide level measuring means commonly used by the tide gauging station comprise microwave radar measurement, underwater pressure measurement and the like, and the tide gauging station can also utilize methods such as median filtering, least square filtering and the like to overcome the influence caused by severe weather. As shown in fig. 1, the water gauge measuring method includes steps S100 to S500.
And S100, acquiring position information fed back by the satellite positioning module and tide height information fed back by the tide station.
It is understood that the position information is used to reflect the geographical position of the satellite positioning module, and the position information is generally latitude and longitude coordinates or three-dimensional coordinates under a geodetic coordinate system, such as the national geodetic coordinate system 2000 (CCGS-2000), the world geodetic coordinate system in 1984 (WGS-84), and the like. The tidal water height information is used for reflecting the height of the tidal water of the wharf on which the ship is docked, and can be the height difference between the tidal water and a preset reference surface.
S300, converting the position information into position coordinates of the satellite positioning module in a preset coordinate system, and converting the tidal water height information into tidal water height coordinates in the preset coordinate system.
It is understood that, for convenience of calculation, the position information and the tidal height information need to be unified under a preset coordinate system. Specifically, the position information may be converted into position coordinates based on a gaussian projection method, a coordinate conversion matrix, or the like. According to the relative position relation between the reference surface corresponding to the tidal height information and the preset coordinate system, the tidal height information can be converted into a tidal height coordinate. The selection of the preset coordinate system can be set as required. In one embodiment, a preset coordinate system can be calibrated through an RTK positioning instrument, the preset coordinate system takes the traveling track direction of the ship loader as an X axis, the extension direction of a big arm of the ship loader as a Y axis, and the direction perpendicular to the ground as a Z axis, the position of the first mooring pile at the beginning of the dock berth is defined as an X axis zero point, the position of the track on the land side of the ship loader is defined as a Y axis zero point, and the reference plane of the local tide height is defined as a Z axis zero point.
And S500, determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the tidal water height coordinate and the height difference between the satellite positioning module and the bottom of the ship.
It can be understood that the draft of the water gauge to be measured refers to the height difference between the draught point of the water gauge to be measured and the bottom of the ship. When the satellite positioning module is arranged, the position of the satellite positioning module is calibrated on a hull structure diagram of the ship, so that the height difference between the satellite positioning module and the bottom of the ship can be measured and calculated. Because the satellite positioning module is arranged corresponding to the water gauge to be measured, the geometric relationship of the satellite positioning module, the draught point of the water gauge to be measured and the bottom of the ship under a preset coordinate system can be determined according to the position coordinate of the satellite positioning module, the height coordinate of the tidal water and the height difference between the satellite positioning module and the bottom of the ship, and therefore the draught depth of the water gauge to be measured is determined.
Based on the water gauge measuring method in the embodiment of the invention, the satellite positioning module is arranged on the deck above the water gauge to be measured of the ship, and the satellite positioning module is simple to install and can be suitable for various ships. And according to the position coordinate, the height coordinate of the tide water and the height difference between the satellite positioning module and the bottom of the ship, determining the draft at the water gauge to be measured. The satellite positioning module and the tide station have the advantages of high measuring speed, accurate measuring data, difficulty in being influenced by the external environment and capability of quickly and stably measuring the water gauge.
In one embodiment, as shown in FIG. 2, step S500 includes step S510 and step S530.
And S510, obtaining the height difference between the satellite positioning module and the water surface according to the position coordinate of the satellite positioning module and the tidal height coordinate.
Specifically, the coordinates of the satellite positioning module in the height direction under the preset coordinate system can be extracted from the position coordinates, and the height difference between the satellite positioning module and the water surface can be obtained by subtracting the coordinates from the tidal height coordinates. Referring to fig. 3, d1 represents the coordinate of the satellite positioning module in the vertical direction, d2 represents the tide height coordinate, and d3 represents the height difference between the satellite positioning module and the water surface. d3 is obtained by subtracting d2 from d 1.
S530, determining the draft at the position of the water gauge to be measured according to the height difference between the satellite positioning module and the water surface and the height difference between the satellite positioning module and the bottom of the ship.
It can be understood that the height difference between the satellite positioning module and the bottom of the ship is composed of the height difference between the satellite positioning module and the water surface and the height difference between the water surface and the bottom of the ship (namely, the draft at the position of the water gauge to be measured), and the draft at the position of the water gauge to be measured can be determined by obtaining the height difference between the satellite positioning module and the water surface and the height difference between the satellite positioning module and the bottom of the ship. Referring to fig. 3, the height difference between the satellite positioning module d4 and the bottom of the ship is d5, which is the draft at the water gauge to be measured. In step S510, d3 is obtained, and d5 is obtained by subtracting d3 from d 4.
In one embodiment, the water gauges to be measured of the ship comprise six water gauges, wherein the six water gauges comprise a bow sea side water gauge, a bow land side water gauge, a midship sea side water gauge, a midship land side water gauge, a stern sea side water gauge and a stern land side water gauge. A bow satellite positioning module is arranged on the midline of the ship, a midship land side satellite positioning module is arranged above a midship land side water gauge, a midship land side satellite positioning module is arranged above the midship land side water gauge, and a stern satellite positioning module is arranged on the stern part of the midline of the ship. The water gauge measuring method comprises the following steps:
step 1, obtaining position information fed back by a bow satellite positioning module, a midship sea side satellite positioning module, a midship land side satellite positioning module and a stern satellite positioning module and tide height information fed back by a tide station.
And 2, converting the position information of the bow satellite positioning module into a position coordinate of the bow satellite positioning module in a preset coordinate system, converting the position information of the midship sea side satellite positioning module into a position coordinate of the midship sea side satellite positioning module in the preset coordinate system, converting the position information of the midship land side satellite positioning module into a position coordinate of the midship land side satellite positioning module in the preset coordinate system, converting the position information of the stern satellite positioning module into a position coordinate of the stern satellite positioning module in the preset coordinate system, and converting the tidal height information into a tidal height coordinate in the preset coordinate system.
And step 3, determining the draft depths of the foreship sea side water gauge and the foreship land side water gauge according to the position coordinate of the foreship satellite positioning module, the tidal water height coordinate and the height difference between the foreship satellite positioning module and the bottom of the ship.
And 4, determining the draft depth of the water ruler at the sea side of the midship according to the position coordinate of the satellite positioning module at the sea side of the midship, the tidal height coordinate and the height difference between the satellite positioning module at the sea side of the midship and the bottom of the ship.
And 5, determining the draft at the water ruler on the land side of the midship according to the position coordinate of the satellite positioning module on the land side of the midship, the tidal height coordinate and the height difference between the satellite positioning module on the land side of the midship and the bottom of the ship.
And 6, determining the draft depths of the stern sea side water gauge and the stern land side water gauge according to the position coordinate of the stern satellite positioning module, the tide height coordinate and the height difference between the stern satellite positioning module and the bottom of the ship.
It can be understood that when the deviation of the ship bow stern draft line is small, the deviation of the ship bow land side water gauge and the ship stern sea side water gauge is small, when the requirement on draft measurement precision is low, the ship bow land side water gauge and the ship stern sea side water gauge can be regarded as the same draft, and the draft at the ship bow land side water gauge and the ship bow sea side water gauge is obtained by arranging a ship bow satellite positioning module. Similarly, the draft at the stern land side water gauge and the stern sea side water gauge is obtained by arranging a stern satellite positioning module.
In one embodiment, the water gauge to be measured of the ship comprises a six-sided water gauge. The six-side water gauge is a water gauge commonly used in the prior ships, and the water gauges are respectively arranged on the left side and the right side of the bow, the midship and the stern of the ship. The satellite positioning module is correspondingly arranged above each of the six water gauges, namely the satellite positioning module is correspondingly arranged above each of the six water gauges. As shown in fig. 4, the water gauge measuring method includes steps S200 to S600.
And S200, acquiring position information fed back by each satellite positioning module and tide height information fed back by a tide station.
S400, converting the position information into position coordinates of each satellite positioning module in a preset coordinate system, and converting the tide height information into tide height coordinates in the preset coordinate system.
S600, according to the position coordinates of the satellite positioning modules, the tidal height coordinates and the height difference between the satellite positioning modules and the bottom of the ship, draft at each water gauge in the six water gauges is obtained.
The steps in this embodiment are similar to those in the above embodiments, and reference is made to the above description.
In one embodiment, the water gauge measuring method further comprises any one or a combination of the following:
step 1, calculating the transverse inclination angle of the ship according to the draft at each water gauge in the six water gauges.
The transverse inclination angle is an angle formed by a middle longitudinal section (i.e., a section parallel to the ship length direction) and a vertical plane when the middle transverse section (i.e., a section parallel to the ship width direction) of the ship is perpendicular to the standing water surface. Generally speaking, when the transverse inclination angle is not 0, the heights of the two sides of the ship are different, for example, the port is higher than the starboard. After the draft of each water gauge in the six water gauges is obtained, the transverse inclination angle can be calculated by more formulas at present and can be selected according to actual conditions. In some embodiments, the water gauge measuring method further comprises: and if the transverse inclination angle is larger than a first preset threshold angle, sending a first alarm signal.
And 2, calculating the trim angle of the ship according to the draft at each water gauge in the six water gauges.
The trim angle is an angle formed by a midspan section (i.e., a section parallel to the ship width direction) and a vertical plane when a longitudinal section (i.e., a section parallel to the ship length direction) is perpendicular to a standing water plane in the ship. Generally speaking, when the pitch angle is not 0, the heights of the bow and the stern of the ship are inconsistent, such as the bow is raised and the stern is sunk. It can be understood that the attitude of the ship has a great influence on the stability and safety of the ship, and the attitude of the ship is often evaluated by adopting a transverse inclination angle and/or a longitudinal inclination angle in the conventional technology. After the draft of each water gauge in the six water gauges is obtained, the trim angle can be calculated by more formulas at present and can be selected according to actual conditions. In some embodiments, the water gauge measuring method further comprises: and if the longitudinal inclination angle is larger than a second preset threshold angle, sending a second alarm signal.
And 3, calculating the sag value of the ship according to the draft at each water gauge in the six water gauges so as to judge whether the ship has a mid-camber or mid-sag phenomenon.
The value of the sag is a parameter used for judging the size and direction of deformation of the sag of the ship body. After the ship loads goods, if the algebraic sum of bending moments acting on each cross section of the ship is not equal to zero, the midship of the ship body is deformed. The midship of the ship body is arched, and the midship of the ship body is sagged. When the ship body sags or arches, the load capacity and the structure safety of the ship body can be influenced, so that whether the ship body sags or arches or not is judged, and the ship windowsill can be better evaluated. After the draft of each water gauge in the six water gauges is obtained, the ship sag value can be calculated through a plurality of formulas and can be selected according to actual conditions. In some embodiments, the water gauge measuring method further comprises: and if the value of the sag does not belong to the safety range, sending a third alarm signal.
And 4, calculating the displacement of the ship according to the draft at each water gauge in the six water gauges and the hydrostatic curve table.
The condition of the cargo loaded on the ship can be obtained according to the displacement change of the ship, so that the six-side water gauge has another important function of calculating the displacement of the ship. After the draft at each of the six water gauges is obtained, the displacement of the ship can be calculated by combining the hydrostatic curve table.
In one embodiment, as shown in fig. 5, the water gauge measuring method further includes steps S700 and S710.
S700, determining the relative position information of the set target on the ship and the satellite positioning module according to the ship structure diagram of the ship.
The relative position information is used for reflecting the distance, the direction and the like of the set target relative to the position where the satellite positioning module is arranged. When the satellite positioning module is set, the setting position of the satellite positioning module is calibrated on the ship structure chart, and the position of the set target is calibrated in the chart, so that the relative position information of the set target and the satellite positioning module can be determined according to the calibration. Specifically, the set target may be a hatch area of the ship, a construction machine (such as a crane) on the ship, or the like.
And S710, determining the position coordinate of the set target according to the relative position information and the position coordinate of the satellite positioning module.
The relative position relation between the set target and the satellite positioning module can be determined according to the relative position information, and therefore the position coordinate of the set target in the preset coordinate system can be converted. Because the ship loader is easy to collide with the ship in the ship loading operation, the collision is prevented by mainly depending on the site operation personnel to observe the positions of the ship loader and the ship by naked eyes at present, so that the workload of the site operation personnel is increased, and the position judgment accuracy is poor. Based on the steps in this embodiment, an obstacle that is likely to collide with the ship loader may be selected as a set target, and whether collision will occur or not may be accurately determined by the position coordinates of the obstacle and the position coordinates of the ship loader.
In one embodiment, as shown in fig. 6, the water gauge measuring method further includes steps S730 and S750.
S730, position coordinates of the setting target at a plurality of times are acquired.
And S750, comparing the position coordinates of the set target at each moment to judge whether the ship drifts.
It can be understood that under the influence of sea waves, the ship may drift, the position of the set target may be changed correspondingly due to the drift of the ship, and whether the ship drifts or not may be judged according to the position coordinates of the set target at different moments. In some embodiments, the water gauge measuring method further comprises the steps of: and if the drift amount of the ship exceeds a preset drift amount threshold value, sending a fourth alarm signal.
It should be understood that although the various steps in the flowcharts of fig. 1, 2, 4-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, 2, 4-6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or in alternation with other steps or at least some of the other steps.
The embodiment of the present invention further provides a water gauge measuring system, as shown in fig. 7, including a tide station 100, a satellite positioning module 300 and a processing module 500. The tide gauging station 100 is a station for collecting tide height information, the tide level measuring means commonly used by the tide gauging station 100 include microwave radar measurement, underwater pressure measurement and the like, and the tide gauging station can also use methods such as median filtering and least square filtering to overcome the influence caused by severe weather. The tidal water height information is used for reflecting the height of the tidal water of the wharf on which the ship is docked, and can be the height difference between the tidal water and a preset reference surface.
The satellite positioning module 300 is arranged on a deck of the ship on the water gauge to be measured, and is used for acquiring position information of the position where the satellite positioning module 300 is arranged. The more common satellite positioning module 300 has a GPS positioning module, a beidou satellite positioning module, and the like. The top of the water gauge to be measured can be directly above, but if the satellite positioning module 300 is inconvenient to install directly above the water gauge to be measured, a position near the directly above can also be selected for setting.
The processing module 500 is in communication connection with the tide gauging station 100 and the satellite positioning module 300 (the dotted line in fig. 7 represents communication connection), and is configured to obtain position information fed back by the satellite positioning module 300 and tide height information fed back by the tide gauging station 100; converting the position information into position coordinates of the satellite positioning module 300 under a preset coordinate system, and converting the tidal water height information into tidal water height coordinates under the preset coordinate system; and determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module 300, the tidal water height coordinate and the height difference between the satellite positioning module 300 and the bottom of the ship.
In one embodiment, the processing module is further configured to obtain a height difference between the satellite positioning module 300 and the water surface according to the position coordinate of the satellite positioning module 300 and the tidal water height coordinate; and determining the draft at the position of the water gauge to be measured according to the height difference between the satellite positioning module 300 and the water surface and the height difference between the satellite positioning module 300 and the bottom of the ship.
In one embodiment, as shown in fig. 8, the water gauges to be measured of the ship comprise six water gauges, which comprise a bow sea side water gauge, a bow land side water gauge, a midship sea side water gauge, a midship land side water gauge, a stern sea side water gauge and a stern land side water gauge. The satellite positioning module 300 comprises a bow satellite positioning module 300A, a midship sea side satellite positioning module 300B, a midship land side satellite positioning module 300C and a stern satellite positioning module 300D; the bow positioning module 300A is arranged at the bow of the center line of the ship, the midship sea side satellite positioning module 300B is arranged above the sea side water gauge of the midship, the midship land side satellite positioning module 300C is arranged above the sea side water gauge of the midship, and the stern satellite positioning module 300D is arranged at the stern of the center line of the ship.
The processing module is further used for acquiring position information fed back by a bow satellite positioning module, a midship sea side satellite positioning module 300B, a midship land side satellite positioning module 300C and a stern satellite positioning module 300D and tide height information fed back by a tide station; converting the position information of the bow satellite positioning module 300A into the position coordinate of the bow satellite positioning module 300A under a preset coordinate system, converting the position information of the midship sea side satellite positioning module 300B into the position coordinate of the midship sea side satellite positioning module 300B under the preset coordinate system, converting the position information of the midship land side satellite positioning module 300C into the position coordinate of the midship land side satellite positioning module 300C under the preset coordinate system, converting the position information of the stern satellite positioning module 300D into the position coordinate of the stern satellite positioning module 300D under the preset coordinate system, and converting the tidal height information into the tidal height coordinate under the preset coordinate system; determining the draft depths of a foreship sea side water gauge and a foreship land side water gauge according to the position coordinate of the foreship satellite positioning module, the tide height coordinate and the height difference between the foreship satellite positioning module and the bottom of the ship; determining the draft depth of a water ruler on the sea side of the midship according to the position coordinate of the satellite positioning module 300B on the sea side of the midship, the tidal height coordinate and the height difference between the satellite positioning module 300B on the sea side of the midship and the bottom of the ship; determining the draft depth of a water ruler on the land side of the midship according to the position coordinate of the satellite positioning module 300C on the land side of the midship, the tidal height coordinate and the height difference between the satellite positioning module 300C on the land side of the midship and the bottom of the ship; and determining the draft depths of the stern sea side water gauge and the stern land side water gauge according to the position coordinate and the tidal height coordinate of the stern satellite positioning module 300D and the height difference between the stern satellite positioning module 300D and the bottom of the ship.
It can be understood that when the inside and outside rotation deviation of the head and tail draft line is small, the deviation between the ship bow land side water gauge and the ship stern sea side water gauge is small, when the requirement on the draft measurement precision is low, the ship bow land side water gauge and the ship stern sea side water gauge can be regarded as the same draft, and the draft at the ship bow land side water gauge and the ship bow sea side water gauge is obtained by arranging a ship bow satellite positioning module. Similarly, the draft at the stern land side water gauge and the stern sea side water gauge is obtained by arranging a stern satellite positioning module.
In one embodiment, the water gauges to be measured of the ship include six water gauges, and as shown in fig. 9, the satellite positioning modules 300 are disposed above each of the six water gauges, that is, six satellite positioning modules 300 are disposed above the corresponding water gauges respectively. The processing module 500 is connected with each satellite positioning module 300 and is further used for acquiring position information fed back by each satellite positioning module 300 and tide height information fed back by the tide station 100; converting each position information into a position coordinate of each satellite positioning module 300 under a preset coordinate system, and converting the tide height information into a tide height coordinate under the preset coordinate system; and obtaining the draft at each water gauge in the six water gauges according to the position coordinates and the tidal height coordinates of each satellite positioning module 300 and the height difference between each satellite positioning module 300 and the bottom of the ship.
In one embodiment, if the satellite positioning module 300 cannot be arranged right above the water gauge to be measured, the six water gauges include a landside water gauge (a foreship water gauge, a midship water gauge and a stern landside water gauge) and a seaside water gauge (a foreship water gauge, a midship water gauge and a stern seaside water gauge). And selecting the draft measured by any two corresponding satellite modules in the land side water ruler as a first reference depth and a second reference depth. It should be noted that the foreship satellite positioning module 300A and the stern satellite positioning module 300D belong to both the satellite positioning module corresponding to the sea side water gauge and the satellite positioning module corresponding to the land side water gauge. And selecting the draft measured by any two corresponding satellite modules in the sea side water level as a third reference depth and a fourth reference depth. Calibration was performed according to the following manner:
step 1, obtaining land side calibration parameters according to the first reference draft and the second reference draft and the distance between the two satellite positioning modules 300 with the first reference draft and the second reference draft measured in the ship length direction. And obtaining sea side calibration parameters according to the first reference draft and the second reference draft, and the distance between the two satellite positioning modules 300 in the ship length direction, which is used for measuring the third reference draft and the fourth reference draft.
The reference draft in step 1 can be obtained by referring to the above steps in the water gauge measuring method. The land side calibration parameters are used for reflecting the corresponding relation between the variation of the draft at any two points of the land side and the ship length direction distance of the two points. The sea side calibration parameters are used for reflecting the corresponding relation between the variation of the draft at any two points of the sea side ship board and the distance between the two points in the ship length direction.
And 2, obtaining correction corresponding to the draft of the land side bow water gauge according to the distance between the land side bow water gauge and the satellite positioning module 300 corresponding to the measured first reference draft and the land side calibration parameters, and obtaining the draft of the land side bow water gauge according to the correction corresponding to the first reference draft and the draft of the land side bow water gauge. And (3) obtaining the draft depths of the water gauge in the ship on the land side and the water gauge at the stern on the land side by referring to the step 2.
And 3, obtaining correction corresponding to the draft of the land side bow water gauge according to the distance between the sea side bow water gauge and the satellite positioning module 300 corresponding to the measured third reference draft and the land side calibration parameters, and obtaining the draft of the land side bow water gauge according to the correction corresponding to the third reference draft and the sea side bow water gauge draft. And (3) obtaining the draught depths of the water gauge in the sea side ship and the water gauge at the sea side stern by referring to the step 3.
In one embodiment, the processing module is further configured to implement any one or a combination of:
and calculating the transverse inclination angle of the ship according to the draft at each water gauge in the six water gauges.
And calculating the trim angle of the ship according to the draft at each water gauge in the six water gauges.
And calculating the sag value of the ship according to the draft at each water gauge in the six water gauges so as to judge whether the ship has a mid-arch or mid-sag phenomenon.
And calculating the displacement of the ship according to the draft at each water gauge in the six water gauges and the hydrostatic curve table.
In one embodiment, the satellite positioning module 300 further comprises an inclinometer for detecting the roll angle and/or the pitch angle of the ship. When satellite signals are good, angle data obtained by the inclinometer can be used for checking with the transverse inclination angle and/or the longitudinal inclination angle calculated by the processing module, so that the measurement precision is improved. When the satellite signal is not good, the inclinometer can be used as a backup of the function of calculating the roll angle and/or the pitch angle by the processing module.
In one embodiment, the processing module is further configured to determine the relative position information between the set target on the ship and the satellite positioning module 300 according to the ship structure diagram of the ship; the position coordinates of the set target are determined based on the relative position information and the position coordinates of the satellite positioning module 300.
In one embodiment, the processing module is further configured to obtain position coordinates of the set target at a plurality of times; and comparing the position coordinates of the set target at each moment to judge whether the ship drifts.
In an embodiment, as shown in fig. 10, an embodiment of the present invention further provides a water gauge measuring device for a ship, a satellite positioning module is disposed on a deck above a water gauge to be measured of the ship, a tide station is disposed at a dock where the ship is parked, and the water gauge measuring device includes a data acquisition module 10, a coordinate conversion module 30, and a draft determination module 50.
The data acquisition module 10 is used for acquiring position information fed back by the satellite positioning module and tide height information fed back by the tide station. The coordinate conversion module 30 is configured to convert the position information into a position coordinate of the satellite positioning module in a preset coordinate system, and convert the tidal water height information into a tidal water height coordinate in the preset coordinate system. The draft determining module 50 is used for determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the height coordinate of the tidal water and the height difference between the satellite positioning module and the bottom of the ship.
In one embodiment, the draft determining module 50 is further configured to obtain a height difference between the satellite positioning module and the water surface according to the position coordinate of the satellite positioning module and the tidal water height coordinate; and determining the draft at the position of the water gauge to be measured according to the height difference between the satellite positioning module and the water surface and the height difference between the satellite positioning module and the bottom of the ship.
In one embodiment, the water gauges to be measured of the ship comprise six water gauges, and a satellite positioning module is correspondingly arranged above each water gauge in the six water gauges. The data acquisition module 10 is further configured to acquire position information fed back by each satellite positioning module and tidal height information fed back by the tidal station. The coordinate conversion module 30 is further configured to convert each position information into a position coordinate of each satellite positioning module in a preset coordinate system, and convert the tidal height information into a tidal height coordinate in the preset coordinate system. The draft determining module 50 is further configured to obtain the draft at each of the six water gauges according to the position coordinates of each satellite positioning module, the tidal height coordinates, and the height difference between each satellite positioning module and the bottom of the ship.
In one embodiment, the water gauge measuring device further comprises a data calculation module for implementing any one or a combination of:
calculating the transverse inclination angle of the ship according to the draft at each water gauge in the six water gauges;
calculating the trim angle of the ship according to the draft at each water gauge in the six water gauges;
calculating the sag value of the ship according to the draft at each water gauge in the six water gauges so as to judge whether the ship has a mid-arch or mid-sag phenomenon;
and calculating the displacement of the ship according to the draft at each water gauge in the six water gauges and the hydrostatic curve table.
In one embodiment, the water gauge measuring device further comprises a set target coordinate determination module, wherein the set target coordinate determination module is used for determining the relative position information of a set target on the ship and the satellite positioning module according to the ship structure diagram of the ship; and determining the position coordinates of the set target according to the relative position information and the position coordinates of the satellite positioning module.
In one embodiment, the water gauge measuring device further comprises a drift determining module, and the drift determining module is used for acquiring the position coordinates of the set target at a plurality of moments and comparing the position coordinates of the set target at each moment to judge whether the ship drifts.
For specific limitations of the water gauge measuring device, reference may be made to the above limitations of the water gauge measuring method, which are not described herein again. All or part of the modules in the water gauge measuring device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
The embodiment of the invention also provides computer equipment which comprises a memory and a processor, wherein the memory stores computer programs, and the processor executes the computer programs to realize the steps in any one of the water gauge measuring method embodiments.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in any of the above embodiments of the water gauge measuring method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A water gauge measuring method of a ship is characterized in that a satellite positioning module is arranged on a deck above a water gauge to be measured of the ship, a tide station is arranged on a dock where the ship is parked, and the method comprises the following steps:
acquiring position information fed back by the satellite positioning module and tide height information fed back by the tide station;
converting the position information into position coordinates of the satellite positioning module under a preset coordinate system, and converting the tidal water height information into tidal water height coordinates under the preset coordinate system;
and determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the tidal height coordinate and the height difference between the satellite positioning module and the bottom of the ship.
2. The method for measuring the water gauge according to claim 1, wherein the step of obtaining the draft at the water gauge to be measured according to the position coordinate, the tide height coordinate and the height difference between the satellite positioning module setting position and the bottom of the ship comprises:
obtaining the height difference between the satellite positioning module and the water surface according to the position coordinate of the satellite positioning module and the tidal height coordinate;
and determining the draft at the position of the water gauge to be measured according to the height difference between the satellite positioning module and the water surface and the height difference between the satellite positioning module and the bottom of the ship.
3. The method for measuring the water gauge according to claim 1, wherein the water gauge to be measured of the ship comprises six water gauges, a satellite positioning module is correspondingly arranged above each water gauge in the six water gauges, and the method comprises the following steps:
obtaining the position information fed back by each satellite positioning module and the tide height information fed back by the tide station;
converting each position information into a position coordinate of each satellite positioning module under the preset coordinate system, and converting the tidal height information into the tidal height coordinate under the preset coordinate system;
and obtaining the draft at each water gauge in the six water gauges according to the position coordinates of each satellite positioning module, the tide height coordinates and the height difference between each satellite positioning module and the bottom of the ship.
4. A water gauge measuring method according to claim 3, characterized in that the method comprises any one or a combination of:
calculating the transverse inclination angle of the ship according to the draft at each water gauge in the six water gauges;
calculating the trim angle of the ship according to the draft at each water gauge in the six water gauges;
calculating the sag value of the ship according to the draft at each water gauge in the six water gauges so as to judge whether the ship has a mid-arch or mid-sag phenomenon;
and calculating the displacement of the ship according to the draft at each water gauge in the six water gauges and the hydrostatic curve table.
5. The water gauge measuring method of claim 3, wherein the method comprises:
determining relative position information of a set target on the ship and the satellite positioning module according to the ship structure diagram of the ship;
and determining the position coordinate of the set target according to the relative position information and the position coordinate of the satellite positioning module.
6. The water gauge measuring method of claim 5, wherein the method comprises:
acquiring position coordinates of the set target at a plurality of moments;
and comparing the position coordinates of the set target at each moment to judge whether the ship drifts.
7. The water gauge measuring method according to claim 1, wherein the water gauges to be measured of the ship comprise six water gauges including a bow sea side water gauge, a bow land side water gauge, a midship sea side water gauge, a midship land side water gauge, a stern sea side water gauge and a stern land side water gauge; a bow satellite positioning module is arranged on the bow of the midline of the ship, a midship land side satellite positioning module is arranged above a midship land side water gauge, a midship sea side satellite positioning module is arranged above a midship sea side water gauge, and a stern satellite positioning module is arranged on the stern of the midline of the ship, the method comprises the following steps:
acquiring position information fed back by the bow satellite positioning module, the midship sea side satellite positioning module, the midship land side satellite positioning module and the stern satellite positioning module and tide height information fed back by the tide station;
converting the position information of the bow satellite positioning module into position coordinates of the bow satellite positioning module in the preset coordinate system, converting the position information of the midship sea side satellite positioning module into position coordinates of the midship sea side satellite positioning module in the preset coordinate system, converting the position information of the midship land side satellite positioning module into position coordinates of the midship land side satellite positioning module in the preset coordinate system, converting the position information of the stern satellite positioning module into position coordinates of the stern satellite positioning module in the preset coordinate system, and converting the tidal height information into tidal height coordinates in the preset coordinate system;
determining the draft depths of the ship bow sea side water gauge and the ship bow land side water gauge according to the position coordinate of the ship bow satellite positioning module, the tide height coordinate and the height difference between the ship bow satellite positioning module and the bottom of the ship;
determining the draft depth of the midship sea side water ruler according to the position coordinate of the midship sea side satellite positioning module, the tidal height coordinate and the height difference between the midship sea side satellite positioning module and the bottom of the ship;
determining the draft at a water ruler on the land side of the midship according to the position coordinate of the satellite positioning module on the land side of the midship, the tide height coordinate and the height difference between the satellite positioning module on the land side of the midship and the bottom of the ship;
and determining the draft depths of the stern sea side water gauge and the stern land side water gauge according to the position coordinate of the stern satellite positioning module of the ship, the tide height coordinate and the height difference between the stern satellite positioning module and the bottom of the ship.
8. A water gauge measuring system of a ship, characterized in that the water gauge measuring system comprises:
the tide station is used for acquiring tide height information;
the satellite positioning module is arranged at a deck above a water gauge to be measured of the ship and used for acquiring position information of the satellite positioning module at the setting position;
the processing module is in communication connection with the tide station and the satellite positioning module and is used for acquiring the position information fed back by the satellite positioning module and the tide height information fed back by the tide station; converting the position information into position coordinates of the satellite positioning module under a preset coordinate system, and converting the tidal water height information into tidal water height coordinates under the preset coordinate system; and determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the tidal height coordinate and the height difference between the satellite positioning module and the bottom of the ship.
9. The water gauge measuring system of claim 8, wherein the water gauges to be measured of the ship comprise six water gauges including a bow sea side water gauge, a bow land side water gauge, a midship sea side water gauge, a midship land side water gauge, a stern sea side water gauge and a stern land side water gauge; the satellite positioning module comprises a bow satellite positioning module, a midship sea side satellite positioning module, a midship land side satellite positioning module and a stern satellite positioning module; the bow positioning module is arranged at the bow part of the ship midline, the midship sea side satellite positioning module is arranged above the midship sea side water gauge, the midship land side satellite positioning module is arranged above the midship land side water gauge, and the stern satellite positioning module is arranged at the stern part of the ship midline;
the processing module is further used for acquiring the position information fed back by the bow satellite positioning module, the midship sea side satellite positioning module, the midship land side satellite positioning module and the stern satellite positioning module and the tidal height information fed back by the tidal station; converting the position information of the bow satellite positioning module into position coordinates of the bow satellite positioning module in the preset coordinate system, converting the position information of the midship sea side satellite positioning module into position coordinates of the midship sea side satellite positioning module in the preset coordinate system, converting the position information of the midship land side satellite positioning module into position coordinates of the midship land side satellite positioning module in the preset coordinate system, converting the position information of the stern satellite positioning module into position coordinates of the stern satellite positioning module in the preset coordinate system, and converting the tidal height information into tidal height coordinates in the preset coordinate system; determining the draft depths of the ship bow sea side water gauge and the ship bow land side water gauge according to the position coordinate of the ship bow satellite positioning module, the tide height coordinate and the height difference between the ship bow satellite positioning module and the bottom of the ship; determining the draft depth of the midship sea side water ruler according to the position coordinate of the midship sea side satellite positioning module, the tidal height coordinate and the height difference between the midship sea side satellite positioning module and the bottom of the ship; determining the draft at a water ruler on the land side of the midship according to the position coordinate of the satellite positioning module on the land side of the midship, the tidal height coordinate and the height difference between the satellite positioning module on the land side of the midship and the bottom of the ship; and determining the draft depths of the stern sea side water gauge and the stern land side water gauge according to the position coordinate of the stern satellite positioning module, the tide height coordinate and the height difference between the stern satellite positioning module and the bottom of the ship.
10. The water gauge measuring system according to claim 8, wherein the water gauges to be measured of the ship comprise six water gauges, the satellite positioning module is arranged above each water gauge in the six water gauges, and the processing module is connected with each satellite positioning module and is further configured to obtain the position information fed back by each satellite positioning module and the tidal height information fed back by the tidal observation station; converting each position information into a position coordinate of each satellite positioning module under the preset coordinate system, and converting the tidal height information into the tidal height coordinate under the preset coordinate system; and obtaining the draft at each water gauge in the six water gauges according to the position coordinates of each satellite positioning module, the tide height coordinates and the height difference between each satellite positioning module and the bottom of the ship.
11. The utility model provides a water gauge measuring device of boats and ships, its characterized in that, the deck of the water gauge top of awaiting measuring of boats and ships is provided with the satellite positioning module, the pier that boats and ships are berthed is provided with tests the tide station, water gauge measuring device includes:
the data acquisition module is used for acquiring position information fed back by the satellite positioning module and tide height information fed back by the tide station;
the coordinate conversion module is used for converting the position information into a position coordinate of the satellite positioning module under a preset coordinate system and converting the tidal water height information into a tidal water height coordinate under the preset coordinate system;
and the draft determining module is used for determining the draft at the position of the water gauge to be measured according to the position coordinate of the satellite positioning module, the height coordinate of the tidal water and the height difference between the satellite positioning module and the bottom of the ship.
12. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804271A (en) * | 2021-09-10 | 2021-12-17 | 天津理工大学 | Ship water gauge metering system and method based on portable differential positioning instrument |
| CN114724410A (en) * | 2022-03-16 | 2022-07-08 | 广州中交通信有限公司 | Bridge collision prediction system and method |
| CN117068336A (en) * | 2023-07-14 | 2023-11-17 | 交通运输部水运科学研究所 | Real-time ship draft detection method and system based on RTK carrier phase difference |
| CN117104429A (en) * | 2023-07-14 | 2023-11-24 | 交通运输部水运科学研究所 | Ship draft real-time detection method and system |
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| HRP20010731A2 (en) * | 2001-10-10 | 2003-04-30 | Aeiha Kalman | Method of determining a displacement of longitudinally deformed ships |
| CN104729486A (en) * | 2015-03-16 | 2015-06-24 | 东南大学 | Bathymetric surveying method without tide observation based on quasigeoid refinement |
| CN108253934B (en) * | 2017-12-30 | 2020-07-14 | 中国人民解放军海军大连舰艇学院 | Underwater terrain measurement simulation method and simulator thereof |
| CN111674522A (en) * | 2020-05-14 | 2020-09-18 | 中交广州航道局有限公司 | Water level measurement system and construction ship |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804271A (en) * | 2021-09-10 | 2021-12-17 | 天津理工大学 | Ship water gauge metering system and method based on portable differential positioning instrument |
| CN114724410A (en) * | 2022-03-16 | 2022-07-08 | 广州中交通信有限公司 | Bridge collision prediction system and method |
| CN117068336A (en) * | 2023-07-14 | 2023-11-17 | 交通运输部水运科学研究所 | Real-time ship draft detection method and system based on RTK carrier phase difference |
| CN117104429A (en) * | 2023-07-14 | 2023-11-24 | 交通运输部水运科学研究所 | Ship draft real-time detection method and system |
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