CN113820708B - River surface flow field accurate measurement radar based on intelligence of calculating - Google Patents
River surface flow field accurate measurement radar based on intelligence of calculating Download PDFInfo
- Publication number
- CN113820708B CN113820708B CN202111389548.6A CN202111389548A CN113820708B CN 113820708 B CN113820708 B CN 113820708B CN 202111389548 A CN202111389548 A CN 202111389548A CN 113820708 B CN113820708 B CN 113820708B
- Authority
- CN
- China
- Prior art keywords
- data
- signal
- flow
- river
- radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/001—Full-field flow measurement, e.g. determining flow velocity and direction in a whole region at the same time, flow visualisation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
Abstract
The invention discloses a river surface flow field accurate measurement radar based on computational intelligence, and particularly relates to the technical field of flow measurement. The radar system adopts a coding technology to realize anti-interference on signal waveforms, adopts a fuzzy clustering intelligent algorithm to ensure the stability and reliability of observed data, adopts broken line array weighting optimization to realize high-precision river vector field synthesis under the condition of large visual angle, adopts a variance weighting intelligent algorithm to reduce data jitter and improve the stability of observed vector data, and adopts remote data analysis based on large data and artificial intelligence technology. The invention integrates intelligent algorithms such as an anti-interference means, an intelligent processing technology, a high-resolution broken line array angle resolution technology, a fuzzy clustering technology, a filtering jitter reduction technology and the like, designs a corresponding hardware structure aiming at the related intelligent technology, and effectively solves the problems of the traditional equipment.
Description
Technical Field
The invention relates to the technical field of flow measurement, in particular to a river surface flow field accurate measurement radar based on computational intelligence.
Background
The real-time flow of the river is the most important data in hydrology, water resource management and hydraulic engineering, and is an important content in intelligent hydrology construction. Traditional hydrology is limited by climate, measuring means, safety, response time and the like, and flow measurement is always a difficult point of current hydrology measurement. Conventional contact flow metering schemes tend to suffer from the following disadvantages in that they cannot be deployed or cannot be properly implemented: the river flow in the flood season is fast in flow velocity, high in sand content and high in floating sundries, so that instruments are easily damaged and personal safety is threatened; the water flow in the dry period is small, and the water depth of part of the river channels is very small; ships usually sail on the water transportation channel, and the channels need to be blocked in the traditional test report, so that the channels are influenced mutually; the boundary river generally can not be provided with a cable channel, and the flow test and report difficulty is higher. Traditional contact flow measurement schemes often fail to deploy or perform normally. The flow rate test method based on the water level-flow rate curve plays an important role in the past, but because the water level-flow rate curve mostly lacks flow rate data at high water level, satisfactory flow rate precision is difficult to obtain in the mode, and the high water level flow rate data is usually the most concerned.
Flow measurement of natural river channels and artificial channels usually obtains flow according to flow velocity multiplied by area under the condition of known cross-sectional terrain (such as water depth distribution at different positions), and therefore, the core of flow measurement is flow velocity measurement. At present, the current flow velocity measurement in China is mainly cable channel flow measurement, the method utilizes a cable channel crossing a river bank to carry a rotor type current meter and a fish lead to measure the flow velocity and the water depth along different positions of a river section, then uses a segmented flow velocity area method to estimate the accumulated flow, is suitable for severe weather and high water level operation, and has the defects of high station building and maintenance cost, fixed position and time-consuming measurement. A horizontal acoustic Doppler current profiler (H-ADCP) developed and introduced in recent years measures the water flow velocity by using the acoustic Doppler effect, solves the problem of real-time measurement, but the H-ADCP needs to be installed underwater, is not suitable for turbid water bodies with more impurities, and is high in maintenance cost and easy to lose as the H-ADCP is placed in the water for a long time.
At present, three methods are mainly used in China in the aspect of river monitoring: manual flow measurement methods, fixed point contact measurements, and ultrasonic doppler flow meters. These flow measuring methods are contact flow measuring, and require measuring ships, cableway flow measuring devices and the like to complete river measurement. Although new technologies such as unmanned plane flow measurement exist at present, conventional business use cannot be carried out yet. Under the severe environment conditions, especially when river closure, flood season (flood), dike breach and natural earthquake disasters come, the flow velocity and flow can not be measured by using the traditional contact methods such as ship measuring, cableway flow measuring equipment and marine flow measuring equipment, and the conventional hydrological test can not finish the automatic measurement of the flood flow water level under high flow velocity. In addition, the contact method is difficult to realize the flow measurement of high-turbidity water areas and ultra-shallow water areas.
As a remote sensing technology, radar measurement is widely applied to river flow velocity measurement in recent years, and flow monitoring under special conditions such as severe weather, high water level, complex water body and emergency measurement can be achieved. The electric wave current meter that adopts the point velocity of flow measurement mode requires very high to the mounted position, need install in the surface of water top with the help of bridge or cantilever, because electric wave current meter can only obtain single-point velocity of flow data, if the river face is broad, then need a plurality of electric wave current meter simultaneous working, and the cost is very big.
Disclosure of Invention
In order to solve the technical problems, the invention develops an intelligent radar for accurately measuring the flow field on the surface of the river based on calculation, mainly solves the problem of monitoring the flow field, the flow speed and the flow on the surface of the river by adopting a non-contact technology, can realize all-weather, continuous and automatic operation, and particularly realizes accurate measurement of the flow speed and the flow in high-turbidity water areas and extremely-shallow water areas which are difficult to finish by the traditional technology. The radar is installed on the river bank, the main shaft of the antenna is perpendicular to the river and is not in contact with the river, the radar works according to a received instruction or a preset working method, the river surface flow field is obtained, and the radar is stored and transmitted to a specified place.
In addition, aiming at the new requirements of the current intelligent hydrology, the invention improves the traditional radar river measuring device in many aspects, and in the aspect of radar signal analysis, a broken line array signal processing technology is adopted, and river surface flow velocity vector field information is formed through a three-channel broken line array signal fusion technology; in the aspect of radar anti-interference, a signal coding modulation technology is adopted to code and modulate a river measurement radar emission signal, pulse coding matching processing is carried out at a receiving end, and for an interference signal entering a radar from a receiving antenna, because signal characteristics are not matched with modulation code elements, when an echo signal is subjected to pulse coding matching processing, the interference signal can be effectively inhibited, and the radar echo signal is enhanced. In the aspect of data stability, the system adopts variance weighting to reduce flow velocity jitter, realizes short-time correlation of data and is highly consistent with the actual situation. In the aspect of data service platform construction, a hydrological analysis technology based on big data and an artificial intelligence technology is adopted, a template is loaded according to the product type, basic service data is called, an interactive correction function is provided, and the manufacture of a final service step product is completed; in the aspect of construction of a remote data service platform, river monitoring data are uploaded to a data processing cloud in real time through the internet, a hydrological data processing module is operated on the data processing cloud, data quality control and hydrological professional calculation are carried out on river monitoring radar data of each region to form hydrological data, and then services are provided for end users through a portal website and a mobile phone APP mode.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the radar comprises an equipment installation supporting structure, an antenna array is arranged above the equipment installation supporting structure, a comprehensive processing case is arranged below the equipment installation supporting structure, the antenna array is connected into the comprehensive processing case through a feeder cable, a power supply system is arranged on the lower portion of the comprehensive processing case, the comprehensive processing case is connected with a far-end data service platform, and the far-end data service platform is communicated with equipment through an industrial internet.
Preferably, the antenna array comprises a receiving antenna array and a transmitting antenna array, the transmitting antenna array is composed of one yagi antenna, the receiving antenna array is composed of three yagi antennas, the receiving antenna array is positioned at the upper part of the transmitting antenna array, the receiving antenna array is connected to a corresponding signal receiving port of the comprehensive processing case through a feeder cable, the three yagi antennas of the receiving antenna array are arranged according to the left, middle and right, an included angle between the left yagi antenna and the middle yagi antenna is 30 degrees, and the horizontal distance between the bottoms of the three yagi antennas is 0.4 m.
Preferably, the comprehensive processing case is used for completing the control of emitted signal parameters of the river measurement radar, the signal processing and data processing of received signals, and the communication between the measurement radar and a remote control system; the comprehensive processing case comprises a transmitting module, a receiving system, a signal processing module, a power supply module and a communication interface module.
Preferably, the receiving system is configured to perform filtering, frequency mixing, and emission control processing operations on a received radar signal, and the receiving system includes a band-pass filter and a receiving module, where the receiving module is communicated with the signal processing module on one hand, and is communicated with the emitting module through an excitation source on the other hand, and the emitting module is configured to control an emission signal parameter of the system, and includes a frequency mixing and power amplifying module, and generates a corresponding emission signal, and amplifies the signal to an input level required by the emission antenna array.
Preferably, the equipment installation supporting structure is used for supporting assembly of different components, the height of the equipment installation supporting structure is obtained through final calculation according to the height of the equipment receiving and transmitting antenna, the height of a river horizontal plane and the width of a river, the equipment installation supporting structure is made of stainless steel materials, and interfaces among the components are designed through a bayonet structure.
Preferably, the power supply system is used for supplying power to the comprehensive processor case, the power supply system comprises a mains supply receiving and converting module and a solar power supply module, and the mains supply receiving and converting module is connected with 220V mains supply and converts the mains supply into voltage required by the work of the comprehensive processor case to supply power for the measuring radar.
The invention also provides a measuring method of the river surface flow field accurate measurement radar based on the computational intelligence, which comprises the following steps:
s1, after the measuring radar is installed, connecting the measuring radar with a computer locally, and completing initialization configuration of system working parameters through a remote desktop;
s2, an excitation source in the comprehensive processing case receives signal control parameters sent by a system initialization, continuous wave signals with corresponding frequency are generated, and a pulse modulator modulates the amplitude of radar signals generated by the excitation source according to the corresponding pulse width and pulse repetition period to generate corresponding pulse modulation signals;
s3, the modulation code calculation module calculates the corresponding phase modulation code sequence according to the anti-interference requirement of the transmitted signal and the signal main-minor lobe ratio;
s4, the pulse code modulation module performs phase modulation on the pulse modulation signal according to the modulation code element obtained by calculation to generate a corresponding pulse code signal with phase modulation, namely a radar emission signal of the equipment;
s5, amplifying the signal to a power level set by a system by a radar transmission signal through a power method module of the transmission unit, connecting the signal with an antenna of the transmission unit through a radio frequency feeder, and radiating the signal to the space through the transmission unit;
s6, receiving echo signals of the water surface scattering area at different angles by the receiving antenna arrays pointing at different angles, and filtering out-of-band noise and interference signals by passing the echo signals through corresponding band-pass filters;
s7, mixing the received signal passing through the band-pass filter with a signal coupled to the signal processing unit by the excitation source, carrying out frequency conversion on the signal corresponding to the receiving channel to zero intermediate frequency, and carrying out AD sampling on the received signal to obtain a corresponding digital signal;
s8, performing pulse-by-pulse matching on the acquired digital signal and the pulse code of the emission modulation, wherein after the pulse matching, the echo signal matched with the emission modulation pulse has code element matching gain, the signal intensity is enhanced, and the interference signal not matched with the emission modulation code can be effectively inhibited after matching processing;
s9, transmitting the digital signals after matching processing to a digital beam forming unit through a transmission bus of the comprehensive processing case, wherein the digital beam forming unit calculates the weighting coefficients of different synthesized beams according to the installation position and the direction pointing angle of the antenna array received by the equipment, performs weighting control on the signals after matching of different channels through corresponding weighting values, and synthesizes directional diagrams pointing to a plurality of beams at the same time, namely received signals pointing to different direction receiving directions;
weighting different receiving channel data through the calculated weighting control vectors pointing to different receiving directions to obtain directional diagrams of the receiving antenna arrays pointing to different directions;
weighting control is carried out on the signals of the three channels by adopting the weights of the corresponding angles, and then the space synthesis echo signals of the corresponding azimuth angles are obtained;
s10, transmitting the space synthesis signals of the corresponding angles to a radar data processing unit, processing radar data, sequentially performing pulse accumulation processing, performing corresponding frequency spectrum transformation according to corresponding range gates, realizing range-Doppler two-dimensional processing of signals of different range units, obtaining frequency spectrum distribution of different range units after the range-Doppler two-dimensional processing is finished, and extracting Doppler characteristic values of the corresponding range units by adopting a method of selecting maximum values from frequency domains of different range dimensions;
s11, processing Doppler features extracted by different receiving channels at different moments by adopting a fuzzy clustering algorithm, and eliminating abnormal point information in the extracted data to obtain stable Doppler features;
s12, according to the corresponding pointing azimuth angle
Height of equipment installation from river surface
Center frequency of operation of the device
Currently calculated range gate
Doppler eigenvalue extracted in S11
Calculating the flow velocity information of different distance units in corresponding direction
The calculation formula is as follows
;
Wherein the content of the first and second substances,
for the speed of light, the same azimuth angle and the same distance unit are calculated at different momentsThe flow velocity information is smoothed, and a method of reducing data jitter by variance weighting is adopted, so that fluctuation of the observed flow velocity is reduced, and the stability of data is improved;
s13, repeating the steps S10-S12 on the space synthesis signals pointing to different azimuth directions, completing calculation of all space azimuth pointing angles, obtaining stable flow speed information of different distance units under all azimuth pointing angles, and obtaining corresponding space distance-azimuth flow speed vector field data;
s14, transmitting the inter-river distance-azimuth flow velocity vector field data at the corresponding moment to a remote data service platform through a communication interface of the comprehensive processing case, automatically identifying river section changes by the remote data service platform according to river section and water level information, and synthesizing river flow data according to the space distance-azimuth flow velocity vector field data transmitted in S13;
drawing a water level flow relation and a flow speed flow relation according to the obtained flow data, automatically correcting a new digital flow relation by adopting an intelligent self-learning model according to the existing relation model, and performing comparison correction on the new digital flow relation and the input actual measurement data to ensure the accuracy of an observation result;
and S15, the remote data service platform synchronously displays the current river flow velocity vector field, the composite flow data and the segmented flow velocity information to the user.
The invention has the following beneficial effects:
1. the invention integrates the anti-interference means, the intelligent processing technology, the high-resolution broken line array angle resolution technology, the fuzzy clustering technology and the filtering jitter reduction technology, the hardware architecture design is advanced, the installation is convenient and fast, the software design adopts various intelligent technologies at present, and the problems existing in the traditional equipment are effectively solved.
2. By adopting the technical scheme of the invention, the problem of monitoring the flow field, the flow velocity and the flow of the river water surface by adopting a non-contact technology is effectively solved, all-weather, continuous and automatic operation can be realized, and the accurate measurement of the flow velocity and the flow of a high-turbidity water area and an ultra-shallow water area which are difficult to be completed by the traditional technology is realized. The radar is installed on the river bank, the main shaft of the antenna is perpendicular to the river and is not in contact with the river, the radar works according to a received instruction or a preset working method, the river surface flow field is obtained, and the radar is stored and transmitted to a specified place.
3. The invention improves the traditional radar river measuring device in many aspects, adopts the broken line array signal processing technology in the aspect of radar signal analysis, has a larger field angle than a plane array, can realize effective coverage of river surface, and forms river surface flow velocity vector field information through the three-channel broken line array signal fusion technology.
4. In the aspect of radar anti-interference, a signal coding modulation technology is adopted to code and modulate a river measurement radar emission signal, pulse coding matching processing is carried out at a receiving end, and for an interference signal entering a radar from a receiving antenna array, because signal characteristics are not matched with modulation code elements, when an echo signal is subjected to pulse coding matching processing, the interference signal can be effectively inhibited, and the radar echo signal is enhanced. The anti-interference capability of the invention greatly enhances the environmental adaptability of the equipment, so that the equipment can be used in various interference environments.
5. The fuzzy clustering method is applied to radar data accumulation processing, and the fuzzy clustering method is adopted, so that abnormal values of radar observation data are effectively eliminated, and the stability and reliability of the observation data are ensured; the variance weighting is adopted to reduce the flow velocity jitter, the short-time correlation of the data is realized, the data jitter is highly consistent with the actual situation, the data jitter caused by the random fluctuation of the river surface is effectively overcome, the data stability is greatly improved, and the observation result is more effective and reliable.
6. In the construction of a data service platform, loading a template according to the product type by adopting a hydrological analysis technology based on big data and an artificial intelligence technology, calling basic service data, providing an interactive correction function and finishing the manufacture of a final service step product; in the aspect of construction of a remote data service platform, river monitoring data are uploaded to a data processing cloud in real time through the internet, hydrologic data processing modules are operated on the data processing cloud, data quality control and hydrologic professional calculation are carried out on river monitoring radar data of various places to form hydrologic data, the hydrologic data are adapted to the data processing modules applied in various industries and are respectively processed into service products meeting the needs of industries such as agriculture, environmental protection and national and local resources, and then commercial services are provided for end users through portal websites.
7. The device has the advantages of simple structure and reasonable design, can well measure the flow velocity of river water through the design of the device, can predict and make emergency measures in time when flood disasters occur, simultaneously adopts the receiving and transmitting separated antenna to measure the surface velocity of the river through different working modes, realizes real-time estimation of the surface flow field of the river and measurement of the surface flow velocity of the river through the conversion of the working modes, has guiding significance for acquiring real-time data of the surface flow field of the river and inverting the real-time flow of the river, and has complete measuring functions and low manufacturing cost.
8. The method can accurately and quickly measure the flow velocity and the flow of the large river, and is of great importance for water conservancy planning, danger removal and reinforcement, large river treatment, flood fighting and disaster relief. Has great significance for national hydrologic construction.
Drawings
FIG. 1 is a schematic diagram of the hardware architecture of the present invention;
FIG. 2 is a top view of the hardware structure of the present invention;
FIG. 3 is a schematic diagram of the hardware and software components and the workflow of the present invention;
FIGS. 4A and 4B are schematic diagrams of modulation code sequences and their matching gains according to the present invention;
fig. 5A is a schematic view of the multi-beam linearity of the space broken line array receiving antenna according to the present invention;
FIG. 5B is a schematic diagram of a multi-beam polar coordinate of the spatial meander line array receiving antenna according to the present invention;
fig. 6 is a broken line array spatial multi-beam pattern of the present invention (5 ° spacing);
FIG. 7 is a diagram of an implementation of range-Doppler two-dimensional data processing of a synthetic signal in a corresponding azimuth space according to the present invention;
FIG. 8 is a flow chart of the present invention for implementing a clustering algorithm to extract stable Doppler characteristics for different range units;
FIG. 9 is a schematic view of the river surveying radar flow calculation of the present invention;
FIG. 10 is a flow chart of the intelligent data processing of the present invention;
FIG. 11 is a three-dimensional pattern of a yagi antenna of the present invention;
FIG. 12A is a directional antenna pattern for a transceiver antenna of the present invention;
FIG. 12B is a schematic view of a transmit/receive antenna elevation pattern according to the present invention;
FIG. 13 is a diagram of a distance cell of the present invention;
FIG. 14 is a graph of the results of the range-Doppler processing of data at an azimuthal angle in accordance with the present invention;
FIG. 15 is a diagram showing the Doppler feature extraction results of different range units at a certain azimuth angle according to the present invention;
FIG. 16 is a diagram showing the result of the present invention after removing abnormal values by clustering;
FIGS. 17A and 17B are views of a single-side measurement polygonal line array beam formed river surface flow velocity vector field according to the present invention;
fig. 18 is a configuration diagram of site information provided by the remote data service system according to the present invention;
FIG. 19 is a diagram of a large-area data input provided by the remote data service system of the present invention;
FIG. 20 is a diagram showing the average flow velocity and device parameters of the river discharge measurement radar provided by the remote data service system of the present invention;
FIG. 21 is a partial flow velocity and confidence map of a radar for measuring river discharge provided by the remote data service system of the present invention;
fig. 22 is a flow result diagram provided by the remote data service system of the present invention.
In the figure: the system comprises a receiving antenna array 1, a transmitting antenna array 2, a comprehensive processing cabinet 3, a device installation supporting structure 4, a power supply system 5 and a remote data service platform 6.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: as shown in fig. 1-22, in terms of system hardware structure, the invention provides a river surface flow field accurate measurement radar based on computational intelligence, which comprises an equipment installation supporting structure 4, an antenna array is arranged above the equipment installation supporting structure 4, a comprehensive processing case 3 is arranged below the equipment installation supporting structure 4, the antenna array is connected to the comprehensive processing case 3 through a feeder cable, and a power supply system 5 is arranged at the lower part of the comprehensive processing case 3. The river surface flow field accurate measurement radar is also provided with a set of remote data service platform 6 which is used for receiving monitoring data of a radar system, processing the monitoring data into hydrological data required by each industry and providing service for each industry, and the remote data service platform 6 is communicated with equipment through an industrial internet;
the antenna array comprises a receiving antenna array 1 and a transmitting antenna array 2, wherein the transmitting antenna array 2 is composed of a yagi antenna, the receiving antenna array 1 is composed of three yagi antennas, the receiving antenna array 1 is positioned at the upper part of the transmitting antenna array 2, the receiving antenna array 1 is connected into a corresponding signal receiving port of a comprehensive processing case 3 through a feeder cable, the three yagi antennas of the receiving antenna array 1 are arranged according to the left, the middle and the right, an included angle between the left yagi antenna and the middle yagi antenna is 30 degrees, the horizontal distance between the bottoms of the three yagi antennas is 0.4m, and the arrangement of the receiving antenna array 1 is shown in figure 2.
The comprehensive processing case 3 is used for completing the control of transmitted signal parameters of the river measurement radar, the signal processing and data processing of received signals and the communication between the comprehensive processing case and a remote control system; the device comprises a transmitting module, a receiving system, a signal processing module, a power supply module and a communication interface module. Furthermore, the receiving system is used for processing operations such as filtering, frequency mixing and emission control on received radar signals, the receiving system comprises a band-pass filter and a receiving module, the receiving module is communicated with the signal processing module on one hand and communicated with the emitting module through an excitation source on the other hand, the emitting module is used for controlling emission signal parameters of the radar for accurate measurement on the river surface, the receiving module comprises a frequency mixing and power amplifying module, corresponding emission signals are generated, and the signals are amplified to input levels required by the emitting antenna array 2.
The equipment installation supporting structure 4 is used for supporting the assembly of different assemblies in the invention, the height of the equipment installation supporting structure 4 is obtained by final calculation according to the equipment receiving antenna array 1, the transmitting antenna array 2, the height of a river water plane and the width of a river, the structural appearance is as shown in figures 1 and 2, the equipment installation supporting structure is made of stainless steel materials, interfaces among the assemblies are designed by adopting a bayonet structure, and the installation is convenient and rapid.
The power supply system 5 is used for supplying power to the comprehensive treatment machine case 3, the power supply system 5 comprises a mains supply receiving and converting module and a solar power supply module, the mains supply receiving and converting module is connected with 220V mains supply and converts the voltage required by the work of the comprehensive treatment machine case 3 into power for equipment, and the solar power supply module comprises a solar cell panel and other related accessories, so that the power supply reliability of the equipment is ensured.
The remote data service platform 6 is used for receiving the measurement data of the radar system, operating a hydrological data processing module, performing data quality control and hydrological professional calculation on river monitoring radar data of various regions to form hydrological data, and processing the hydrological data into service products meeting the requirements of industries such as agriculture, environmental protection and national and local resources through the data processing module which is adaptive to the industries.
In the aspects of data processing and software architecture, the invention adopts advanced signal transmission control and signal processing styles, can realize the anti-interference capability of equipment on electromagnetic signals in the surrounding environment, can measure stable river vector field information, finally performs data quality control and hydrologic professional calculation on river monitoring radar data of various regions through a remote data service platform to form hydrologic data, and respectively processes the hydrologic data into service products meeting the needs of industries such as agriculture, environmental protection, national resources and the like through data processing modules adapted to various industries.
For the anti-interference design, an inter-pulse phase coding modulation technology is adopted to code and modulate each pulse of a transmitted radar signal, and a transmitted pulse modulation code element is adopted to carry out matching processing at a signal receiving end, so that the suppression of an external strong interference signal is realized.
For radar signal processing, a receiving antenna array 1 layout framework of the system is combined, a broken line array signal processing algorithm is adopted, the algorithm is arranged on different planes aiming at the receiving antenna of the radar system, the beam width of the receiving antenna is fully utilized, and the synthesis of a river surface velocity vector field is realized by adopting a broken line DBF beam weighting synthesis technology.
For data stability, the river surface has random fluctuation, the measured data has jitter, and in data processing, variance weighting is adopted to reduce data jitter, improve the stability of observation vector data, and realize high-precision stable monitoring of a river flow velocity vector field.
For unattended equipment and remote control, the industrial internet is adopted, and corresponding remote communication control software is developed to realize remote transmission and control of equipment data.
For remote data analysis, a data analysis technology based on big data and an artificial intelligence technology is adopted, river water level and section change are automatically identified based on the requirement of river measurement radar output data, river flow analysis is realized by combining river sections, data comparison model identification of radar observed values and actual observed values is realized according to corresponding measured data, and automatic calibration of river measurement radar data is realized. For remote data service, corresponding data quality control and hydrological professional calculation software and a conversion display module are developed, data are converted into standard forms required by various industries, and monitoring results of equipment are displayed to users in real time.
The system composition, the functional system of the software running on each hardware unit and the corresponding work flow chart are shown in fig. 3.
When the radar system works, the specific working procedures of the equipment are as follows:
(1) after the radar system is installed according to the structural installation schematic diagrams of fig. 1 and fig. 2, a computer is locally connected with the radar system, and the initialization configuration of the system working parameters is completed through a remote desktop.
(2) The excitation source receiving system in the comprehensive processing case 3 initializes the issued signal control parameters to generate continuous wave signals with corresponding frequencies, and the pulse modulator modulates the amplitude of the radar signals generated by the excitation source according to the corresponding pulse width and pulse repetition period to generate corresponding pulse modulation signals.
(3) The modulation code calculation module calculates a corresponding phase modulation code sequence according to the anti-interference requirement of the transmitted signal and the signal main-minor lobe ratio, and generally adopts an M sequence with a corresponding length, as shown in fig. 4A and 4B.
(4) And the pulse code modulation module performs phase modulation on the pulse modulation signal according to the modulation code element obtained by calculation to generate a corresponding pulse code signal with phase modulation, namely a radar emission signal of the equipment.
(5) The radar transmitting signal is amplified to a power level set by a system through a power method module of the transmitting unit, is connected with an antenna of the transmitting unit through a radio frequency feeder line, and is radiated to the space through the transmitting unit.
(6) The receiving antenna arrays 1 pointing to different angles receive echo signals of the water surface scattering areas at different angles, and the echo signals pass through corresponding band-pass filters to filter out-of-band noise and interference signals.
(7) And performing frequency mixing processing on the received signal passing through the band-pass filter and a signal coupled to the signal processing unit by the excitation source, converting the signal corresponding to the receiving channel into zero intermediate frequency, and performing AD sampling on the received signal to obtain a corresponding digital signal.
(8) The acquired digital signal and the pulse code of the emission modulation are matched pulse by pulse, after the pulse matching, the echo signal matched with the emission modulation pulse has code element matching gain, the signal intensity is enhanced, and the interference signal not matched with the emission modulation code is subjected to matching processing, the interference energy is diffused to the large bandwidth occupied by the emission modulation code, the signal intensity is greatly reduced, and therefore the interference signal can be effectively inhibited.
(9) The digital signal after matching processing is transmitted to a digital beam forming unit through a transmission bus of a comprehensive processing case 3, the digital beam forming unit calculates the weighting coefficients of different synthesized beams according to the installation position and the direction pointing angle of an equipment receiving antenna array 1, the signals after matching of different channels are weighted and controlled through corresponding weighted values, and directional diagrams pointing to a plurality of beams, namely receiving signals pointing to receiving directions in different directions, are synthesized at the same time, and the receiving antenna array 1 has a larger azimuth field angle (the azimuth market angle of the invention exceeds the azimuth market angle of the invention) relative to a planar array due to the adoption of the array
°) The spatially synthesized beams of the multiple receive antennas are shown in fig. 5A and 5B.
Weighting is performed on different receiving channel data through the calculated weighting control vectors pointing to different receiving directions, so as to obtain receiving antenna directional diagrams pointing to different directions, as shown in fig. 6.
And performing weighting control on the signals of the three channels by adopting the weight values of the corresponding angles to obtain the spatial synthesis echo signals of the corresponding azimuth angles.
(10) And transmitting the space synthetic signals of the corresponding angles to a radar data processing unit, performing radar data processing, sequentially performing pulse accumulation processing, and performing corresponding frequency spectrum transformation according to corresponding range gates, thereby realizing the two-dimensional range-Doppler processing of signals of different range units. After the distance Doppler two-dimensional processing is finished, the frequency spectrum distribution of different distance units is obtained, and the Doppler characteristic values of the corresponding distance units are extracted by adopting a method of selecting the maximum value from frequency domains of different distance dimensions. The distance implementation flow of this step is shown in fig. 7.
(11) The fuzzy clustering algorithm is adopted to process the Doppler features extracted by different receiving channels at different moments, and abnormal point information in the extracted data is removed to obtain stable Doppler features, as shown in FIG. 8.
(12) According to the corresponding pointing azimuth angle
Height of equipment installation from river surface
Center frequency of operation of the device
Currently calculated range gate
The Doppler feature value extracted in (11)
Calculating the flow velocity information of different distance units in corresponding direction
The calculation formula is as follows
。
Wherein
Representing the speed of light in vacuum.
The flow velocity information calculated by the same distance unit at different moments in the same azimuth angle is smoothed, and the fluctuation of the observed flow velocity is reduced and the stability of the data is improved by adopting a method of reducing data jitter by variance weighting.
(13) And (5) repeating the steps (10) to (12) on the space synthesis signals pointing to different azimuth directions, completing the calculation of all space azimuth pointing angles, obtaining stable flow speed information of different distance units under all the azimuth pointing angles, and obtaining corresponding space distance-azimuth flow speed vector field data, as shown in fig. 17A and 17B.
(14) The inter-river distance-azimuth flow velocity vector field data at the corresponding moment is processed by a comprehensive processorAnd the communication interface of the box 3 is transmitted to a remote data service platform 6, and the remote data service platform 6 synthesizes river flow data according to the space distance-azimuth flow velocity vector field data transmitted in the step (13). The flow synthesis is achieved as shown in fig. 9, where: vm: an average flow rate; vi: surface measurement point flow rate; a (h): the water passing area depends on the water level; q: flow rate; k: and K value.
The relationship between the water level flow and the flow rate is drawn according to the obtained flow data, and the new digital flow relationship is automatically corrected by adopting an intelligent self-learning model according to the existing relationship model, and can be compared and corrected with the input measured data to ensure the accuracy of the observation result, as shown in fig. 10.
(15) And the remote data service platform synchronously displays the current river flow velocity vector field, the synthesized flow data and the segmented flow velocity information to the user.
The superiority of the invention is illustrated by adopting a radar test process based on the computational intelligence for accurately measuring the river surface flow field and a flow velocity observation result thereof, which are arranged in a certain hydrological station. The analysis of relevant experimental data shows the use process and the beneficial effects of the invention.
Accurately measuring radar working parameters of a river surface flow field:
pulse width:
；
pulse repetition period:
；
signal center frequency: 500 MHz;
signal pattern: a narrow-band chirp signal;
signal bandwidth: 30MHz (chirp);
signal sampling rate: 500 MHz;
test site: a certain hydrological station in China;
transmitting and receiving antennas adopted by the radar for accurately measuring the river surface flow field are yagi antennas shown in figures 11, 12A and 12B;
by adopting the accurate measuring device for river flow velocity to radiate radar signals, after the signals are collected, the signal processing result of the corresponding distance unit at a certain azimuth angle and a certain moment is obtained and is shown in figure 13;
processing signals of a plurality of range gates at a certain azimuth angle to obtain a corresponding range-doppler characteristic diagram as shown in fig. 14;
by adopting the algorithm, corresponding Doppler characteristic values are extracted, and the extraction results of the Doppler characteristics of different distance units are shown in FIG. 15;
due to the fact that random characteristics exist in water flow, abnormal values exist in observation data of different distance units, and a fuzzy clustering method is adopted to conduct outlier elimination, trend consistency judgment, channel data dependence weighting algorithm and the like. And correcting the flow measurement data through the trend consistency of the flow measurement results of a plurality of space units in distance and direction. The correction processing is as follows as shown in fig. 16.
Through a clustering analysis algorithm, abnormal features in the flow measurement data are removed, and effective data are reserved.
And processing all the beam forming azimuth angles, extracting corresponding Doppler characteristics, and converting into corresponding flow velocity vector field data. For the single measurement result, due to the existence of abnormal values in part of the units, the single measurement flow velocity distribution vector data has random fluctuation, and through accumulation for a period of time, the method is adopted to improve the flow velocity stability, so that a stable river surface flow velocity vector field can be obtained, as shown in fig. 17A and 17B.
The intelligent data processing software of the remote data service system transmits the distance-azimuth flow velocity vector data of the river, the synthesized current river flow data and other data information to the river monitoring data display software, and synchronously displays the current river flow velocity vector field, the synthesized flow data, the sectional flow velocity and other information to a user. The intelligent data processing software of the remote data service system synchronously transmits the distance-azimuth flow velocity vector data of the river, the synthesized current river flow data and other data information to the river data service software, the software carries out data quality control and hydrologic professional calculation on river monitoring radar data according to a hydrologic data processing module to form hydrologic data, the hydrologic data are respectively processed into service products meeting the needs of industries such as agriculture, environmental protection, national and local resources according to the data processing module applied to each industry, and then commercial services are provided for terminal users through a portal website, as shown in figures 19-22.
Through comparison and analysis of multiple groups of test data, the river surface flow field accurate measurement radar calculation result based on the calculation intelligence is consistent with the actual manual measurement result, the error is less than 3%, and the device measurement result is accurate and reliable.
The invention integrates the anti-interference means, the intelligent processing technology, the high-resolution broken line array angle resolution technology, the fuzzy clustering technology and the filtering jitter reduction technology, the hardware architecture design is advanced, the installation is convenient and fast, the software design adopts various intelligent technologies at present, and the problems existing in the traditional equipment are effectively solved. Compared with the arithmetic average flow synthesis mode of applying an online type electric wave flow velocity meter and the like in the prior industry, the flow synthesis after area weighted flow velocity processing has more rigorous data calculation process, is more close to a hydrologic manual flow monitoring method, and obviously improves the consistency of the synthesized flow result and the manual monitoring flow result.
The test result shows that: by adopting the technical scheme of the invention, the problem of monitoring the flow field, the flow velocity and the flow of the river water surface by adopting a non-contact technology is effectively solved, all-weather, continuous and automatic operation can be realized, and the accurate measurement of the flow velocity and the flow of a high-turbidity water area and an ultra-shallow water area which are difficult to be completed by the traditional technology is realized.
The method has the advantages of intelligent and automatic river channel monitoring, anti-interference capability and capability of forming stable flow velocity vector field distribution of the river channel. The device can be installed in dense cities, can also be installed on the riverbank of remote areas, can directly finish measurement on the bank, can also move on the automobile for measurement, can also be installed in the environment with interference signals, and conveniently realizes the real-time monitoring of the monitored river channel information through a remote data service platform, and the advantages are incomparable with the traditional flow measuring device used at present.
The invention has the advantages of simple measurement and erection, low maintenance cost, high measurement precision, good real-time performance, unattended operation and the like, and has incomparable advantages of other equipment. The method can accurately and quickly measure the flow velocity and the flow of the large river, is vital to water conservancy planning, danger removal and reinforcement, large river treatment, flood fighting and disaster relief, and has great significance for national hydrological construction.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (1)
1. A river surface flow field accurate measurement radar measurement method based on computational intelligence is characterized by comprising the following steps: the method comprises the following steps:
s1, after the measuring radar is installed, connecting the measuring radar with a computer locally, and completing initialization configuration of system working parameters through a remote desktop;
s2, an excitation source in the comprehensive processing case receives signal control parameters sent by a system initialization, continuous wave signals with corresponding frequency are generated, and a pulse modulator modulates the amplitude of radar signals generated by the excitation source according to the corresponding pulse width and pulse repetition period to generate corresponding pulse modulation signals;
s3, the modulation code calculation module calculates the corresponding phase modulation code sequence according to the anti-interference requirement of the transmitted signal and the main-minor lobe ratio of the signal;
s4, the pulse code modulation module performs phase modulation on the pulse modulation signal according to the modulation code element obtained by calculation to generate a corresponding pulse code signal with phase modulation, namely a radar emission signal of the equipment;
s5, amplifying the signal to a power level set by a system by a radar transmission signal through a power method module of the transmission unit, connecting the signal with an antenna of the transmission unit through a radio frequency feeder, and radiating the signal to the space through the transmission unit;
s6, receiving echo signals of the water surface scattering area at different angles by the receiving antenna arrays pointing at different angles, and filtering out-of-band noise and interference signals by passing the echo signals through corresponding band-pass filters;
s7, mixing the received signal passing through the band-pass filter with a signal coupled to the signal processing unit by the excitation source, carrying out frequency conversion on the signal corresponding to the receiving channel to zero intermediate frequency, and carrying out AD sampling on the received signal to obtain a corresponding digital signal;
s8, performing pulse-by-pulse matching on the acquired digital signal and the pulse code of the emission modulation, wherein after the pulse matching, the echo signal matched with the emission modulation pulse has code element matching gain, the signal intensity is enhanced, and the interference signal not matched with the emission modulation code can be effectively inhibited after matching processing;
s9, transmitting the digital signals after matching processing to a digital beam forming unit through a transmission bus of the comprehensive processing case, wherein the digital beam forming unit calculates the weighting coefficients of different synthesized beams according to the installation position and the direction pointing angle of the antenna array received by the equipment, performs weighting control on the signals after matching of different channels through corresponding weighting values, and synthesizes directional patterns pointing to a plurality of beams at the same time;
weighting different receiving channel data through the calculated weighting control vectors pointing to different receiving directions to obtain directional diagrams of the receiving antenna arrays pointing to different directions;
weighting control is carried out on the signals of the three channels by adopting the weight values of the corresponding angles, so that a spatial synthesis echo signal corresponding to the azimuth angle is obtained;
s10, transmitting the space synthesis signals of the corresponding angles to a radar data processing unit, processing radar data, sequentially performing pulse accumulation processing, performing corresponding frequency spectrum transformation according to corresponding range gates, realizing range-Doppler two-dimensional processing of signals of different range units, obtaining frequency spectrum distribution of different range units after the range-Doppler two-dimensional processing is finished, and extracting Doppler characteristic values of the corresponding range units by adopting a method of selecting maximum values from frequency domains of different range dimensions;
s11, processing Doppler features extracted by different receiving channels at different moments by adopting a fuzzy clustering algorithm, and eliminating abnormal point information in the extracted data to obtain stable Doppler features;
s12, according to the corresponding pointing azimuth angle
Height of equipment installation from river surface
Center frequency of operation of the device
Currently calculated range gate
Doppler eigenvalue extracted in S11
Calculating the flow velocity information of different distance units in corresponding direction
The calculation formula is as follows
Wherein:
for the speed of light, the flow velocity information calculated at the same azimuth angle and the same distance unit at different moments is smoothed, and variance weighting reduction is adoptedThe method of low data jitter reduces fluctuation of the observed flow rate and improves the stability of data;
s13, repeating the steps S10-S12 on the space synthesis signals pointing to different azimuth directions, completing calculation of all space azimuth pointing angles, obtaining stable flow speed information of different distance units under all azimuth pointing angles, and obtaining corresponding space distance-azimuth flow speed vector field data;
s14, transmitting the inter-river distance-azimuth flow velocity vector field data at the corresponding moment to a remote data service platform through a communication interface of the comprehensive processing case, automatically identifying river section changes by the remote data service platform according to river section and water level information, and synthesizing river flow data according to the space distance-azimuth flow velocity vector field data transmitted in S13;
drawing a water level flow relation and a flow speed flow relation according to the obtained flow data, automatically correcting a new digital flow relation by adopting an intelligent self-learning model according to the existing relation model, and comparing and correcting the new digital flow relation with the input measured data to ensure the accuracy of an observation result;
and S15, the remote data service platform synchronously displays the current river flow velocity vector field, the composite flow data and the segmented flow velocity information to the user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111389548.6A CN113820708B (en) | 2021-11-23 | 2021-11-23 | River surface flow field accurate measurement radar based on intelligence of calculating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111389548.6A CN113820708B (en) | 2021-11-23 | 2021-11-23 | River surface flow field accurate measurement radar based on intelligence of calculating |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113820708A CN113820708A (en) | 2021-12-21 |
| CN113820708B true CN113820708B (en) | 2022-05-24 |
Family
ID=78919618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111389548.6A Active CN113820708B (en) | 2021-11-23 | 2021-11-23 | River surface flow field accurate measurement radar based on intelligence of calculating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113820708B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114414835B (en) * | 2022-01-26 | 2023-08-22 | 安徽省（水利部淮河水利委员会）水利科学研究院（安徽省水利工程质量检测中心站） | Fixed ADCP (automatic dependent control protocol) current measurement anti-interference data processing method |
| CN114624703B (en) * | 2022-05-12 | 2022-08-02 | 南京微麦科斯电子科技有限责任公司 | Multifunctional meteorological environment parameter measurement side scanning radar and operation method thereof |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7688251B2 (en) * | 2008-02-05 | 2010-03-30 | CODAR Ocean Sensors, Ltd | Systems and methods for monitoring river flow parameters using a VHF/UHF radar station |
| KR101447979B1 (en) * | 2014-07-15 | 2014-10-13 | 한국지질자원연구원 | Up-and-down Sliding Apparatus with a Downward Current Sensor for Measuring 3-Dimentional Flow Velocity on the Tidal Flat, and its Management Method Of The Same |
| CN104865581B (en) * | 2015-03-19 | 2017-06-13 | 中国科学院空间科学与应用研究中心 | A kind of river flow measuring method and system based on GNSS R technologies |
| CN106093929A (en) * | 2016-05-27 | 2016-11-09 | 南京微麦科斯电子科技有限责任公司 | A kind of radar installations measuring river flow velocity |
| CN109557531A (en) * | 2018-11-21 | 2019-04-02 | 南京微麦科斯电子科技有限责任公司 | A kind of high-resolution river radar installations based on phased-array technique |
| CN111474383B (en) * | 2020-04-23 | 2022-06-07 | 水利部南京水利水文自动化研究所 | River online flow calculation method and system based on big data |
| CN112629605B (en) * | 2021-03-09 | 2021-06-04 | 南京微麦科斯电子科技有限责任公司 | Ice season river flow measurement radar device |
-
2021
- 2021-11-23 CN CN202111389548.6A patent/CN113820708B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113820708A (en) | 2021-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113820708B (en) | River surface flow field accurate measurement radar based on intelligence of calculating | |
| Guinard et al. | An experimental study of a sea clutter model | |
| JP5460066B2 (en) | System and method for monitoring river flow parameters using a VHF / UHF radar station | |
| Heron et al. | On the application of HF ocean radar to the observation of temporal and spatial changes in wind direction | |
| Larsen et al. | VHF radar measurements of in-beam incidence angles and associated vertical-beam radial velocity corrections | |
| CN111190151B (en) | System parameter design and emission power optimization method of multi-mode small satellite SAR in scanning mode | |
| CN111220955B (en) | Airborne weather radar ground clutter suppression method based on vertical array covariance matrix characteristic decomposition | |
| CN106872982A (en) | Waterfall flow center wind estimation method is hit under dimensionality reduction STAP based on Doppler's pre-filtering is micro- | |
| CN103604944A (en) | Surface flow measurement method based on monostation shipborne high-frequency ground wave radar | |
| CN108445483A (en) | Water floats plant radar sensing system | |
| CN111781603B (en) | Ground clutter suppression method for airborne weather radar | |
| CN109557531A (en) | A kind of high-resolution river radar installations based on phased-array technique | |
| Cheong et al. | Refractivity retrieval using the phased-array radar: First results and potential for multimission operation | |
| Ji et al. | Target monitoring using small-aperture compact high-frequency surface wave radar | |
| Nikolic et al. | The high frequency surface wave radar solution for vessel tracking beyond the horizon | |
| CN106093929A (en) | A kind of radar installations measuring river flow velocity | |
| CN111239209B (en) | Full-polarization single reflection simulation method and system for opportunistic signal reflection remote sensing | |
| CN109828276B (en) | Wind profile radar based on interference algorithm | |
| Shearman | A review of methods of remote sensing of sea-surface conditions by HF radar and design considerations for narrow-beam systems | |
| Deng et al. | Wave height and wave period measurements using small-aperture HF radar | |
| RU2449312C1 (en) | Panoramic radar method of determining parameters of state of ocean surface layer from satellite | |
| Meadows et al. | High frequency radar and its application to fresh water | |
| Voulgaris et al. | 2-D inner-shelf current observations from a single VHF WEllen RAdar (WERA) station | |
| Dao et al. | Evaluation of HF radar in mapping surface wave field in Taiwan Strait under winter monsoon | |
| Ryabkova et al. | Study of the Doppler Spectrum of the Microwave Radar Signal Backscattered from the Water Surface at Low Incidence Angles in the Presence of a Constant Current: Experiment and Modeling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |