CN113865552B - Blanket-mounted GNSS buoy for measuring two-dimensional sea surface height and measuring method - Google Patents
Blanket-mounted GNSS buoy for measuring two-dimensional sea surface height and measuring method Download PDFInfo
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- CN113865552B CN113865552B CN202111454338.0A CN202111454338A CN113865552B CN 113865552 B CN113865552 B CN 113865552B CN 202111454338 A CN202111454338 A CN 202111454338A CN 113865552 B CN113865552 B CN 113865552B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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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
- B63B22/00—Buoys
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
Abstract
The invention discloses a blanket-mounted GNSS buoy for measuring two-dimensional sea surface height and a measuring method, belonging to the technical field of ocean observation, and comprising a buoy main body floating blanket, wherein the floating blanket is fixed on a rubber boat, and a GNSS receiver, an infinite communication module, a single-chip microcomputer control processing unit and a power supply unit are mounted in the rubber boat; and a GNSS antenna is fixed on the floating blanket and is connected with the GNSS receiver through an antenna cable. The blanket-mounted GNSS buoy further comprises a traction rope, wherein the traction rope is tied to the rubber boat, and the other end of the traction rope is fixed to the boat and used for dragging the rubber boat so as to enable the floating blanket to move. The invention provides a new acquisition mode for the sea surface height of the one-dimensional section and provides high-precision sea surface topographic data; the technical problem that high-precision sea surface topological terrain is difficult to perform high-resolution reconstruction through field observation equipment is solved.
Description
Technical Field
The invention belongs to the technical field of marine observation, and particularly relates to a blanket-mounted GNSS buoy for measuring two-dimensional sea surface height and a measuring method.
Background
With the development of GNSS technology, buoy measuring equipment based on GNSS is becoming mature, and important applications are achieved in sea level altitude measurement and altimeter calibration. The existing GNSS buoy equipment mainly adopts a free floating, mooring or anchoring mode, and has the limitation that only the elevation measurement of a point sea surface can be carried out; and due to the influences of mass load change, water density change and the like, the height of the GNSS antenna above the sea surface is difficult to continuously estimate and monitor. Although some buoys can now acquire the height of the antenna to the sea surface by using an acoustic altimeter or a radar altimeter, this not only increases the cost and the post processing work, but also makes the two altimeters have high requirements on the environment. In addition, the traditional GNSS buoy can only carry out point location measurement, and high-precision sea surface topological topography is difficult to carry out high-resolution reconstruction through on-site observation equipment.
Therefore, in order to overcome the defects of the conventional GNSS buoy and provide a more accurate and reliable sea surface height measurement result for ocean research, it is urgently needed to develop a novel ocean blanket buoy and perfect a measurement method.
Disclosure of Invention
The invention aims to provide a blanket-mounted GNSS buoy for measuring two-dimensional sea surface height and a measuring method thereof, so as to make up for the defects of the prior art.
The invention designs a floating blanket carrying GNSS antenna based on the structure of the 'seaweed' and the characteristic of high coupling with the sea surface, and a control system, a power supply system and the like are arranged on an inflatable boat to reduce the carrying weight of the floating blanket; the invention ensures that the floating blanket can be stable enough to keep the GNSS antenna level, thereby not only ensuring good signal quality, but also reducing the height error processing work from the antenna to the sea surface.
In order to achieve the purpose, the invention provides the following technical scheme:
a blanket-mounted GNSS buoy for measuring two-dimensional sea surface height comprises a buoy body, namely a floating blanket, wherein the floating blanket is fixed on a rubber boat, and a GNSS receiver, an infinite communication module, a single-chip microcomputer control processing unit and a power supply unit are mounted in the rubber boat; and a GNSS antenna is fixed on the floating blanket and is connected with the GNSS receiver through an antenna cable. The blanket-mounted GNSS buoy further comprises a traction rope, wherein the traction rope is tied to the rubber boat, and the other end of the traction rope is fixed to the boat and used for dragging the rubber boat so as to enable the floating blanket to move.
Furthermore, the floating blanket is in a blanket shape formed by a plurality of buoyancy modules, so that the floating blanket can be tightly attached to the sea surface and accurately follow sea waves without extra movement; the buoyancy module is a whole floating blanket spliced by EVA foam materials, in particular to a whole floating blanket spliced by 120 EVA foam materials through cloth and the like.
Furthermore, a GNSS antenna is fixed on the floating blanket and is fixed on four buoyancy modules of the floating blanket through a four-foot universal support so as to keep the GNSS antenna always horizontal and is connected with the GNSS receiver through an antenna cable; the input end of the GNSS receiver is connected with the GNSS antenna, and the output end of the GNSS receiver is connected with the single-chip microcomputer control processing unit; the single chip microcomputer control processing unit is used for processing received GNSS data and upper computer instructions and can perform data storage, buoy transmission configuration and the like; the radio communication module is used for information transmission, and comprises the following steps that data analyzed by the singlechip control processing unit are transmitted to an upper computer in a 16-system format according to a communication protocol, an upper computer instruction is transmitted to the singlechip control processing system to carry out corresponding setting on a GNSS buoy, and the communication protocol comprises: header message, information length, information identifier, current number, information content, checksum and tail message.
The two-dimensional sea surface height measuring method based on the blanket-mounted GNSS buoy for measuring the two-dimensional sea surface height comprises the following steps of:
s1: obtaining high-precision one-dimensional section sea surface height data:
acquiring GNSS satellite signals of the GNSS buoy by utilizing a GNSS antenna;
the GNSS receiver obtains position information and elevation information of the buoy GNSS antenna position according to the satellite signals;
measuring the draft H of the floating blanketdraAnd the distance h between the GNSS antenna and the bottom surface of the floating blanket;
draft of the floating blanket near the GNSS antenna:
in the formula, HdraFor floating blankets near GNSS antennaG is the total weight of the four buoyancy modules, the four-legged gimbal and the GNSS antenna, ρ is the sea water density (measured by a sea water densitometer) of the sea area where the buoyancy modules are located, G is the acceleration of gravity, and S is the surface area of the four buoyancy modules;
because the high coupling of blanket and sea surface floats, enough stable assurance GNSS antenna level, the sea surface height after the calibration is:
in the formula, HantHeight of a reference point for a GNSS receive antenna;
finally, high-precision one-dimensional section sea surface height data can be obtained;
s2: observing the sea surface heights of a plurality of profiles, and performing tide correction on the sea surface heights;
and then drawing the two-dimensional sea surface height by using an optimal interpolation algorithm, wherein the formula is as follows:
in the formula
The method is characterized in that the method is an observed value, A is a covariance matrix of the observed value, C is a covariance matrix between the observed value and a field to be estimated, and the calculation formulas of the observed value and the field to be estimated are as follows:
f is a spatial correlation function, the correlation function adopts a Gaussian function, and the formula is as follows:
in formula (2), Δ X, Δ y is the space difference between two pointsiAnd XjX and X in the formula (3)iWhere R is the spatially dependent distance.
The invention has the advantages and technical effects that:
the invention adopts the floating blanket to carry the GNSS antenna, and the GNSS receiver, the iridium communication module, the battery and the like are all arranged in the rubber boat at the front end; after receiving satellite signals from an antenna, a GNSS receiver obtains position information and elevation information of the antenna position; then, the seawater density is measured by a seawater densimeter to calculate the draft of the floating blanket; and finally, correcting the draft of the buoy and the distance from the GNSS antenna to the bottom of the floating blanket to obtain real sea surface height data. The buoy supports the dragging type observation, so that one-dimensional profile sea surface elevation data can be obtained, and the two-dimensional sea surface height data can be drawn by the aid of the profile sea surface height data through an optimal interpolation algorithm.
The invention supports anchoring and dragging type dual-mode observation, can realize point and line integrated sea surface height measurement, further provides a new acquisition mode for the sea surface height of a one-dimensional section through an optimal interpolation technology, and provides high-precision sea surface topographic data; the technical problem that high-precision sea surface topological topography is difficult to perform high-component reconstruction through on-site observation equipment is solved, mutual verification can be performed with the 'observing billow' marine satellite, and support is provided for observing billow satellite calibration.
Drawings
Fig. 1 is a structural schematic diagram of a sea surface height measuring buoy of the invention.
Fig. 2 is a schematic structural diagram of the sea surface height measuring buoy of the invention.
Fig. 3 is a top view of the sea surface height measuring buoy of the present invention.
Fig. 4 is a side view of the sea surface height measuring buoy of the present invention.
Fig. 5 is a flow chart of the sea surface height measuring method of the present invention.
Wherein: the system comprises a four-foot universal support, a 2-GNSS antenna, a 3-floating blanket, a 4-antenna cable, a 5-rubber boat, a 6-traction rope, a 7-GNSS receiver, an 8-radio communication module, a 9-single-chip microcomputer control processing unit and a 10-power supply unit.
Detailed Description
The invention will be further explained and illustrated by means of specific embodiments and with reference to the drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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:
a blanket-mounted GNSS buoy for measuring two-dimensional sea surface height comprises a main body floating blanket 3, as shown in FIG. 2, wherein the floating blanket 3 is fixed on a rubber boat 5, and a GNSS receiver, an infinite communication module, a single-chip microcomputer control processing unit 9 and a power supply unit 10 are carried in the rubber boat 5; the floating blanket 3 is fixed with a GNSS antenna 2 and connected with the GNSS receiver 7 through an antenna cable 4. The blanket-mounted GNSS buoy further comprises a hauling rope 6 tied to the rubber boat 5, the other end of which is fixed to the boat for hauling the rubber boat, thereby enabling the floating blanket 3 to move. The floating blanket 3 is in a blanket shape formed by a plurality of buoyancy modules, so that the floating blanket can be tightly attached to the sea surface and accurately follow the sea waves without extra movement.
As shown in fig. 1, a GNSS antenna 2 is fixed on the floating blanket 3, and is fixed on four buoyancy modules of the floating blanket through a four-leg gimbal 1 to keep the GNSS antenna 2 horizontal all the time, and is connected with the GNSS receiver through an antenna cable 4; the input end of the GNSS receiver 7 is connected with the GNSS antenna 2, and the output end of the GNSS receiver is connected with the singlechip control processing unit 9; the single chip microcomputer control processing unit is used for processing received GNSS data and upper computer instructions and can perform data storage, buoy transmission configuration and the like; the radio communication module is used for information transmission, and comprises the following steps that data analyzed by the singlechip control processing unit are transmitted to an upper computer in a 16-system format according to a communication protocol, an upper computer instruction is transmitted to the singlechip control processing system to carry out corresponding setting on a GNSS buoy, and the communication protocol comprises: header message, information length, information identifier, current number, information content, checksum and tail message.
Specifically, the floating blanket 3 is 10 meters long and 3 meters wide, and is formed by splicing 120 buoyancy modules, so that the floating blanket can be tightly attached to the sea surface and accurately follow sea waves without extra movement, one end of the blanket is connected to two rubber boats 5, as shown in fig. 3, and the connected floating blanket is 10.8 meters long and 3 meters wide; the four-foot universal support 1 aims to fix the GNSS antenna 2 on the floating blanket and ensure the antenna to be horizontal, as shown in FIG. 4, the GNSS antenna is 550mm away from the bottom of the floating blanket, and the universal support is installed at the tail 1/3 of the floating blanket to eliminate corresponding errors due to the fact that the front end of the floating blanket connected with the GNSS antenna is correspondingly moved due to the fact that a rubber boat easily generates actions such as upwarp or sinking under the dragging action of the boat; the GNSS antenna 2 is connected with the GNSS receiver 7 through an antenna cable 4; the rubber boat 5 is used for carrying a GNSS receiver 7, a singlechip control processing system 8, a radio communication module 9 and a power supply system 10, so that the carrying weight of the floating blanket is reduced; the length of the hauling rope 6 is 100 meters, the other end of the hauling rope is connected to the ship and is responsible for dragging the whole buoy to move, the length of the hauling rope is 100 meters so as to avoid the influence of power and wake flow of the ship, and the rubber boat can be connected with the ship through the hauling rope of 100 meters (so as to avoid the influence of the power and the wake flow of the ship) and dragged at the speed of 10 knots so as to obtain one-dimensional section sea elevation data.
The GNSS receiver transmits the obtained position information and the height information to the single chip microcomputer control processing system according to the satellite signals of the buoy; the singlechip control processing system receives the position and height information and then analyzes the data, stores the data information in the SD card and transmits the data information to the upper computer through the radio communication module according to a specified communication protocol, and is also responsible for receiving an instruction from the upper computer and controlling operations such as buoy data transmission and the like; the power supply system adopts a large-capacity rechargeable lithium battery for supplying power to the whole buoy.
Example 2:
a sea surface height measuring method applied to the novel offshore blanket-mounted GNSS buoy of embodiment 1, as shown in fig. 5, specifically includes:
s1: carrying out buoy measurement planning according to the size of the measured sea area, and dragging a buoy through a traction rope according to a planning ship for observation; the buoy GNSS receiving antenna receives satellite signals of the buoy, and the GNSS receiver has the satellite signals of the buoy to obtain position information and elevation information of the position of the buoy GNSS antenna.
Measuring the draft H of the floating blanketdraAnd the distance between the GNSS antenna and the bottom surface of the floating blanket
；
Draft of the floating blanket near the GNSS antenna:
in the formula, HdraThe draft of the floating blanket near the GNSS antenna is G, the total weight of the four buoyancy modules, the four-leg universal support and the GNSS antenna is G, rho is the sea water density (measured by a sea water densimeter) of the sea area where the floating blanket is located, G is the gravity acceleration, and S is the surface area of the four buoyancy modules;
because the high coupling of blanket and sea surface floats, enough stable assurance GNSS antenna level, the sea surface height after the calibration is:
in the formula, HantIs the height of the GNSS receive antenna reference point.
The method can obtain high-precision one-dimensional profile sea surface height data.
S2: carrying out tide correction on high-precision one-dimensional sea surface height data of a plurality of profiles measured according to a measurement plan;
and (3) drawing the two-dimensional sea surface height by using an optimal interpolation algorithm, wherein the formula is as follows:
in the formula
The method is characterized in that the method is an observed value, A is a covariance matrix of the observed value, C is a covariance matrix between the observed value and a field to be estimated, and the calculation formulas of the observed value and the field to be estimated are as follows:
f is a spatial correlation function, in the invention, the correlation function adopts a Gaussian function, and the formula is as follows:
in formula (2), Δ X, Δ y is the space difference between two pointsiAnd XjX and X in the formula (3)iWhere R is the spatially dependent distance.
The design of the blanket-mounted GNSS buoy on the sea can be used for measuring by dragging the ship at the speed of 10 knots over one hundred meters (avoiding the influence of ship power and wake flow), so that the limitation of point location measurement is broken, and the flexibility of the blanket-mounted GNSS buoy can meet more measurement requirements, thereby realizing the leap of the sea height of the GNSS buoy from the point location measurement to one-dimensional profile measurement. According to the method, the limitation of traditional GNSS buoy point location measurement is broken through a topology reconstruction technology, and the technical problem that high-resolution reconstruction of high-precision sea surface topology terrain is difficult to perform through on-site observation equipment is solved.
The above examples are not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make variations, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (1)
1. A two-dimensional sea surface height measuring method based on a blanket-mounted GNSS buoy comprises a main body floating blanket (3), wherein the floating blanket (3) is fixed on a rubber boat (5), and a GNSS receiver (7), a radio communication module (8), a single-chip microcomputer control processing unit (9) and a power supply unit (10) are mounted in the rubber boat (5); a GNSS antenna (2) is fixed on the floating blanket (3) and is connected with the GNSS receiver (7) through an antenna cable (4); the GNSS antenna (2) is fixed on the floating blanket (3), and is fixed on four buoyancy modules of the floating blanket through a four-foot universal support (1) so as to keep the GNSS antenna (2) horizontal all the time and be connected with the GNSS receiver through an antenna cable (4); the input end of the GNSS receiver (7) is connected with the GNSS antenna (2), and the output end of the GNSS receiver is connected with the single-chip microcomputer control processing unit (9); the single chip microcomputer control processing unit is used for processing received GNSS data and upper computer instructions and can perform data storage and buoy transmission configuration; the radio communication module is used for information transmission, including transmitting the data after singlechip control processing unit analyzes for the host computer according to communication protocol, transmits the host computer instruction for singlechip control processing unit and carries out corresponding setting to the GNSS buoy, and communication protocol includes: a header message, information length, information identification, current number, information content, check sum and a tail message; the method is characterized by comprising the following steps:
s1: acquiring GNSS satellite signals of a GNSS buoy by using a GNSS antenna to acquire sea surface height data of a one-dimensional profile;
s2: observing the sea surface heights of a plurality of profiles, carrying out tide correction on the sea surface heights, and drawing a two-dimensional sea surface height by using an optimal interpolation algorithm;
the S1 specifically includes:
acquiring GNSS satellite signals of the GNSS buoy by utilizing a GNSS antenna;
the GNSS receiver obtains position information and elevation information of the buoy GNSS antenna position according to the satellite signals;
measuring the draft H of the floating blanketdraFloating blanket bottom at distance from GNSS antennaDistance between faces
；
Draft of GNSS antenna floating blanket:
in the formula, HdraThe draft of the GNSS antenna floating blanket is G, the total weight of the four buoyancy modules, the four-leg universal support and the GNSS antenna is G, rho is the sea water density of the sea area where the GNSS antenna is located, G is the gravity acceleration, and S is the surface area of the four buoyancy modules;
because the high coupling of blanket and sea surface floats, enough stable assurance GNSS antenna level, the sea surface height after the calibration is:
in the formula, HantHeight of a reference point for a GNSS receive antenna;
finally, the sea height of the one-dimensional section can be obtained;
in S2, an optimal interpolation algorithm is used to draw a two-dimensional sea height, where the formula is as follows:
in the formula
The method is characterized in that the method is an observed value, A is a covariance matrix of the observed value, C is a covariance matrix between the observed value and a field to be estimated, and the calculation formulas of the observed value and the field to be estimated are as follows:
f is a spatial correlation function, the correlation function adopts a Gaussian function, and the formula is as follows:
in formula (4), Δ X, Δ y is the space difference between two pointsiAnd XjX and X in the formula (5)iWhere R is the spatially dependent distance.
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| CN114383578B (en) * | 2022-02-10 | 2024-03-15 | 中国人民解放军61540部队 | Sea surface height measurement system and method based on ocean monitoring buoy |
| CN116858290B (en) * | 2023-09-04 | 2023-12-08 | 中国海洋大学 | Deep open sea surface height observation and calibration method and system based on large unmanned plane |
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| EP3262442A1 (en) * | 2015-02-24 | 2018-01-03 | Seabed Geosolutions B.V. | Single vessel range navigation and positioning of an ocean bottom seismic node |
| CN111811484A (en) * | 2019-04-10 | 2020-10-23 | 中国海洋大学 | Sea surface height measuring buoy and measuring method |
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| JP2018004528A (en) * | 2016-07-06 | 2018-01-11 | 五洋建設株式会社 | Buoy type wave height measurement device |
| KR101870688B1 (en) * | 2018-02-19 | 2018-06-25 | (주)해양정보기술 | Real time mornitoring system of sea water quality |
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