CN114858227A - Open channel flow measuring device - Google Patents

Open channel flow measuring device Download PDF

Info

Publication number
CN114858227A
CN114858227A CN202210452995.XA CN202210452995A CN114858227A CN 114858227 A CN114858227 A CN 114858227A CN 202210452995 A CN202210452995 A CN 202210452995A CN 114858227 A CN114858227 A CN 114858227A
Authority
CN
China
Prior art keywords
ultrasonic
flight time
open channel
channel flow
groups
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.)
Pending
Application number
CN202210452995.XA
Other languages
Chinese (zh)
Inventor
李献
江小峰
付红民
齐景星
赵君虎
李月颖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Automic Science&technology Co ltd
Original Assignee
Beijing Automic Science&technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Automic Science&technology Co ltd filed Critical Beijing Automic Science&technology Co ltd
Priority to CN202210452995.XA priority Critical patent/CN114858227A/en
Publication of CN114858227A publication Critical patent/CN114858227A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/002—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow wherein the flow is in an open channel
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/66—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by measuring frequency, phase shift or propagation time of electromagnetic or other waves, e.g. using ultrasonic flowmeters
    • G01F1/667—Arrangements of transducers for ultrasonic flowmeters; Circuits for operating ultrasonic flowmeters

Landscapes

  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Measuring Volume Flow (AREA)

Abstract

The application discloses measuring device of open channel flow, including being used for arranging open channel flow case in the open channel in, n layers of ultrasonic transducer group, n ultrasonic time signal processing equipment and microcontroller of crossing arrangement. Each ultrasonic transducer group is arranged on two sides of the open channel flow box; the ultrasonic signal processor equipment is respectively connected with the corresponding ultrasonic transducer groups and is used for processing ultrasonic detection signals of the ultrasonic transducer groups to obtain first flight time and second flight time; the microcontroller is used for receiving n groups of first flight time and second flight time, and calculating the n groups of first flight time and second flight time based on the configured dynamic model to obtain an open channel flow value. Thereby realizing the detection of the flow of the open channel.

Description

Open channel flow measuring device
Technical Field
The application relates to the technical field of water conservancy facilities, more specifically relates to a measuring device of open channel flow.
Background
The open channel is an important water conservancy facility for agricultural irrigation, and in order to guide reasonable water use for agricultural irrigation and improve the yield of irrigation water, the flow of the open channel needs to be accurately measured, but no corresponding scheme is available for accurately measuring the flow of the open channel at present.
Disclosure of Invention
In view of this, the present application provides a device for measuring the flow rate of an open channel, which is used for accurately measuring the flow rate of the open channel.
In order to achieve the above object, the following solutions are proposed:
an open channel flow measurement device, comprising an open channel flow box for placing in an open channel, n hierarchically arranged sets of ultrasonic transducers, n ultrasonic time signal processing devices and a microcontroller, n being an integer greater than 1, wherein:
each ultrasonic transducer group comprises two groups of ultrasonic transmitters and ultrasonic receivers which are arranged on the same plane and have mutually crossed paths, and the ultrasonic transmitters and the ultrasonic receivers are respectively arranged on two sides of the open channel flow box;
the ultrasonic signal processor equipment is respectively connected with the corresponding ultrasonic transducer groups and is used for processing ultrasonic detection signals of the ultrasonic transducer groups to obtain first flight time and second flight time and outputting the first flight time and the second flight time to the microcontroller;
the microcontroller is connected with each ultrasonic signal processor and used for receiving n groups of first flight time and second flight time and calculating the n groups of first flight time and second flight time based on a configured dynamic model to obtain an open channel flow value.
Optionally, the cross-sectional shape of the open channel flow box is rectangular.
Optionally, the n layers of ultrasonic transducer groups are distributed equidistantly in the open channel flow box.
Optionally, the ultrasonic time signal processing device includes an ultrasonic signal transceiver and a picosecond timer, wherein:
the ultrasonic signal transceiver is respectively connected with the ultrasonic transmitter and the ultrasonic receiver and is used for controlling the ultrasonic transmitter to transmit ultrasonic waves to the ultrasonic receiver, and the ultrasonic receiver detects the ultrasonic waves and feeds back the ultrasonic detection signals to the ultrasonic signal transceiver;
the picosecond timer is used for timing the ultrasonic detection signal to obtain the first flight time and the second flight time.
Optionally, the dynamic model is:
x(k+1)＝Ax(k)+Bw(k)
y(k)＝Hx(k)
z(k)＝Hx(k)+ε(k)
wherein x (k) is an internal state variable of the measuring device, y (k) is an output variable of the measuring device, w (k) is a disturbance variable of the flow state and the water quality of the water flow, and epsilon (k) is a noise variable of the measuring device.
Optionally, the microprocessor is configured with a measurement module, a prediction module and an update module, wherein:
the measurement module is used for acquiring the first flight time and the second flight time;
the prediction module is used for predicting the state by using a system state equation and calculating the covariance of the predicted quantity;
the updating module is used for updating and iterating the open channel flow value according to the current first flight time, the second flight time and the output value of the predicting module.
According to the technical scheme, the open channel flow measuring device comprises an open channel flow box, n layers of ultrasonic transducer groups, n groups of ultrasonic time signal processing equipment and a microcontroller, wherein the open channel flow box is used for being arranged in an open channel. Each ultrasonic transducer group is arranged on two sides of the open channel flow box; the ultrasonic signal processor equipment is respectively connected with the corresponding ultrasonic transducer groups and is used for processing ultrasonic detection signals of the ultrasonic transducer groups to obtain first flight time and second flight time; the microcontroller is used for receiving n groups of first flight time and second flight time, and calculating the n groups of first flight time and second flight time based on the configured dynamic model to obtain an open channel flow value. Thereby realizing the detection of the flow of the open channel.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an open channel flow measurement device according to an embodiment of the present disclosure;
FIG. 2 is a cross-correlation flow velocity model of any layer of an embodiment of the present application;
FIG. 3 is a physical model of an ultrasonic flow meter according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a dynamic mathematical model corresponding to a physical model of an ultrasonic flow meter according to an embodiment of the present application;
FIG. 5 is an ultrasonic flow meter model of a Kalman filter configuration of an embodiment of the present application;
FIG. 6 is a schematic illustration of a flow rate calculation for open channel flow according to an embodiment of the present application;
FIG. 7a is a calculation result of the axial flow rate measured by the first layer of ultrasonic probe on a certain test channel;
FIG. 7b is a calculation result of the radial flow velocity measured by the first layer of ultrasonic probe on a certain test channel;
fig. 7c is a calculation result of the ultrasonic velocity of the left and right channels measured by the first layer ultrasonic probe on a certain test channel.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
Examples
Fig. 1 is a schematic view of an open channel flow rate measurement device according to an embodiment of the present application.
As shown in fig. 1, the measuring device provided in the present embodiment is used for detecting the flow rate value of flowing water in an open channel to obtain the flow rate value of the open channel. The measuring device comprises an open channel flow box 10, n ultrasonic transducer groups arranged in layers, n ultrasonic time signal processing devices 20 and a microcontroller 30. The microcontroller is connected with each ultrasonic time signal processing device, and each ultrasonic time signal processing device is connected with the corresponding ultrasonic transducer group.
The open channel flow box in this embodiment is provided in the open channel to be measured, and its cross section is square. The ultrasonic transducer group comprises a plurality of ultrasonic transducers LDi, RUi, RDi and LUi which are respectively arranged on the inner walls of two sides of the open channel flow box, and cross-correlation ultrasonic channels are formed in the open channel flow box. The ultrasonic transducers are arranged in pairs, one acting as an ultrasonic transmitter and the other as an ultrasonic receiver.
The ultrasonic transducer adopts a special transducer for the underwater acoustic flowmeter, and the transmitting frequency is 1 MHz. The microcontroller adopts a low-power consumption chip to complete functions of communication, data acquisition, flow calculation and the like. The ultrasonic time signal processing equipment adopts a special ultrasonic signal transceiver and a timer to be matched for use, and the ultrasonic signal transceiver can be configured aiming at various emission pulses and frequencies, gains and signal thresholds. Also, the receive path may be programmably set.
The ultrasonic time signal processing apparatus herein includes an ultrasonic signal transceiver and a picosecond timer. The ultrasonic signal transceiver is respectively connected with the corresponding ultrasonic transmitter and the ultrasonic receiver and is used for controlling the ultrasonic transmitter to transmit ultrasonic waves to the ultrasonic receiver, and the ultrasonic receiver detects the ultrasonic waves and feeds back ultrasonic detection signals to the ultrasonic signal transceiver; the picosecond timer is used for timing the ultrasonic detection signal to obtain first flight time and second flight time.
The microcontroller is used for receiving the multiple groups of first flight time and second flight time sent by each group of ultrasonic time signal processing equipment, and calculating based on the configured dynamic model to obtain an open channel flow value of the to-be-measured open channel.
According to the technical scheme, the open channel flow measuring device comprises an open channel flow box, n layers of ultrasonic transducer groups, n groups of ultrasonic time signal processing equipment and a microcontroller, wherein the open channel flow box is used for being arranged in an open channel. Each ultrasonic transducer group is arranged on two sides of the open channel flow box; the ultrasonic signal processor equipment is respectively connected with the corresponding ultrasonic transducer groups and is used for processing ultrasonic detection signals of the ultrasonic transducer groups to obtain first flight time and second flight time; the microcontroller is used for receiving n groups of first flight time and second flight time, and calculating the n groups of first flight time and second flight time based on the configured dynamic model to obtain an open channel flow value. Thereby realizing the detection of the flow of the open channel.
The dynamic model in the application is obtained based on the following steps:
FIG. 2 is a cross-correlation flow velocity model diagram of any layer. The following variable, U (x, y, z), is first defined: axial flow rate. W (x, y, z): radial flow velocity. v. of ax : axial average flow velocity. v. of tr : radial average flow velocity. C: the speed of sound waves propagating in water. Upsilon is p : the projected flow rate of the water flow velocity on the ultrasonic beam. v. of s : the propagation velocity of the ultrasonic wave on the ultrasonic beam. Si ，i＝1，…4 : 4 ultrasound probes in a cross-correlation layout. α: the ultrasonic wave pencil and the contained angle of rivers direction. L: a propagation path of a pair of ultrasonic probes in water.
For(S1-S2) ultrasonic wave path, projection flow velocity
Figure BDA0003619567830000051
Comprises the following steps:
Figure BDA0003619567830000052
flight time t of the ultrasonic waves transmitted downstream from S1 to S2 on L1 12 Comprises the following steps:
Figure BDA0003619567830000053
S1-S2 time of flight t of counter-current emission ultrasonic wave on L 21 Comprises the following steps:
Figure BDA0003619567830000054
and for the ultrasonic paths S3-S4, the projected flow velocity
Figure BDA0003619567830000055
Comprises the following steps:
Figure BDA0003619567830000056
flight time t of the ultrasonic waves transmitted downstream from S3 to S4 on L2 34 Comprises the following steps:
Figure BDA0003619567830000057
S3-S4 flight time t of counter-current transmission ultrasonic wave on L2 43 Comprises the following steps:
Figure BDA0003619567830000058
in practical applications, the radial, axial, and sonic velocities on the L1 and L2 ultrasonic beams are different. The time of flight measured simultaneously contains various noise signals. From the previous derivation, the following relationship can be derived:
Figure BDA0003619567830000059
Figure BDA00036195678300000510
Figure BDA00036195678300000511
Figure BDA0003619567830000061
in the above model, C 1 ，
Figure BDA0003619567830000062
The sonic wave velocity of the acoustic channel L1, the axial velocity of the water flow and the radial velocity component, respectively. C 2 ，
Figure BDA0003619567830000063
The sonic wave velocity of the acoustic channel L2, the axial velocity of the water flow and the radial velocity component, respectively. n is 1 ，n 2 ，n 3 ，n 4 Time-independent white noise. From the above relationship, the flow rate calculation model in the non-ideal state can be described by using a discrete system state equation. The system state component x (k) is:
Figure BDA0003619567830000064
the system output component y (k) is:
Figure BDA0003619567830000065
the measurement noise component n (k) is:
Figure BDA0003619567830000066
the measurement process model is as follows:
x(k+1)＝f(x(k)) (14)
y(k)＝g(f(x(k))，x(k)+n(k)) (15)
the function f (cndot.) represents the evolution process relation of the state component, and the function g (cndot.) is described by formulas (7) to (10), and includes the influence of the vector component of the water flow and random noise on the flight time.
Fig. 3 shows a physical model of an ultrasonic flow meter.
The ultrasonic flowmeter system measures the flow velocity and the flow through an ultrasonic excitation signal, and the measuring system directly measures the forward flow flight time and the reverse flow flight time of ultrasonic waves. The flow velocity and flow are calculated from the measured time of flight. The accuracy of the time-of-flight measurement is affected by disturbances such as water flow conditions, air bubbles, etc. The time of flight of the measurement output is simultaneously affected by the white noise of the measurement system itself.
Fig. 4 is a schematic diagram of a dynamic model corresponding to a physical model of an ultrasonic flow meter.
The dynamic model is as follows:
x(k+1)＝Ax(k)+Bw(k) (16)
y(k)＝Hx(k) (17)
z(k)＝Hx(k)+ε(k) (18)
x (k) is a system internal state variable, as defined above. y (k) is the system output variable, i.e., the ultrasonic time of flight, as previously defined. w (k) is disturbance variable of water flow state, water quality and the like. ε (k) is the noise variance of the measurement system. For ease of handling, z (k) [1/x ] 1 1/x 2 1/x 3 1/x 4 ] T . From the foregoing relationship, it follows:
Figure BDA0003619567830000071
the dynamic model adopts a random walk statistical model, namely:
C 1 (k+1)＝C 1 (k)+w 1 (k) (20)
Figure BDA0003619567830000072
Figure BDA0003619567830000073
C 2 (k+1)＝C 2 (k)+w 4 (k) (23)
Figure BDA0003619567830000074
Figure BDA0003619567830000075
from the above equation:
Figure BDA0003619567830000076
Figure BDA0003619567830000077
all perturbations and noise hypotheses satisfy a gaussian distribution, are independent and uncorrelated with each other. It is thus possible to obtain that the expected values of the variables satisfy the following relationships:
E(w(k))＝E(ε(k))＝0 (28)
E(x(0))＝x 0 (29)
the variance and covariance of each variable satisfy the following relationship:
Figure BDA0003619567830000081
Figure BDA0003619567830000082
cov(w(j)，ε(k))＝0 (32)
cov(x(0)，ε(k))＝0 (33)
cov(w(k)，x(0))＝0 (34)
Figure BDA00036195678300000811
the expectation value and variance of the output variable z of the random walk statistical model have the following relationship:
E(z(k))＝x 0 (36)
Figure BDA00036195678300000810
according to the principle of the kalman filter, the solution of the system state variables is calculated by the principle of the minimum variance error of the real and estimated values:
Figure BDA0003619567830000083
FIG. 5 is an ultrasonic flow meter model of a Kalman filter configuration.
Figure BDA0003619567830000084
In order to predict the state variables one step ahead,
Figure BDA0003619567830000085
is an estimate of the state variable. P * (k) The error covariance matrix p (k) is predicted one step ahead.
Figure BDA0003619567830000086
Figure BDA0003619567830000087
P * (k+1)＝AP(k)A T +Q (41)
K(k+1)＝P * (k+1)H T (HP * (k+1)H T +R) -1 (42)
P(k+1)＝P * (k+1)-K(k+1)A T +Q (43)
Estimation of system state variables
Figure BDA0003619567830000088
The solution is solved by:
Figure BDA0003619567830000089
Figure BDA0003619567830000091
the sound wave velocity, the axial velocity and the radial velocity component of the water flow of L1 and L2 can be calculated through the above iteration.
Fig. 6 is a schematic of the flow rate calculation for open channel flow.
The calculation is performed iteratively mainly by means of a microcontroller. The algorithm has three main modules. The first module is a measuring module which measures the flight time t of the downstream transmitted ultrasonic waves from S1 to S2 on the L1 in real time 12 S1-S2 counter-current emission ultrasonic wave flight time t21 on L1 is measured in real time to obtain S3-S4 downstream emission ultrasonic wave flight time t on L2 34 Flight time t of ultrasonic waves reversely transmitted on L2 from S3 to S4 43 . Second moduleThe prediction module predicts the state and output by using a system state equation and simultaneously calculates the covariance of the predicted quantity. The third module is an updating module, and updates and iterates the output value according to the current measuring module value and the current predicting module value. And outputting axial flow velocity, radial flow velocity and left and right sound channel velocity. Similarly, the flow velocity and the left and right channel velocities of the other layers can be calculated respectively.
Fig. 7a, 7b and 7c are axial flow velocity, radial flow velocity and ultrasonic velocity calculation results of left and right channels measured by a first layer ultrasonic probe on a certain test channel.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The technical solutions provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained in this document by applying specific examples, and the descriptions of the above examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (6)

1. An open channel flow measurement device, comprising an open channel flow box arranged in an open channel, n ultrasonic transducer groups arranged in layers, n ultrasonic time signal processing devices and a microcontroller, wherein n is an integer greater than 1, wherein:
each ultrasonic transducer group comprises two groups of ultrasonic transmitters and ultrasonic receivers which are arranged on the same plane and have mutually crossed paths, and the ultrasonic transmitters and the ultrasonic receivers are respectively arranged on two sides of the open channel flow box;
the ultrasonic signal processor equipment is respectively connected with the corresponding ultrasonic transducer groups and is used for processing ultrasonic detection signals of the ultrasonic transducer groups to obtain first flight time and second flight time and outputting the first flight time and the second flight time to the microcontroller;
the microcontroller is connected with each ultrasonic signal processor and used for receiving n groups of first flight time and second flight time and calculating the n groups of first flight time and second flight time based on a configured dynamic model to obtain an open channel flow value.
2. The measurement device of claim 1, wherein the open channel flow box is rectangular in cross-sectional shape.
3. The measurement device of claim 1, wherein n layers of the set of ultrasonic transducers are equally spaced within the open channel flow box.
4. The measurement apparatus of claim 1, wherein the ultrasonic time signal processing device comprises an ultrasonic signal transceiver and a picosecond timer, wherein:
the ultrasonic signal transceiver is respectively connected with the ultrasonic transmitter and the ultrasonic receiver and is used for controlling the ultrasonic transmitter to transmit ultrasonic waves to the ultrasonic receiver, and the ultrasonic receiver detects the ultrasonic waves and feeds back the ultrasonic detection signals to the ultrasonic signal transceiver;
the picosecond timer is used for timing the ultrasonic detection signal to obtain the first flight time and the second flight time.
5. The measurement device of claim 1, wherein the dynamic model is:
x(k+1)＝Ax(k)+Bw(k)
y(k)＝Hx(k)
z(k)＝Hx(k)+ε(k)
wherein x (k) is an internal state variable of the measuring device, y (k) is an output variable of the measuring device, w (k) is a disturbance variable of the flow state and the water quality of the water flow, and epsilon (k) is a noise variable of the measuring device.
6. The measurement device of claim 1, wherein the microprocessor is configured with a measurement module, a prediction module, and an update module, wherein:
the measurement module is used for acquiring the first flight time and the second flight time;
the prediction module is used for predicting the state by using a system state equation and calculating the covariance of the predicted quantity;
the updating module is used for updating and iterating the open channel flow value according to the current first flight time, the second flight time and the output value of the predicting module.
CN202210452995.XA 2022-04-27 2022-04-27 Open channel flow measuring device Pending CN114858227A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210452995.XA CN114858227A (en) 2022-04-27 2022-04-27 Open channel flow measuring device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210452995.XA CN114858227A (en) 2022-04-27 2022-04-27 Open channel flow measuring device

Publications (1)

Publication Number Publication Date
CN114858227A true CN114858227A (en) 2022-08-05

Family

ID=82633393

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210452995.XA Pending CN114858227A (en) 2022-04-27 2022-04-27 Open channel flow measuring device

Country Status (1)

Country Link
CN (1) CN114858227A (en)

Similar Documents

Publication Publication Date Title
CN108369242B (en) Improved beamformed acoustic signal travel time flow meter
CN105911551B (en) A kind of Sound speed profile inversion method based on weighted aggregation Kalman filtering algorithm
EP2541283B1 (en) Method and device for estimating an underwater acoustic sound velocity in a network of acoustic nodes
RU2009133238A (en) METHOD AND DEVICE FOR ULTRASONIC SURFACE CONTROL
CN101762298B (en) Ultrasonic meter
CN103542901A (en) Flow meter
CN107367306A (en) A kind of Ultrasonic Wave Flowmeter fusion method and system based on Kalman filter
CN110507355B (en) Ultrasonic imaging system, method, equipment and medium
RU2649073C1 (en) Method for determining coordinates of the underwater object by the hydroacoustic system of underwater navigation with an alignment beacon
CN105115552B (en) The ultrasonic flow measuring method and device of phase are surveyed based on sidetone
WO2005015254A3 (en) Apparatus and method for performing time delay estimation
CN114858227A (en) Open channel flow measuring device
CN108431554B (en) Fluid measuring device
Lee et al. Deep learning-based ultra short baseline underwater positioning
CN103841897A (en) Signal processing device and method, recording medium, and program
JP3492347B2 (en) Apparatus, method and program for simulating underwater sound propagation characteristics
Nonsakhoo et al. Angle of arrival estimation by using stereo ultrasonic technique for local positioning system
US20070255514A1 (en) Ultrasonic flow meter
CN113126029A (en) Multi-sensor pulse sound source positioning method suitable for deep sea reliable acoustic path environment
Jemmott et al. Passive sonar target localization using a histogram filter with model-derived priors
JP2001183200A (en) Flowmeter and flow-rate measuring method
Bonito Acoustic system for ground truth underwater positioning in DEEC's test tank
CN117629382B (en) Underwater sound velocity and topography distance measuring method
Gao et al. New acoustic positioning system for an underwater robot using multiple frequencies
Ronkin et al. Numerical Investigation of the Ultrasonic Transit Time Flowmeter Accuracy in Heterogeneous Flows

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