CN115265586A - Calibration inspection system for satellite altimeter - Google Patents
Calibration inspection system for satellite altimeter Download PDFInfo
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- CN115265586A CN115265586A CN202210784960.6A CN202210784960A CN115265586A CN 115265586 A CN115265586 A CN 115265586A CN 202210784960 A CN202210784960 A CN 202210784960A CN 115265586 A CN115265586 A CN 115265586A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- G01S19/53—Determining attitude
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manufacturing & Machinery (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a calibration inspection system for a satellite altimeter, which belongs to the technical field of navigation.A buoy comprises a buoy body, IMU equipment, an electric power system and a data center, wherein the buoy provides high-precision attitude information of the buoy in combination with INS equipment, and high-precision sea surface height data is obtained after attitude correction; the pressure gauge comprises a piston system, weights and a base, and the relative change of the sea surface height is observed through long-time sequence seabed pressure data obtained by long-time arrangement of the pressure gauge; the tide gauge is located on the bank side, and the observation precision of the buoy and the pressure gauge equipment is measured; when a satellite provided with an altimeter passes right above the buoy, calibration inspection is carried out on the absolute height of the sea surface through the satellite and the sea surface height observed by the buoy; when the satellite provided with the altimeter repeatedly passes right above the pressure gauge, calibration inspection is carried out on the sea surface relative height through the sea surface height observed by the satellite and the observation data of the long-time sequence of the pressure gauge.
Description
Technical Field
The invention discloses a calibration and inspection system for a satellite altimeter, and belongs to the technical field of navigation.
Background
Accurate monitoring of global sea level changes by altimeter satellites is of great significance to marine long-term climate change research, and more countries and organizations are beginning research and launch programs for altimeters. In recent years, except for foreign Jason-3 satellites and other satellites, HY-2B, HY-2C and HY-2D satellites which are successively transmitted from 2018 in China realize networking observation of sea surface height and improve the space-time resolution of data. However, in order to further improve the accuracy of altimeter satellite data and the accuracy of sea surface altitude monitoring, inspection of satellite observation data is essential.
At present, sea surface height detection of an altimeter is mostly realized based on GNSS arranged around a fixed platform, and is also directed to absolute height observed by a satellite. On the land, the buoy can accurately measure the elevation of a certain point to reach the accuracy of 2-3mm under the condition of multi-frequency long-time observation, the accuracy is obviously superior to the observation accuracy of a satellite altimeter, and the calibration inspection aiming at the absolute height of the sea surface can be realized. However, unlike a buoy on land, the buoy body in the ocean is greatly affected by the surge to shake, and the attitude information of the buoy body is difficult to accurately measure. Meanwhile, the satellite has a fixed revisit period, the observation accuracy of the buoy anchored for a long time is difficult to guarantee, and the endurance and data transmission capability of the buoy are insufficient to support the long-time observation of the buoy. In addition, how to ensure the precision of the inspection equipment is also an urgent problem to be solved in the inspection process. In view of the above problems, it is now urgently needed to construct a multi-device combined calibration and inspection system for altimeter satellites, and solve the problems of absolute altitude calibration, relative altitude calibration and equipment precision guarantee for sea level altitude.
Disclosure of Invention
The invention provides a calibration and inspection system for a satellite altimeter, which solves the problems that the attitude information of a buoy body is difficult to accurately measure and the observation accuracy of a buoy anchored for a long time is difficult to ensure in the prior art.
A calibration verification system for a satellite altimeter, comprising: buoys, pressure gauges and tide gauges;
the buoy comprises a buoy body, a GNSS three-antenna, IMU equipment, an electric power system and a data center, provides high-precision attitude information of the buoy by combining with INS equipment, and obtains high-precision sea surface height data after attitude correction;
the pressure gauge comprises a piston system, weights and a base, and the pressure gauge is used for observing the relative change of the sea surface height through long-time sequence submarine pressure data obtained by long-term arrangement;
the tide gauge is located on the shore, and the observation accuracy of the buoy and the pressure gauge equipment is measured;
when the satellite provided with the altimeter passes right above the buoy, calibration inspection is carried out on the absolute height of the sea surface through the sea surface height observed by the satellite and the buoy;
when the satellite provided with the altimeter repeatedly passes right above the pressure gauge, calibration inspection is carried out on the sea surface relative height through the sea surface height observed by the satellite and the observation data of the long-time sequence of the pressure gauge.
Preferably, according to the selection of the orbit and the check point of the satellite altimeter, the size of the buoy body is designed according to the requirement, so that the buoy body needs to be larger when the sea condition is worse in order to reduce the shaking of the buoy body and improve the measurement precision;
a plurality of solar panels or large batteries are arranged on the buoy;
the data center stores and transmits data to the buoys.
Preferably, the GNSS three antenna is installed on the top of the target body, and is in a "triangular" shape, and comprises 1 main antenna and 2 auxiliary antennas;
when the GNSS three-antenna attitude measurement is carried out, the three points can determine only 1 plane, a baseline formed by the three antennas is processed, the carrier is measured to obtain 3 attitude angles, the main antenna is assumed to be at the position of the origin of the coordinate system, the auxiliary antenna 2 is positioned on the x axis, the auxiliary antenna 3 is positioned on the y axis, and the course angle f, the roll angle theta and the pitch angle can be solved by directly using an attitude equation
The calculation formula is as follows:
wherein, x ″13＝x13cos f+y13sin f，z″13＝x13sinθsin f-y13sin θ cos f+z13cos θ, where x12、y12、z12Coordinates of the base lines formed by the antenna 1 and the antenna 2 in the local horizontal coordinate system, x13、y13、z13Is the coordinate of the base line consisting of the antennas 1 and 3 in the local horizontal coordinate system, x ″)13、z″13The coordinates of a base line consisting of the antenna 1 and the antenna 3 in a hull coordinate system.
Preferably, the IMU device gives three-axis acceleration and angular velocity outputs, respectively obtains the position, the velocity and the attitude of a high-frequency buoy through two times of integration, and assists the GNSS three-antenna in positioning and attitude measurement;
after high-precision attitude information is obtained, the inclination of the buoy is corrected, and therefore the corrected vertical distance from the phase center of the GNSS antenna to the sea surface dynamics is obtained.
Preferably, the piston system comprises a piston rod and a piston cylinder, the piston rod is stably suspended in the piston cylinder, the piston system is arranged on a base, the base is located on the seabed base, and the base is in a bottom-sitting type and is arranged for a long time;
when the piston system works, the piston rod is in a nominal working position and is balanced with the gravity generated by the weight on the piston through the upward force F acting on the bottom of the piston, and the measured pressure can be calculated by the gravity p borne by the weight and the area A of the piston rod; f = p × a, the measured pressure is the pressure at the sea bottom.
Preferably, synchronously observing the sea surface heights of the buoy and the anchoring system in observation areas of the tide gauge and the radar level gauge, comparing observation data of the tide gauge, the radar level gauge and the buoy on the sea surface heights, completing verification of the accuracy of the buoy equipment, and completing verification of the accuracy of the anchoring system on the sea surface height observed by comparing observation conditions of the anchoring system, the tide gauge and the radar level gauge on the sea surface heights changing along with time.
Preferably, a buoy system of the three antennas is placed on a navigation track sub-satellite point of the height measurement satellite in advance, and initialization is carried out;
when the height measurement satellite passes through the point, synchronous observation is carried out to obtain related measurement data;
and carrying out data processing on the measured data in a data center of the buoy, transmitting the processed result to an observation center on the land through satellite communication, and storing the data locally.
Preferably, a pressure gauge is placed on a navigation track sub-satellite point of the height measurement satellite in advance for initialization;
when the height measurement satellite passes through the point, synchronous observation is carried out to obtain related measurement data, and the data are locally stored;
the pressure gauges check synchronously as the satellite repeatedly passes this point.
Compared with the prior art, the invention has the beneficial effects that: the invention adopts a GNSS three-antenna/INS combined mode to realize the accurate positioning and attitude measurement of the buoy, and overcomes the defect that a single antenna cannot finish attitude output; meanwhile, the pose information output by the IMU supplements the GNSS three-antenna pose information, so that the precision and the reliability of system measurement are ensured; in addition, the relative alignment inspection of the height gauge for observing the sea surface height can be effectively realized through the pressure gauge, and the defect of relative height in the sea surface height inspection by adopting the buoy is made up. The existence of the tide gauge can also verify the accuracy of the buoy and the pressure gauge in advance to ensure the validity of the test data.
Drawings
FIG. 1 is an altimeter calibration schematic of the present invention;
FIG. 2 is a view of the buoy assembly;
FIG. 3 is a schematic diagram of a calibration system;
the reference numerals include: the system comprises a GNSS three antenna, a 2-standard body, a 3-IMU device, a 4-solar panel, a 5-buoy, a 6-pressure gauge, a 7-tide gauge and an 8-shore.
Detailed Description
The following embodiments are further illustrated in the following description:
a calibration verification system for a satellite altimeter, as shown in fig. 3, comprising: buoy 5, pressure gauge 6, tide gauge 7;
as shown in fig. 2, the buoy 5 comprises a buoy body 2, a GNSS three-antenna 1, IMU equipment 3, an electric power system and a data center, the buoy 5 provides high-precision attitude information of the buoy 5 in combination with INS equipment, and high-precision sea surface height data is obtained after attitude correction;
the pressure gauge 6 comprises a piston system, weights and a base, and the long-time sequence submarine pressure data obtained by long-term arrangement of the pressure gauge 6 is used for observing the relative change of the sea surface height;
the tide gauge 7 is located on the shore 8 and measures the observation precision of the buoy 5 and the pressure gauge 6;
the altimeter calibration principle is as shown in figure 1, when a satellite provided with an altimeter passes right above a buoy 5, calibration inspection is carried out on the absolute height of the sea surface through the satellite and the height of the sea surface observed by the buoy 5;
when the satellite provided with the altimeter repeatedly passes right above the pressure gauge 6, calibration inspection is carried out on the sea surface relative height through the sea surface height observed by the satellite and the long-time sequence observation data of the pressure gauge 6.
According to the selection of the orbit and the check point of the satellite altimeter, the size of the buoy 5 body 2 is designed according to the requirement, so that the shaking of the body 2 is reduced, the measurement precision is improved, and the sea condition is worse, the size of the body 2 is larger;
a plurality of solar panels 4 or large batteries are arranged on the buoy 5;
the data center stores and transmits data to the buoy 5.
The GNSS three-antenna 1 is arranged at the top of the target body 2, is in a triangular shape and comprises 1 main antenna and 2 auxiliary antennas;
when the GNSS three-antenna 1 is used for attitude measurement, the three points can determine only 1 plane, a baseline formed by the three antennas is processed to measure a carrier to obtain 3 attitude angles, the main antenna is assumed to be at the position of an origin of a coordinate system, the auxiliary antenna 2 is positioned on an x axis, the auxiliary antenna 3 is positioned on a y axis, and a course angle f and a roll angle theta can be solved by directly using an attitude equationLongitudinal rocking angle
The calculation formula is as follows:
wherein, x ″)13＝x13cos f+y13sin f，z″13＝x13sinθsin f-y13sinθcos f+z13cos θ, where x12、y12、z12Coordinates, x, of a base line consisting of antenna 1 and antenna 2, respectively, in a local horizontal coordinate system13、y13、z13Is the coordinate of the base line consisting of the antennas 1 and 3 in the local horizontal coordinate system, x ″)13、z″13The coordinates of a base line consisting of the antenna 1 and the antenna 3 in a hull coordinate system.
The IMU equipment 3 outputs the acceleration and the angular velocity of the three axes, respectively obtains the position, the velocity and the attitude of the high-frequency buoy 5 through twice integration, and assists the GNSS three-antenna 1 in positioning and attitude measurement;
after the high-precision attitude information is obtained, the inclination of the buoy 5 is corrected, so that the corrected vertical distance from the GNSS antenna phase center to the sea surface dynamics is obtained.
The piston system comprises a piston rod and a piston cylinder, the piston rod is stably suspended in the piston cylinder, the piston system is arranged on a base, the base is located on a seabed base, and the base is of a bottom-sitting type and is arranged for a long time;
when the piston system works, the piston rod is in a nominal working position and is balanced with the gravity generated by the weight on the piston through the upward force F acting on the bottom of the piston, and the measured pressure can be calculated by the gravity p borne by the weight and the area A of the piston rod; f = p × a, the measured pressure is the pressure at the sea bottom.
Synchronously observing the sea level heights of the buoy 5 and the anchoring system in observation areas of the tide gauge 7 and the radar water level gauge, comparing observation data of the tide gauge 7, the radar water level gauge and the buoy 5 on the sea level heights, completing verification of the equipment precision of the buoy 5, and completing verification of the precision of the anchoring system on the sea level heights by comparing observation conditions of the anchoring system, the tide gauge 7 and the radar water level gauge on the sea level heights along with time change.
A buoy 5 system of the three antennas is placed on a navigation track sub-satellite point of the height measurement satellite in advance, and initialization is carried out;
when the height measurement satellite passes through the point, synchronous observation is carried out to obtain related measurement data;
and the measured data is processed in a data center of the buoy 5, the processed result is transmitted to an observation center on the land through satellite communication, and meanwhile, the data is stored locally.
The pressure gauge 6 is placed at the infrasatellite point of the navigation track of the altimetric satellite in advance, and initialization is carried out;
when the height measurement satellite passes through the point, synchronous observation is carried out to obtain related measurement data, and the data are locally stored;
the pressure gauge 6 checks synchronously as the satellite repeatedly passes this point.
The buoy 5 is required to be as large as possible under various sea conditions because the buoy body 2 is required to be stable under various sea conditions, so that the installation of various equipment is facilitated while the inspection accuracy is ensured. And meanwhile, the bottom of the buoy 5 is anchored, so that the buoy 5 can be stabilized at the sub-satellite point position of the satellite. For the GNSS antenna, the GNSS antenna needs to be arranged at the top end of the target body 2, so that signal transmission is ensured while shielding of other devices is prevented, and the attitude data obtained after observation is verified by using the IMU observation result. Considering that the laying of the buoy 5 needs to last for several days, an external battery is needed and the solar panel 4 is used for supplying power, so that continuous normal observation is achieved. And after observation, the data is stored in a data center, part of the data is thinned, and data transmission is carried out through a communication satellite.
The three antennas are arranged on the top of the buoy 5 according to a triangle, and the distance between the two antennas is not less than 1m in order to ensure the attitude measurement accuracy. According to the GNSS three-antenna 1, high-precision attitude information of the buoy 5 is provided, the inclination compensation of the buoy 5 can be carried out by adding high-frequency attitude information output by the IMU, and the sea surface elevation of the antenna can be calculated more accurately after the compensation.
When the piston system works, the piston rod is stably suspended in the piston cylinder and is in a working position. The upward force on the bottom of the piston is now balanced by the weight on the piston. The measured pressure can be calculated by the gravity borne by the weight and the area of the piston rod, and different pressures can be measured by changing the mass of the weight for a certain area of the piston rod. In order to avoid static friction, the piston rod and the piston cylinder can rotate relatively when in operation, so that the piston rod is in a nominal working position of the piston cylinder, and a uniform medium layer is arranged between the piston rod and the piston cylinder.
It is to be understood that the above description is 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 modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (8)
1. A calibrated verification system for a satellite altimeter, comprising: buoys, pressure gauges and tide gauges;
the buoy comprises a buoy body, a GNSS three-antenna, IMU equipment, an electric power system and a data center, provides high-precision attitude information of the buoy by combining the buoy with INS equipment, and obtains high-precision sea level height data after attitude correction;
the pressure gauge comprises a piston system, weights and a base, and the pressure gauge is used for observing the relative change of the sea surface height through long-time sequence submarine pressure data obtained by long-term arrangement;
the tide gauge is located on the shore, and the observation accuracy of the buoy and the pressure gauge equipment is measured;
when a satellite provided with an altimeter passes right above the buoy, calibration inspection is carried out on the absolute height of the sea surface through the satellite and the sea surface height observed by the buoy;
when the satellite provided with the altimeter repeatedly passes right above the pressure gauge, calibration inspection is carried out on the sea surface relative height through the sea surface height observed by the satellite and the observation data of the long-time sequence of the pressure gauge.
2. The calibration and verification system for the satellite altimeter as claimed in claim 1, wherein the size of the buoy body is designed according to the requirement according to the selection of the orbit and the verification point of the satellite altimeter, and the sea state is more different from the standard body for reducing the shaking of the standard body and improving the measurement accuracy;
a plurality of solar panels or large batteries are arranged on the buoy;
the data center stores and transmits data of the buoys.
3. The calibrated checking system for a satellite altimeter according to claim 2, wherein the GNSS three antennas are mounted on the top of the target body in a "triangular" shape, comprising 1 main antenna and 2 auxiliary antennas;
when the GNSS three-antenna attitude measurement is carried out, the three points can determine only 1 plane, the baseline formed among the three antennas is processed, the carrier is measured to obtain 3 attitude angles, the main antenna is assumed to be at the position of the origin of the coordinate system, the auxiliary antenna 2 is positioned on the x axis, the auxiliary antenna 3 is positioned on the y axis, and the course angle f, the roll angle theta and the pitch angle can be solved by directly using an attitude equation
The calculation formula is as follows:
wherein, x ″13＝x13coSf+y13sinf，z″13＝x13sinθsinf-y13sinθcoSf+z13cos θ, where x12、y12、z12Coordinates of the base lines formed by the antenna 1 and the antenna 2 in the local horizontal coordinate system, x13、y13、z13Is the coordinate of the base line consisting of the antennas 1 and 3 in the local horizontal coordinate system, x ″)13、z″13The base line formed by the antenna 1 and the antenna 3 is arranged on the ship bodyCoordinates in a coordinate system.
4. The calibration verification system for the satellite altimeter according to claim 3, wherein the IMU device gives three-axis acceleration and angular velocity outputs, obtains the position, velocity and attitude of the high-frequency buoy through twice integration, and assists the GNSS three-antenna in positioning and attitude measurement;
after high-precision attitude information is obtained, the inclination of the buoy is corrected, and thus the corrected vertical distance from the phase center of the GNSS antenna to the sea surface dynamics is obtained.
5. The calibrated inspection system for a satellite altimeter according to claim 4, wherein the piston system comprises a piston rod and a piston cylinder, the piston rod is stably suspended in the piston cylinder, the piston system is disposed on a base, the base is seated on the seabed base, and the base is seated and disposed for a long time;
when the piston system works, the piston rod is in a nominal working position and is balanced with the gravity generated by the weight on the piston through the upward force F acting on the bottom of the piston, and the measured pressure can be calculated by the gravity p borne by the weight and the area A of the piston rod; f = p × a, the measured pressure is the pressure at the sea bottom.
6. The calibration verification system for satellite altimeter as claimed in claim 5, wherein the synchronous observation of sea level height of the buoy and the anchoring system is synchronously performed in the observation area of the tide gauge and the radar level gauge, the verification of the accuracy of the buoy device is completed by comparing the observation data of sea level height of the tide gauge, the radar level gauge and the buoy, and the verification of the accuracy of sea level height observation of the anchoring system is completed by comparing the observation condition of sea level height of the anchoring system, the tide gauge and the radar level gauge with time.
7. The calibrated checking system for a satellite altimeter according to claim 1, wherein the three-antenna buoy system is initialized by being placed in advance at the infrasatellite point of the navigation track of the altimeter satellite;
when the height measurement satellite passes through the point, synchronous observation is carried out to obtain related measurement data;
and the measured data is subjected to data processing in a data center of the buoy, the processed result is transmitted to an observation center on the land through satellite communication, and meanwhile, the data is locally stored.
8. The calibrated inspection system for satellite altimeters according to claim 1, wherein the pressure gauge is initialized by being placed in advance at the infrasatellite point of the navigation trajectory of the altimeter satellite;
when the height measurement satellite passes through the point, synchronous observation is carried out to obtain related measurement data, and the data are locally stored;
the pressure gauges check synchronously as the satellite repeatedly passes this point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210784960.6A CN115265586A (en) | 2022-06-30 | 2022-06-30 | Calibration inspection system for satellite altimeter |
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| CN202210784960.6A CN115265586A (en) | 2022-06-30 | 2022-06-30 | Calibration inspection system for satellite altimeter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116088011A (en) * | 2023-02-01 | 2023-05-09 | 中国科学院国家空间科学中心 | Quick calibration method and device for GNSS-R sea surface measurement height and electronic equipment |
| CN116753991A (en) * | 2023-08-17 | 2023-09-15 | 国家海洋技术中心 | Satellite altimeter calibration method and system based on fixed field |
| CN116858290A (en) * | 2023-09-04 | 2023-10-10 | 中国海洋大学 | Deep open sea surface height observation and calibration method and system based on large unmanned plane |
-
2022
- 2022-06-30 CN CN202210784960.6A patent/CN115265586A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116088011A (en) * | 2023-02-01 | 2023-05-09 | 中国科学院国家空间科学中心 | Quick calibration method and device for GNSS-R sea surface measurement height and electronic equipment |
| CN116753991A (en) * | 2023-08-17 | 2023-09-15 | 国家海洋技术中心 | Satellite altimeter calibration method and system based on fixed field |
| CN116753991B (en) * | 2023-08-17 | 2023-11-07 | 国家海洋技术中心 | Satellite altimeter calibration method and system based on fixed field |
| CN116858290A (en) * | 2023-09-04 | 2023-10-10 | 中国海洋大学 | Deep open sea surface height observation and calibration method and system based on large unmanned plane |
| 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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