CN115932884A - Wave direction spectrum measuring method and system based on three-dimensional laser radar - Google Patents
Wave direction spectrum measuring method and system based on three-dimensional laser radar Download PDFInfo
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Abstract
The invention discloses a wave direction spectrum measuring method and a wave direction spectrum measuring system based on a three-dimensional laser radar, which comprises the steps of scanning a set measuring point by using a set scanning frequency; establishing a wave surface three-dimensional coordinate system, and recording frame-by-frame scanning information of each measuring point; segmenting and filtering the frame-by-frame scanning information of each measuring point to obtain optimized frame-by-frame scanning information of the measuring point; randomly selecting optimized frame-by-frame scanning information corresponding to the three measuring points, establishing a three-point array, and calculating wave data of a measured water area; calculating relevant parameters of the selected water area direction spectrum by combining the wave data; and estimating the direction spectrum according to the related parameters, and analyzing the wave dominant wave direction. The measuring method can acquire the wave surface point cloud data with high precision and high resolution, and then calculate the wave data by using a three-point array method, so that the measuring result is not influenced by the action of waves, and the accuracy of the calculating result is improved.
Description
Technical Field
The invention belongs to the technical field of wave observation, and particularly relates to a wave direction spectrum measuring method and system based on a three-dimensional laser radar.
Background
In the past, water resource development and utilization, water disaster prediction and forecast and water basic national defense rely on mastering and forecasting of basic data and change rules of wind, waves, currents, tides and the like. The wave has randomness and can be regarded as a random process, the concept that the wave spectrum needs to be led out is described by the random process, and all statistical properties of the wave can be obtained by the wave direction spectrum, so that the research on the wave direction spectrum has important research significance.
In order to timely and accurately master the law of the motion change of waves, advanced wave monitoring equipment and technology are urgently needed, omnibearing and multi-hand-section three-dimensional monitoring is realized on water area wave data, and the main way for obtaining a wave direction spectrum for years is to adopt an array instrument and a buoy to carry out field observation.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a wave direction spectrum measuring method and system based on a three-dimensional laser radar, and aims to solve the problems that the wave direction spectrum monitoring is not comprehensive and convenient in the field observation technology in the prior art.
The invention is realized by adopting the following technical scheme:
in a first aspect, an embodiment of the present invention provides a wave direction spectrum measurement method for a three-dimensional laser radar, which is applied to sea wave detection with a wide water area, and the method includes: scanning and setting a measuring point by using a set scanning frequency in a selected water area; establishing a wave surface three-dimensional coordinate system, and recording frame-by-frame scanning information of each measuring point, wherein the frame-by-frame scanning information comprises a three-dimensional coordinate point cloud of the measuring point at a time point of a corresponding frame; segmenting and filtering the frame-by-frame scanning information of each measuring point to obtain optimized frame-by-frame scanning information of the measuring point; randomly selecting optimized frame-by-frame scanning information corresponding to the three measuring points, establishing a three-point array, and calculating wave data of a measured water area; calculating relevant parameters of the selected water area direction spectrum by combining the wave data; and estimating the direction spectrum according to the related parameters.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the step of segmenting and filtering the frame-by-frame scanning information of each measurement point to obtain the frame-by-frame scanning information of the optimized measurement point includes: dividing three-dimensional coordinate point cloud of the selected water area; removing outliers in the three-dimensional coordinate point cloud; and interpolating and smoothing the wave surface data corresponding to each frame.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the step of randomly selecting optimized frame-by-frame scanning information corresponding to three measuring points, establishing a three-point array, and calculating wave data of a measured water area includes: the wave data comprises wave surface lifting, wave surface component gradient and wave surface fixed point component flow speed.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the step of randomly selecting optimized frame-by-frame scanning information corresponding to three measuring points, establishing a three-point array, and calculating wave data of a measured water area includes: calculating the lifting data of the wave surface, calculating the gradient of the component of the wave surface, and calculating the flow velocity of the fixed-point component of the wave surface.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the step of calculating wave lifting data includes: collecting frame-by-frame scanning information, and calculating a wave surface lifting average value; and (4) according to the lifting average value of the wave surface, combining the scanning frequency and the three-dimensional coordinates corresponding to all the frames of the measuring points to obtain a wave surface water level time sequence.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the step of calculating the slope of the wave surface component includes: collecting frame-by-frame scanning information, and calculating wave peak values and wave trough values of the measuring points corresponding to all frames, wherein the wave peak values are the maximum values of the z axes of the three-dimensional coordinates of the measuring points corresponding to all frames, and the wave trough values are the minimum values of the z axes of the three-dimensional coordinates of the measuring points corresponding to all frames; collecting wavelength, and calculating the ratio of the absolute value of the difference value of the wave peak value and the wave trough value in the z axis to the wavelength to obtain the wave surface gradient; and calculating the wave surface component gradient of the wave surface gradient on the x axis and the y axis.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the step of calculating the flow velocity of the wave surface fixed-point component includes: and collecting frame-by-frame scanning information, calculating the displacement change of the frame-by-frame scanning information of the measuring point along with time, and calculating the wave surface component flow velocity.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the step of calculating relevant parameters of the selected water area direction spectrum in combination with the wave data includes:
a calculation formula of the direction spectrum is established,
H(w,θ)＝h(ω)cos a θsin β θ
wherein: phi mn (ω) represents the cross spectrum between the mth and nth wave characteristics,
a wavenumber frequency spectrum which represents a wave>
Represents a transfer function between the mth wave characteristic and the wave surface>
A conjugate function representing a transfer function between the nth wave characteristic and the wave surface>
Represents the m-th measurementHead position vector, based on the measured position of the head>
Represents the nth measuring head position vector->
Representing a wave number vector of the wave, ω representing a circular frequency of the wave, θ representing a wave direction of the wave, h (ω) representing an observed quantity, and α and β each representing a coefficient of the observed quantity;
calculating relevant parameters, including cross-spectral values and transfer function values.
With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where estimating a direction spectrum according to the relevant parameter, and analyzing a wave dominant wave direction includes:
establishing a direction distribution function according to a maximum entropy method,
wherein: g (theta, f) represents a directional distribution function;
the direction distribution function is substituted into a calculation formula of the direction spectrum, and a coefficient a is calculated n And b n Calculating a direction spectrum;
and analyzing the wave dominant wave direction according to the direction spectrum.
In a second aspect, an embodiment of the present invention further provides a wave direction spectrum measurement system based on a three-dimensional laser radar, including an acquisition module, configured to acquire three-dimensional coordinates of a wave surface of a monitored water area; the optimization module is used for segmenting and filtering the wave surface three-dimensional coordinate; the analysis module is used for analyzing and calculating wave data of the monitored water area; and the calculation module is used for calculating the direction spectrum of the water area by combining the wave data.
The embodiment of the invention has the following beneficial effects:
compared with the prior art, the wave direction spectrum measuring method and system based on the three-dimensional laser radar directly acquire the wave surface point cloud data with high precision and high resolution by using the three-dimensional laser radar, and then calculate the wave data by using the three-point array method, so that the measuring result is not influenced by the action of the waves, the accuracy of the calculating result is improved, and meanwhile, the calculating complexity is reduced.
Meanwhile, the measuring method can realize non-contact measurement, avoid complicated manual operation and is convenient and fast to move. The wave surface data can be acquired in real time, processed and calculated, and the measurement is carried out in an all-round covering mode.
Drawings
Fig. 1 is a flowchart of a wave direction spectrum measurement method based on a three-dimensional lidar according to a first embodiment of the invention.
Fig. 2 is a schematic diagram illustrating arrangement monitoring of a lidar according to a first embodiment of the present invention.
Fig. 3 is a schematic connection diagram of a wave direction spectrum measurement system module based on a three-dimensional laser radar according to a second embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
In order to clarify the technical solutions and operating principles of the present invention, the present invention is further described in detail with reference to specific embodiments in the following drawings, and it should be noted that, without conflict, any combination between the embodiments described below or between the technical features may form a new embodiment.
First embodiment
The invention provides a wave direction spectrum measuring method based on a three-dimensional laser radar, which comprises the following steps of:
step S1: and scanning and setting measuring points in the selected water area by using the set scanning frequency.
Specifically, the method comprises the following steps: the method comprises the steps of carrying a laser radar by using an unmanned aerial vehicle or a detection ship, enabling the laser radar to be internally provided with a GPS and an inertial navigation system, stopping in a selected water area, setting scanning frequency for the laser radar, scanning each measuring point of the selected water area by using the set scanning frequency, and adjusting the scanning frequency according to the area size of the selected water area.
Step S2: and establishing a wave surface three-dimensional coordinate system, and recording frame-by-frame scanning information of each measuring point, wherein the frame-by-frame scanning information comprises a three-dimensional coordinate point cloud of the measuring point at a time point of a corresponding frame.
Specifically, the method comprises the following steps: firstly, setting a three-dimensional coordinate system on the wave surface of a selected water area, wherein the three-dimensional coordinate system takes a laser radar as an origin, and the three-dimensional coordinate system of the wave surface is a three-dimensional space coordinate system formed by an x-axis, a y-axis and a z-axis, and then scanning measuring points of the wave surface of the selected water area, wherein each frame represents different moments divided by a short interval because the short interval is 0.01s during each laser emission. The laser radar emits light beams to the wave surface at fixed time intervals, so that each frame corresponds to the wave surface information at the time point.
And step S3: and segmenting and filtering the frame-by-frame scanning information of each measuring point to obtain the optimized frame-by-frame scanning information of the measuring point.
Specifically, the method comprises the following steps: because the scanned frame-by-frame scanning information has various interferences and the data volume is huge, the frame-by-frame scanning information of each measuring point needs to be optimized, and the optimization comprises two parts, one part is to divide and reduce the data volume, and the other part is to filter and remove noise.
S31: dividing three-dimensional coordinate point cloud of the selected water area;
s32: removing outliers in the three-dimensional coordinate point cloud;
s33: and interpolating and smoothing the wave surface data corresponding to each frame.
And step S4: randomly selecting optimized frame-by-frame scanning information corresponding to the three measuring points, establishing a three-point array, and calculating wave data of a measured water area; the wave data comprises wave surface lifting, wave surface component gradient and wave surface fixed point component flow speed.
Specifically, the method comprises the following steps: the three points which are arranged on the same plane and are not collinear are randomly selected to form a three-point array, so that the point selection is convenient, the calculation process can be simplified, and the calculation rate is improved.
S41: and calculating the wave surface lifting data.
S411: collecting frame-by-frame scanning information, and calculating a wave surface lifting average value;
s412: according to the lifting average value of the wave surface, combining the scanning frequency and the three-dimensional coordinates corresponding to all the frames of the measuring points to obtain a wave surface water level time sequence;
s42: the slope of the wave front component is calculated.
S421: collecting frame-by-frame scanning information, and calculating wave peak values and wave trough values of the measuring points corresponding to all frames, wherein the wave peak values are the maximum values of the z axes of the three-dimensional coordinates of the measuring points corresponding to all frames, and the wave trough values are the minimum values of the z axes of the three-dimensional coordinates of the measuring points corresponding to all frames;
s422: acquiring wavelength, and calculating the ratio of the absolute value of the difference value of the wave peak value and the wave trough value in the z axis to the wavelength to obtain the wave surface gradient;
s423: and calculating the wave surface component gradient of the wave surface gradient on the x axis and the y axis.
S43: and calculating the flow velocity of the wave surface fixed-point component.
S431: collecting frame-by-frame scanning information;
s432: and calculating the displacement change of the frame-by-frame scanning information of the measuring points along with the time, and calculating the flow velocity of the wave surface component.
Step S5: and calculating relevant parameters of the selected water area direction spectrum by combining the wave data.
S51: a calculation formula of the direction spectrum is established,
H(w,θ)＝h(ω)cos α θsin β θ
wherein: phi mn (ω) represents the cross spectrum between the mth and nth wave characteristics,
the wave number frequency spectrum, i.e. the direction spectrum, representing a wave is/are>
Representing the transfer function between the m-th wave characteristic and the wave surfaceNumber and/or unit>
A conjugate function representing a transfer function between the nth wave characteristic and the wave surface>
Represents the mth measuring head position vector->
Represents the nth measuring head position vector->
The wave number vector of the oscillogram, ω represents the circular frequency of the wave, θ represents the wave direction of the wave, h (ω) represents the observed quantity, and α and β each represent a coefficient of the observed quantity.
S52: calculating relevant parameters, including cross-spectral values and transfer function values.
Step S6: and estimating the direction spectrum according to the related parameters, and analyzing the wave dominant wave direction.
Specifically, the method comprises the following steps: since the observed quantity is always limited, if the inverse fourier transform is directly performed on the directional spectrum calculation formula, the inversion result is not unique, and an estimation method is required to obtain a value closest to an actual result. Through a large number of research and analysis, the estimation method which is more effective for actual measurement data is the maximum entropy method, so the estimation method selected for the direction spectrum calculation is the maximum entropy method.
S61: establishing a direction distribution function according to a maximum entropy method,
wherein: g (theta, f) represents a directional distribution function;
s62: substituting the direction distribution function into a direction spectrum calculation formula to calculate a coefficient a n And b n Calculating a direction spectrum;
s63: and analyzing the wave dominant wave direction according to the direction spectrum.
The directional distribution function is directly substituted into an S51 formula, namely, a coefficient a can be obtained by solving a linear integral equation system n And b n Thereby obtaining a direction spectrum.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
Second embodiment:
as shown in fig. 3, a second embodiment of the present invention provides a wave direction spectrum measuring system based on a three-dimensional lidar, including,
the acquisition module 201 is used for acquiring the wave surface three-dimensional coordinates of the monitored water area;
the optimization module 202 is used for segmenting and filtering the wave surface three-dimensional coordinates;
the analysis module 203 is used for analyzing and calculating wave data of the monitored water area;
and the calculating module 204 is used for calculating the direction spectrum of the water area by combining the wave data.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, a unit which is less closely related to solving the technical problem proposed by the present invention is not introduced in the present embodiment, but it does not indicate that no other unit exists in the present embodiment.
The third embodiment:
as shown in fig. 4, a third embodiment of the present invention provides an electronic apparatus including: at least one processor 301; and a memory 302 communicatively coupled to the at least one processor; wherein the memory 302 stores instructions executable by the at least one processor 301, the instructions being executable by the at least one processor 301 to enable the at least one processor 301 to perform a three-dimensional lidar based wave direction spectrum measurement method as described above.
Where the memory 301 and the processor 301 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 301 and the memory 301 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, etc., which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 301 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 301.
The processor 301 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 301 may be used to store data used by processor 301 in performing operations.
The foregoing are embodiments of the present invention and are not intended to limit the scope of the invention to the particular forms set forth in the specification, which are set forth in the claims below, but rather are to be construed as the full breadth and scope of the claims, as defined by the appended claims, as defined in the appended claims, in order to provide a thorough understanding of the present invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several variations and modifications can be made, which should also be considered as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the utility of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A wave direction spectrum measuring method based on a three-dimensional laser radar is characterized by comprising the following steps:
scanning a set measuring point by using a set scanning frequency in a selected water area;
establishing a wave surface three-dimensional coordinate system, and recording frame-by-frame scanning information of each measuring point, wherein the frame-by-frame scanning information comprises a three-dimensional coordinate point cloud of the measuring point at a time point of a corresponding frame;
segmenting and filtering the frame-by-frame scanning information of each measuring point to obtain optimized frame-by-frame scanning information of the measuring point;
randomly selecting optimized frame-by-frame scanning information corresponding to the three measuring points, establishing a three-point array, and calculating wave data of a measured water area;
calculating relevant parameters of the selected water area direction spectrum by combining the wave data;
and estimating the direction spectrum according to the related parameters, and analyzing the wave dominant wave direction.
2. The method for measuring the wave direction spectrum based on the three-dimensional laser radar as claimed in claim 1, wherein the frame-by-frame scanning information of each measuring point is segmented and filtered to obtain the frame-by-frame scanning information of the optimized measuring point, and specifically comprises the following steps:
dividing three-dimensional coordinate point cloud of the selected water area;
removing outliers in the three-dimensional coordinate point cloud;
and interpolating and smoothing the wave surface data corresponding to each frame.
3. The three-dimensional lidar based wave direction spectrum measurement method of claim 2, wherein the wave data comprises wave surface elevation, wave surface component gradient, and wave surface fixed point component flow velocity.
4. The three-dimensional laser radar-based wave direction spectrum measuring method according to claim 3, wherein optimized frame-by-frame scanning information corresponding to three measuring points is randomly selected, a three-point array is established, and wave data of a measured water area is calculated, specifically:
calculating wave surface lifting data;
calculating the slope of the wave surface component;
and calculating the flow velocity of the wave surface fixed-point component.
5. The wave direction spectrum measurement method based on the three-dimensional laser radar as claimed in claim 4, wherein the wave surface lifting data is calculated by:
collecting frame-by-frame scanning information, and calculating a wave surface lifting average value;
and (4) according to the lifting average value of the wave surface, combining the scanning frequency and the three-dimensional coordinates corresponding to all the frames of the measuring points to obtain a wave surface water level time sequence.
6. The wave direction spectrum measurement method based on the three-dimensional laser radar as claimed in claim 5, wherein: calculating the slope of the wave surface component, specifically:
collecting frame-by-frame scanning information, and calculating wave peak values and wave trough values of the measuring points corresponding to all frames, wherein the wave peak values are the maximum values of the z axes of the three-dimensional coordinates of the measuring points corresponding to all frames, and the wave trough values are the minimum values of the z axes of the three-dimensional coordinates of the measuring points corresponding to all frames;
collecting wavelength, and calculating the ratio of the absolute value of the difference value of the wave peak value and the wave trough value in the z axis to the wavelength to obtain the wave surface gradient;
and calculating the wave surface component gradient of the wave surface gradient on the x axis and the y axis.
7. The wave direction spectrum measurement method based on the three-dimensional laser radar according to claim 6, characterized in that the wave surface fixed point component flow velocity is calculated, specifically as follows:
collecting frame-by-frame scanning information;
and calculating the displacement change of the frame-by-frame scanning information of the measuring points along with the time, and calculating the flow velocity of the wave surface component.
8. The method according to claim 7, wherein the parameters related to the selected water area direction spectrum are calculated by combining wave data, specifically:
a calculation formula of the direction spectrum is established,
H(w,θ)＝h(ω)cos α θsin β θ
wherein: phi mn (ω) represents the cross spectrum between the mth and nth wave characteristics,
a wavenumber frequency spectrum which represents a wave>
Represents a transfer function between the mth wave characteristic and the wave surface>
A conjugate function representing a transfer function between the nth wave characteristic and the wave surface>
Represents the mth measuring head position vector->
Represents the nth measuring head position vector->
Representing wave number vector of the wave, ω representing circular frequency of the wave, θ representing wave direction of the wave, h (ω) representing observed quantity, α and β each representing coefficient of the observed quantity;
calculating relevant parameters, including cross-spectral values and transfer function values.
9. The method according to claim 8, wherein the direction spectrum is estimated according to the relevant parameters, and the wave dominant wave direction is analyzed, specifically:
establishing a direction distribution function according to a maximum entropy method,
wherein: g (theta, f) is a directional distribution function;
substituting the direction distribution function into a direction spectrum calculation formula to calculate a coefficient a n And b n Calculating a direction spectrum;
and analyzing the main wave direction of the waves according to the direction spectrum.
10. A wave direction spectrum measurement system based on a three-dimensional laser radar is characterized in that: comprises the steps of (a) preparing a substrate,
the acquisition module acquires three-dimensional coordinates of a wave surface of a monitored water area;
the optimization module is used for segmenting and filtering the wave surface three-dimensional coordinates;
the analysis module is used for analyzing and calculating wave data of the monitored water area;
and the calculation module is used for calculating the direction spectrum of the water area by combining the wave data.
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