CN115932884B - Wave direction spectrum measurement method and system based on three-dimensional laser radar - Google Patents
Wave direction spectrum measurement 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 system based on a three-dimensional laser radar, comprising 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; dividing 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 direction spectrum of the selected water area by combining the wave data; and estimating a direction spectrum according to the related parameters, and analyzing the wave main wave direction. According to the measuring method, the wave surface point cloud data with high precision and high resolution can be obtained, then the wave data is calculated by using the three-point array method, the measuring result is not influenced by the wave, 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, the development and utilization of water resources, the prediction and forecast of water disaster and the basic national defense of water are all dependent on the mastering and prediction of basic data such as wind, wave, flow, tide and the like and change rules. Since waves have randomness, the method can be regarded as a random process, the concept that waves need to draw out wave spectrums is described by the random process, and all statistical properties of the waves can be obtained by wave direction spectrums, so that the research of the wave direction spectrums 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 to realize omnibearing and multi-means three-dimensional monitoring on wave data in a water area, and the main way for people to obtain wave direction spectrums for many years is to observe on site by adopting an array instrument and a buoy, but the method cannot realize the contactless and whole-coverage monitoring of wave information, and has a certain danger in placing and detaching the instrument.
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 of incomplete and inconvenient wave direction spectrum monitoring in the field observation technology in the prior art.
The invention adopts the following technical scheme:
In a first aspect, an embodiment of the present invention provides a method for measuring a wave direction spectrum of a three-dimensional lidar, which is applied to detecting sea waves with a wider area of a water area, and the method includes: scanning and setting measuring points in the selected water area by using the set scanning frequency; 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 three-dimensional coordinate point clouds of the measuring point at a time point of a corresponding frame; dividing 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 direction spectrum of the selected water area 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 dividing and filtering frame-by-frame scan information of each measurement point to obtain optimized frame-by-frame scan information of the measurement point includes: dividing a three-dimensional coordinate point cloud of a 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, the embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the steps 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 include: the wave data includes wave surface elevation, wave surface component slope, wave surface setpoint component flow rate.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the step of randomly selecting optimized frame-by-frame scanning information corresponding to three measurement points, establishing a three-point array, and calculating wave data of a measurement water area includes: wave surface elevation data are calculated, wave surface component gradients are calculated, and wave surface fixed point component flow rates are calculated.
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 wavefront elevation data includes: collecting frame-by-frame scanning information, and calculating a wave surface lifting mean value; and according to the wave surface lifting mean value, combining the scanning frequency and the three-dimensional coordinates corresponding to all frames of the measuring point 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 a gradient of a wave surface component includes: collecting frame-by-frame scanning information, and calculating wave peak values and wave trough values of all frame corresponding measuring points, wherein the wave peak values are maximum values of z-axes of three-dimensional coordinates of all frame corresponding measuring points, and the wave trough values are minimum values of the z-axes of the three-dimensional coordinates of all frame corresponding measuring points; 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; the wavefront component gradients of the wavefront slope in the x-axis and the y-axis are calculated.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the step of calculating a wave surface fixed point component flow velocity includes: and collecting frame-by-frame scanning information, calculating 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, the embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the step of calculating the relevant parameter of the selected water area direction spectrum with reference to the wave data includes:
A direction spectrum calculation formula is established,
H(w,θ)＝h(ω)cosaθsinβθ
Wherein: phi mn (omega) represents the cross spectrum between the mth and nth wave characteristics,Representing wave number frequency spectrum of waves,/>Representing the transfer function between the mth wave characteristic and the wave surface,/>A conjugate function representing the transfer function between the nth wave characteristic and the wave surface,/>Represents the m-th gauge head position vector,/>Represents the nth gauge head position vector,/>A wave number vector representing a wave, ω representing a circular frequency of the wave, θ representing a wave direction, h (ω) representing an observed quantity, and α and β each representing a coefficient of the observed quantity;
a correlation parameter is calculated, the correlation parameter comprising a cross-spectrum value and a transfer function value.
With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein estimating a direction spectrum according to a related parameter, analyzing a wave main direction includes:
The direction distribution function is established according to the maximum entropy method,
Wherein: g (θ, f) represents a direction distribution function;
The direction distribution function is brought into a direction spectrum calculation formula, coefficients a n and b n are calculated, and a direction spectrum is calculated;
And analyzing the wave main wave direction according to the direction spectrum.
In a second aspect, the embodiment of the invention also provides a wave direction spectrum measurement system based on the three-dimensional laser radar, which comprises an acquisition module for acquiring and monitoring the three-dimensional coordinates of the wave surface of the water area; the optimizing module is used for dividing and filtering the wave surface three-dimensional coordinates; the analysis module is used for analyzing, calculating and monitoring wave data of the water area; and the calculating 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 provided by the invention have the advantages that the three-dimensional laser radar is utilized to directly obtain the wave surface point cloud data with high precision and high resolution, then the three-point array method is utilized to calculate the wave data, the measuring result is not influenced by the action of 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, avoids complicated manual operation and is convenient to move. Wave surface data can be acquired in real time, and the wave surface data can be processed and calculated to realize omnibearing coverage measurement.
Drawings
Fig. 1 is a flowchart of a wave direction spectrum measurement method based on a three-dimensional laser radar according to a first embodiment of the present invention.
Fig. 2 is a schematic view of arrangement monitoring of a lidar according to the 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 scheme and working principle of the present invention, the present invention will be described in further detail below with reference to the specific embodiments with reference to the accompanying drawings, and it should be noted that, on the premise of no conflict, new embodiments may be formed by any combination of the embodiments or technical features described below.
First embodiment
The invention provides a wave direction spectrum measuring method based on a three-dimensional laser radar as shown in fig. 1-2, which comprises the following steps:
step S1: and scanning the set measuring points in the selected water area by using the set scanning frequency.
Specifically: the unmanned plane or the detection ship is used for carrying the laser radar, the laser radar is internally provided with the GPS and the inertial navigation system, the laser radar stops at a selected water area, then the scanning frequency is set for the laser radar, and finally each measuring point of the selected water area is scanned by using the set scanning frequency, and the scanning frequency can be adjusted according to the area of the selected water area.
Step S2: 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 three-dimensional coordinate point clouds of the measuring point at a time point of a corresponding frame.
Specifically: firstly, setting a three-dimensional coordinate system on a wave surface of a selected water area, wherein the three-dimensional coordinate system takes a laser radar as an origin, the three-dimensional coordinate system of the wave surface is a three-dimensional space coordinate system formed by an x-axis and a y-axis, and then scanning measuring points of the wave surface of the selected water area, wherein each frame represents different moments divided by the short intervals due to the fact that the short intervals are 0.01s each time of laser emission. The lidar emits a beam onto the wavefront at fixed intervals, so each frame corresponds to the point-in-time wavefront information.
Step S3: and dividing 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: because various interferences exist in scanned frame-by-frame scanning information, and meanwhile, 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, namely, the segmentation is used for reducing the data volume, and the filtering is used for removing noise.
S31: dividing a three-dimensional coordinate point cloud of a 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.
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 includes wave surface elevation, wave surface component slope, wave surface setpoint component flow rate.
Specifically: the three non-collinear points arranged on the same plane are randomly selected to form the three-point array, so that the points are convenient to select, and on the other hand, the calculation process can be simplified, and the calculation rate is improved.
S41: and calculating wave surface lifting data.
S411: collecting frame-by-frame scanning information, and calculating a wave surface lifting mean value;
s412: according to the wave surface lifting mean value, combining the scanning frequency with three-dimensional coordinates corresponding to all frames of the measuring point to obtain a wave surface water level time sequence;
S42: and calculating the gradient of the wave surface component.
S421: collecting frame-by-frame scanning information, and calculating wave peak values and wave trough values of all frame corresponding measuring points, wherein the wave peak values are maximum values of z-axes of three-dimensional coordinates of all frame corresponding measuring points, and the wave trough values are minimum values of the z-axes of the three-dimensional coordinates of all frame corresponding measuring points;
S422: 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;
s423: the wavefront component gradients of the wavefront slope in the x-axis and the y-axis are calculated.
S43: the wavefront setpoint component flow rate is calculated.
S431: collecting frame-by-frame scanning information;
S432: and calculating the displacement change of the scanning information of the measuring points frame by frame along with time, and calculating the wave surface component flow velocity.
Step S5: and calculating relevant parameters of the direction spectrum of the selected water area by combining the wave data.
S51: a direction spectrum calculation formula is established,
H(w,θ)＝h(ω)cosαθsinβθ
Wherein: phi mn (omega) represents the cross spectrum between the mth and nth wave characteristics,Representing wave number frequency spectrum of waves, i.e. direction spectrum,/>Representing the transfer function between the mth wave characteristic and the wave surface,/>A conjugate function representing the transfer function between the nth wave characteristic and the wave surface,/>Represents the m-th gauge head position vector,/>Represents the nth gauge head position vector,/>The wavenumber 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 both represent coefficients of the observed quantity.
S52: a correlation parameter is calculated, the correlation parameter comprising a cross-spectrum value and a transfer function value.
Step S6: and estimating a direction spectrum according to the related parameters, and analyzing the wave main wave direction.
Specifically: since the observed quantity is always limited, if the inverse fourier transform is directly performed on the direction spectrum calculation formula, the inversion result is not unique, and an estimation method is needed to obtain the value closest to the actual result. Through a large number of research and analysis, the more effective estimation method for the actual measurement data is the maximum entropy method, so the estimation method selected for the direction spectrum calculation is the maximum entropy method.
S61: the direction distribution function is established according to the maximum entropy method,
Wherein: g (θ, f) represents a direction distribution function;
S62: the direction distribution function is put into a direction spectrum calculation formula, coefficients a n and b n are calculated, and a direction spectrum is calculated;
S63: and analyzing the wave main wave direction according to the direction spectrum.
And directly bringing the direction distribution function into an S51 formula, namely obtaining coefficients a n and b n by solving a linear integral equation set, so as to obtain a direction spectrum.
The above steps of the methods are divided, for clarity of description, and may be combined into one step or split into multiple steps when implemented, so long as they include the same logic relationship, and they are all within the protection scope of this patent; it is within the scope of this patent to add insignificant modifications to the algorithm or flow or introduce insignificant designs, but not to alter the core design of its algorithm and flow.
Second embodiment:
as shown in fig. 3, a second embodiment of the present invention provides a three-dimensional lidar-based wave direction spectrum measurement system, comprising,
The acquisition module 201 acquires the wave surface three-dimensional coordinates of the monitored water area;
the optimization module 202 is used for dividing and filtering the wave surface three-dimensional coordinates;
the analysis module 203 is used for analyzing, calculating and monitoring wave data of the water area;
A calculating module 204 for calculating a direction spectrum of the water area in combination with the wave data.
It is to be noted that this embodiment is a system example corresponding to the first embodiment, and can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, a detailed description is omitted here. 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 in this embodiment is a logic module, and in practical application, one logic unit may be one physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, units that are not so close to solving the technical problem presented by the present invention are not introduced in the present embodiment, but this does not indicate that other units are not present in the present embodiment.
Third embodiment:
As shown in fig. 4, a third embodiment of the present invention provides an electronic device, 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 302 and the processor 301 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors 301 and the memory 301 together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be 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 via 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 the memory 301 may be used to store data used by the processor 301 in performing operations.
The foregoing is merely an embodiment of the present application, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application date or before the priority date, can know all the prior art in the field, and has the capability of applying the conventional experimental means before the date, and a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (3)
1. The wave direction spectrum measuring method based on the three-dimensional laser radar is characterized by comprising the following steps of:
scanning and setting measuring points in the selected water area by using the set scanning frequency;
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 three-dimensional coordinate point clouds of the measuring point at a time point of a corresponding frame;
Dividing 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; the wave data comprises wave surface lifting, wave surface component gradient and wave surface fixed point component flow velocity, and the calculation process is as follows:
the wave surface elevation data are calculated, in particular,
Collecting frame-by-frame scanning information, and calculating a wave surface lifting mean value;
According to the average value of wave surface elevation, combining the scanning frequency and the three-dimensional coordinates corresponding to all frames of the measuring point to obtain a wave surface water level time sequence
Calculating the gradient of the wave surface component, in particular,
Collecting frame-by-frame scanning information, and calculating wave peak values and wave trough values of all frame corresponding measuring points, wherein the wave peak values are maximum values of z-axes of three-dimensional coordinates of all frame corresponding measuring points, and the wave trough values are minimum values of the z-axes of the three-dimensional coordinates of all frame corresponding measuring points;
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;
Calculating wave surface component gradients of the wave surface gradients in the x axis and the y axis;
The flow velocity of the wave surface fixed point component is calculated, specifically,
Collecting frame-by-frame scanning information;
Calculating displacement change of frame-by-frame scanning information of the measuring point along with time, and calculating wave surface component flow velocity;
The relevant parameters of the direction spectrum of the selected water area are calculated by combining the wave data, and the method specifically comprises the following steps:
A direction spectrum calculation formula is established, Wherein: /(I)Representing the cross spectrum between the mth and nth wave characteristics,/>Representing the wavenumber frequency spectrum of the wave,Representing the transfer function between the mth wave characteristic and the wave surface,/>A conjugate function representing the transfer function between the nth wave characteristic and the wave surface,/>Represents the m-th gauge head position vector,/>Represents the nth gauge head position vector,/>Representing wave number vector,/>Representing the circular frequency of the wave,/>Representing wave direction,/>, of waveRepresenting observed quantity,/>And/>Coefficients each representing an observed quantity;
Calculating a correlation parameter including a cross-spectrum value and a transfer function value
Estimating a direction spectrum according to the related parameters, and analyzing the wave main wave direction;
The direction distribution function is established according to the maximum entropy method, Wherein: Is a direction distribution function;
the direction distribution function is brought into a direction spectrum calculation formula to calculate coefficients And/>Calculating a direction spectrum;
And analyzing the wave main wave direction according to the direction spectrum.
2. The three-dimensional laser radar-based wave direction spectrum measurement method according to claim 1, wherein the frame-by-frame scanning information of each measuring point is divided and filtered to obtain the optimized frame-by-frame scanning information of the measuring point, and the method specifically comprises the following steps:
dividing a three-dimensional coordinate point cloud of a 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. A wave direction spectrum measuring system employing the three-dimensional lidar-based wave direction spectrum measuring method according to any of claims 1 to 2, characterized in that: comprising the steps of (a) a step of,
The acquisition module acquires the wave surface three-dimensional coordinates of the monitored water area;
the optimizing module is used for dividing and filtering the wave surface three-dimensional coordinates;
the analysis module is used for analyzing, calculating and monitoring wave data of the water area;
And the calculating module is used for calculating the direction spectrum of the water area by combining the wave data.
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