CN116125477B - Automatic-correction underwater acoustic depth finder system and correction method thereof - Google Patents
Automatic-correction underwater acoustic depth finder system and correction method thereof Download PDFInfo
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- CN116125477B CN116125477B CN202310390172.3A CN202310390172A CN116125477B CN 116125477 B CN116125477 B CN 116125477B CN 202310390172 A CN202310390172 A CN 202310390172A CN 116125477 B CN116125477 B CN 116125477B
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an automatic correction underwater acoustic sounding device system and a correction method thereof, wherein the automatic correction underwater acoustic sounding device system comprises an actual working sounding device for measuring water depth, a plurality of auxiliary correction sounding devices for providing correction data, a frame foundation for installing the auxiliary correction sounding devices and the actual working sounding devices, and a data processing unit for receiving and processing data of the actual working sounding devices and the auxiliary correction sounding devices; the number of the actual working sounding devices is one and is located at the center, the number of the auxiliary correction sounding devices is 8, the actual working sounding devices and the 8 auxiliary correction sounding devices are connected with the data processing unit, and the data processing unit corrects the detection data of the actual working sounding devices according to the detection data provided by the 8 auxiliary correction sounding devices. The invention can be used for underwater acoustic sounding of different water bodies, and can automatically correct sounding results in real time, thereby improving measurement accuracy.
Description
Technical Field
The invention belongs to the technical field of underwater sounding devices, and particularly relates to an automatic-correction underwater acoustic sounding instrument system and a correction method thereof.
Background
The ultrasonic depth finder (ultrasonic wave detector) is a water depth measuring instrument suitable for measuring underwater sections and underwater topography of rivers, lakes, reservoir channels, ports and piers, coasts and deep sea, and various water areas such as navigation, underwater geophysical prospecting and the like. The working principle is designed according to the principle that ultrasonic energy linearly propagates in uniform speed in a uniform medium and is reflected by different medium surfaces. When the ultrasonic sounding instrument sounding, the ultrasonic transducer is placed at a certain position under water, and the depth from the ultrasonic transducer to the water bottom can be calculated according to the propagation speed of ultrasonic waves in the water and the time interval from the transmission of ultrasonic signals to the reception of ultrasonic signals.
The propagation speed of sound wave in water is changed according to different media, not a fixed constant, and the propagation speed of sound wave in a certain medium is generally obtained through measuring, analyzing and calculating a large amount of experimental data. The acoustic range finder that the market was purchased is characterized the propagation velocity of acoustic wave as a fixed value in the instrument, just so leads to acoustic range finder measuring error to increase, in order to improve acoustic range finder's observation precision, this patent provides an underwater acoustic depth finder that can automatic correction in different waters, and this kind of depth finder is fit for individual water, can correct the observed quantity of depth finder in real time, improves the observation precision of depth finder.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic correction underwater acoustic depth finder system and a correction method thereof.
The invention is realized by the following technical scheme:
an automatically calibrated underwater acoustic sounding system comprising an actual working sounding instrument for measuring water depth, a plurality of auxiliary calibration sounding instruments for providing calibration data, a frame foundation for mounting the auxiliary calibration sounding instruments and the actual working sounding instrument, and a data processing unit for receiving and processing data of the actual working sounding instrument and the auxiliary calibration sounding instruments;
the number of the actual working depth meters is 8, the frame foundation comprises 9 subframe units which are sequentially arranged side by side, the actual working depth meters are arranged at the tops of the subframe units at the central position of the frame foundation, the tops of the other 8 subframe units at the two sides of the subframe unit at the central position are respectively provided with an auxiliary correction depth meter, the bottoms of the other 8 subframe units at the two sides of the subframe unit at the central position are respectively provided with a baffle, and the distance between each auxiliary correction depth meter and the corresponding baffle at the bottom of the frame foundation is a fixed set value;
the actual working depth measuring instrument and the 8 auxiliary correction depth measuring instruments are connected with the data processing unit, and the data processing unit corrects the detection data of the actual working depth measuring instrument according to the detection data provided by the 8 auxiliary correction depth measuring instruments.
The correction method of the automatic correction underwater acoustic sounding device system comprises the following steps:
placing a frame foundation carrying the actual working depth sounder and 8 auxiliary correction depth sounders in water, and collecting detection data of the actual working depth sounder and the 8 auxiliary correction depth sounders in real time through a data processing unit;
the data processing unit calculates correction coefficients of the auxiliary correction depth meters according to detection data of the auxiliary correction depth meters and real distances between the auxiliary correction depth meters and corresponding baffle plates, and a calculation formula is as follows:
，kiis the correction coefficient of each auxiliary correction depth finder, < ->
Is the detection value of each auxiliary correction depth finder, < >>
The true distance from each auxiliary correction depth finder to the baffle plate thereof;
after the correction coefficients of the auxiliary correction depth meters are calculated, the detection values of the actual working depth meters are corrected by the correction coefficients, and the correction formulas are as follows:
wherein the method comprises the steps ofD'Is a correctionThe detection value of the actual working depth finder,Dthe detection values of the actual working depth measuring instrument are k1, k2, k3 and k4 which are the correction coefficients of four auxiliary correction depth measuring instruments from far to near at the left side of the actual working depth measuring instrument in sequence; k5, k6, k7 and k8 are correction coefficients of four auxiliary correction sounding devices from near to far on the right side of the actual working sounding device in sequence.
In the above technical solution, the installation interval between the sounding devices satisfies the following formula:
In the above technical scheme, the minimum value of the baffle is 2S, the baffle is square, and the right center of the baffle and the probe of the auxiliary correction depth finder above the baffle are on the same plumb line.
In the above technical solution, the frame foundation is a rectangular frame structure.
The invention has the advantages and beneficial effects that:
the invention can be used for underwater acoustic sounding of different water bodies, and can automatically correct sounding results in real time, thereby improving measurement accuracy. According to the invention, 4 auxiliary correction depth meters are respectively arranged on two sides of an actual working depth meter, and the distances between the 4 auxiliary correction depth meters on each side and the actual working depth meter are sequentially increased. When the auxiliary correction depth measuring instrument works, the 8 auxiliary correction depth measuring instruments are utilized to calibrate the actual working depth measuring instrument, and each auxiliary correction depth measuring instrument can generate a respective calibration coefficient k i In order to embody the influence of the water quality environment of each auxiliary correction depth finder on ultrasonic distance measurement, the invention sets different weights for the calibration coefficients of different auxiliary correction depth finders, and the calibration coefficient of the auxiliary correction depth finder which is closer to the actual working depth finder takes up larger weight (the weights are sequentially 1/20, 2/20, 3/20 and 4/2 from far to near)0) The purpose of doing so is that the water quality in a certain range around the actual working depth finder can be comprehensively considered, so that the actual working depth finder can be corrected more accurately.
It should be noted that, the distance in front of the probe is detected by the actual working depth finder, and the correction coefficients of the 8 auxiliary correction depth finders show only the water quality influence in a certain transverse range of the actual working depth finder, because the water quality in front of the probe of the actual working depth finder is similar to the water quality around the actual working depth finder (the water quality in front of the probe of the actual working depth finder is not identical to the water quality around the actual working depth finder, if the water quality is identical to the water quality around the actual working depth finder, only one auxiliary correction depth finder is needed to be arranged beside the actual working depth finder), therefore, the correction coefficients of the 8 auxiliary correction depth finders can be integrated to estimate the influence coefficient (i.e. the correction coefficient) of the water quality in front of the probe detected by the actual working depth finder on the distance measurement.
Drawings
Fig. 1 is a schematic structural view of an underwater acoustic sounding device system of the present invention.
Fig. 2 is a schematic structural view of a frame foundation in the present invention.
Fig. 3 is a schematic diagram of the corrective method of the present invention.
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
In order to make the person skilled in the art better understand the solution of the present invention, the following describes the solution of the present invention with reference to specific embodiments.
An automatically calibrated underwater acoustic sounding system includes an actual working sounding instrument for measuring water depth, a plurality of auxiliary calibration sounding instruments for providing calibration data, a frame foundation for mounting the auxiliary calibration sounding instruments and the actual working sounding instrument, and a data processing unit for receiving and processing data of the actual working sounding instrument and the auxiliary calibration sounding instrument.
The quantity of actual working depth finder is one, and auxiliary correction depth finder's quantity is 8, and the frame basis is rectangular frame structure, and the frame basis includes 9 subframe units that set gradually side by side, actual working depth finder 5 is installed at the subframe unit top of the central point of frame basis, and an auxiliary correction depth finder is installed respectively at the top of the remaining 8 subframe units of this central point subframe unit both sides to the baffle is installed respectively in the bottom of the remaining 8 subframe units of central point subframe unit both sides, and every auxiliary correction depth finder is fixed setting value from the distance of its corresponding baffle in bottom, preferably 5m in this embodiment.
Referring to fig. 1 and 2, the frame foundation includes a first subframe unit a, a second subframe unit b, a third subframe unit c, a fourth subframe unit d, a fifth subframe unit e, a sixth subframe unit f, a seventh subframe unit g, an eighth subframe unit h, and a ninth subframe unit i which are sequentially connected side by side, the actual working depth gauge 5 is mounted on top of the fifth subframe unit e, the first auxiliary correction depth gauge 1 is mounted on top of the first subframe unit a, the second auxiliary correction depth gauge 2 is mounted on top of the second subframe unit b, the third auxiliary correction depth gauge 3 is mounted on top of the third subframe unit c, the fourth auxiliary correction depth gauge 4 is mounted on top of the fourth subframe unit d, the fifth auxiliary correction depth gauge 6 is mounted on top of the sixth subframe unit f, the sixth auxiliary correction depth gauge 7 is mounted on top of the seventh subframe unit g, the seventh auxiliary correction depth gauge 8 is mounted on top of the eighth subframe unit h, the eighth auxiliary correction depth gauge 9 is mounted on top of the ninth subframe unit i, a first baffle 1.1 is arranged at the bottom of the first subframe unit a, a second baffle 2.1 is arranged at the bottom of the second subframe unit b, a third baffle 3.1 is arranged at the bottom of the third subframe unit c, a fourth baffle 4.1 is arranged at the bottom of the fourth subframe unit d, a fifth baffle 6.1 is arranged at the bottom of the sixth subframe unit f, a sixth baffle 7.1 is arranged at the bottom of the seventh subframe unit g, a seventh baffle 8.1 is arranged at the bottom of the eighth subframe unit h, an eighth baffle 9.1 is arranged at the bottom of the ninth subframe unit i, no baffle is arranged at the bottom of the fifth subframe unit e, so that the actual working depth finder 5 at the top of the fifth subframe unit can detect the water depth.
Further, the installation interval between the sounding devices is required, and the interval calculation formula is as follows:
In addition, the size of the baffle is also required, the minimum value of the size of the baffle is 2S, the baffle is preferably square, and the center of the baffle is on the same plumb line with the probe of the depth finder above the baffle.
The actual working depth finder and the 8 auxiliary correction depth finders are connected with the data processing unit, the data processing unit corrects the detection data of the actual working depth finder according to the detection data provided by the 8 auxiliary correction depth finders, and referring to fig. 3, the correction method is as follows:
and placing a frame foundation carrying the actual working depth sounder and 8 auxiliary correction depth sounders in water, and collecting detection data of the actual working depth sounder and the 8 auxiliary correction depth sounders in real time through a data processing unit.
The data processing unit calculates correction coefficients of the auxiliary correction depth meters according to detection data of the auxiliary correction depth meters (namely distance values from the auxiliary correction depth meters to the baffle plates) and real distances (real distances are preset) between the auxiliary correction depth meters and the corresponding baffle plates, wherein the calculation formulas are as follows:
，kiis the correction coefficient of each auxiliary correction depth finder, < ->
Is the detection value of each auxiliary correction depth finder, < >>
The true distance from each auxiliary correction depth finder to the baffle plate thereof;
after the correction coefficients of the auxiliary correction depth meters are calculated, the detection values of the actual working depth meters are corrected by the correction coefficients, and the correction formulas are as follows:
wherein the method comprises the steps ofD'Is the detection value of the corrected actual working depth finder,Dthe detection values of the actual working depth measuring instrument are k1, k2, k3 and k4 which are the correction coefficients of four auxiliary correction depth measuring instruments from far to near at the left side of the actual working depth measuring instrument in sequence; k5, k6, k7 and k8 are correction coefficients of four auxiliary correction sounding devices from near to far on the right side of the actual working sounding device in sequence.
The invention sets different weights for the calibration coefficients of different auxiliary correction depth meters, and the more the auxiliary correction depth meter is close to the actual working depth meter, the larger the weight of the calibration coefficient of the auxiliary correction depth meter is (the weights from far to near are sequentially 1/20, 2/20, 3/20 and 4/20), so that the aim of the invention is to comprehensively consider the water quality in a certain range around the actual working depth meter, thereby more accurately correcting the actual working depth meter.
It should be noted that, the distance in front of the probe is detected by the actual working depth finder, and the correction coefficients of the 8 auxiliary correction depth finders show only the water quality influence in a certain transverse range of the actual working depth finder, because the water quality in front of the probe of the actual working depth finder is similar to the water quality around the actual working depth finder (the water quality in front of the probe of the actual working depth finder is not identical to the water quality around the actual working depth finder, if the water quality is identical to the water quality around the actual working depth finder, only one auxiliary correction depth finder is needed to be arranged beside the actual working depth finder), therefore, the correction coefficients of the 8 auxiliary correction depth finders can be integrated to estimate the influence coefficient (i.e. the correction coefficient) of the water quality in front of the probe detected by the actual working depth finder on the distance measurement.
Claims (5)
1. An automatically calibrated underwater acoustic sounding device system, characterized by: the system comprises an actual working depth finder for measuring water depth, a plurality of auxiliary correction depth finders for providing correction data, a frame foundation for installing the auxiliary correction depth finders and the actual working depth finders, and a data processing unit for receiving and processing data of the actual working depth finders and the auxiliary correction depth finders;
the number of the actual working depth meters is 8, the frame foundation comprises 9 subframe units which are sequentially arranged side by side, the actual working depth meters are arranged at the tops of the subframe units at the central position of the frame foundation, the tops of the other 8 subframe units at the two sides of the subframe unit at the central position are respectively provided with an auxiliary correction depth meter, the bottoms of the other 8 subframe units at the two sides of the subframe unit at the central position are respectively provided with a baffle, and the distance between each auxiliary correction depth meter and the corresponding baffle at the bottom of the frame foundation is a fixed set value;
the actual working depth measuring instrument and the 8 auxiliary correction depth measuring instruments are connected with the data processing unit, and the data processing unit corrects the detection data of the actual working depth measuring instrument according to the detection data provided by the 8 auxiliary correction depth measuring instruments.
2. The self-calibrating underwater acoustic sounding system of claim 1, wherein: the installation interval between the sounding devices satisfies the following formula:
3. The self-calibrating underwater acoustic sounding system of claim 2, wherein: the minimum value of the size of the baffle is 2S, the baffle is square, and the center of the baffle and the probe of the auxiliary correction depth finder above the baffle are on the same plumb line.
4. The self-calibrating underwater acoustic sounding system of claim 1, wherein: the frame foundation is a rectangular frame structure.
5. The method of calibrating an automatically calibrated underwater acoustic sounding system of claim 1, wherein:
placing a frame foundation carrying the actual working depth sounder and 8 auxiliary correction depth sounders in water, and collecting detection data of the actual working depth sounder and the 8 auxiliary correction depth sounders in real time through a data processing unit;
the data processing unit calculates correction coefficients of the auxiliary correction depth meters according to detection data of the auxiliary correction depth meters and real distances between the auxiliary correction depth meters and corresponding baffle plates, and a calculation formula is as follows:
，kiis the correction coefficient of each auxiliary correction depth finder, < ->
Is the detection value of each auxiliary correction depth finder, < >>
The true distance from each auxiliary correction depth finder to the baffle plate thereof;
after the correction coefficients of the auxiliary correction depth meters are calculated, the detection values of the actual working depth meters are corrected by the correction coefficients, and the correction formulas are as follows:
wherein the method comprises the steps ofD'Is the detection value of the corrected actual working depth finder,Dthe detection values of the actual working depth measuring instrument are k1, k2, k3 and k4 which are the correction coefficients of four auxiliary correction depth measuring instruments from far to near at the left side of the actual working depth measuring instrument in sequence; k5, k6, k7 and k8 are correction coefficients of four auxiliary correction sounding devices from near to far on the right side of the actual working sounding device in sequence.
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