CN117347327A - System and method for evaluating shallow lake steady state by utilizing chlorophyll a and submerged plants - Google Patents
System and method for evaluating shallow lake steady state by utilizing chlorophyll a and submerged plants Download PDFInfo
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Abstract
The invention discloses a system and a method for evaluating the steady state of a shallow lake by utilizing chlorophyll a and submerged plants, wherein the system and the method are characterized in that chlorophyll a biomass per unit volume and submerged plant fresh weight per unit area of sampling points are obtained in real time through a chlorophyll fluorescence meter and an echo detector, a scatter diagram is built, a regression curve is simulated, then a curve abrupt change point is obtained, and evaluation is made for the steady state condition of each sampling point based on the relation between the horizontal coordinate and the vertical coordinate abrupt change point of each sampling point in the scatter diagram.
Description
Technical Field
The invention relates to the technical field of shallow lake water quality monitoring and evaluation, in particular to a system and a method for evaluating the steady state of a shallow lake by utilizing chlorophyll a and submerged plants.
Background
The most important characteristic of the ecological environment degradation of the shallow lake is the conversion from grass-type clear water steady state to algae-type turbid water steady state; there are three main methods for determining the steady state of shallow lakes, experimental observations, model simulations and statistical analyses. The experimental observation pays attention to a small amount of specific indexes, and the index screening process is complex and has large workload; model simulation can understand the characteristics and main mechanism process of steady-state conversion of an ecological system on a more comprehensive scale, but has the defects in the problems of model error and uncertainty treatment and the like; the statistical analysis method is the most common method at present based on the statistical change rule analysis of long-time sequence data and used for judging or early warning the occurrence of steady-state conversion events, but takes too long time, and the judgment result cannot be given in real time; the scheme in the prior art has the defects of multi-index sampling, comprehensive analysis and judgment, long time consumption, difficulty in popularization and the like.
For the above reasons, the present inventors have conducted intensive studies on the steady state of shallow lakes, particularly, the relationship between the living condition of each species in shallow lakes and the water quality, in order to expect to design a system and method for evaluating the steady state of shallow lakes which solve the above problems.
Disclosure of Invention
In order to overcome the problems, the inventor performs intensive researches and designs a system and a method for evaluating the steady state of a shallow lake by utilizing chlorophyll a and submerged plants, wherein the system and the method are used for acquiring the biomass of chlorophyll a in unit volume and the fresh weight of the submerged plants in unit area of sampling points in real time through a chlorophyll fluorescence meter and an echo detector, further establishing a scatter diagram, simulating a regression curve, acquiring a curve abrupt change point, and evaluating the steady state condition of each sampling point based on the relation between the horizontal coordinate and the vertical coordinate abrupt change point of each sampling point in the scatter diagram; thus, the present invention has been completed.
Specifically, the invention aims to provide a system for evaluating the steady state of a shallow lake by utilizing chlorophyll a and submerged plants;
the system comprises a chlorophyll fluorescence meter 1, an echo detector 2 and a data analysis module 3;
the chlorophyll fluorescence instrument 1 is used for collecting biomass of chlorophyll a in a unit volume in a shallow lake and transmitting collected data to the data analysis module 3;
the fresh weight of the submerged plant in the unit area of the shallow lake is collected through the echo detector 2, and the collected data is transmitted to the data analysis module 3;
and summarizing the chlorophyll fluorescence instrument 1 and the echo detector 2 through the data analysis module 3, and analyzing the data to obtain steady state evaluation of the shallow lake.
Wherein the system further comprises a hull capable of free navigation on shallow lakes,
the ship body is provided with the chlorophyll fluorescence meter 1, the echo detector 2 and the data analysis module 3 which move freely in the shallow lake, so that any position on the surface of the water body can be used as a sampling point and is parked and detained;
preferably, at least more than 30 mooring measurements are carried out in each shallow lake, thereby obtaining chlorophyll a biomass per unit volume and fresh weight per unit area of submerged plants at 30 sampling points;
the data analysis module 3 analyzes and obtains steady state evaluation of the shallow lake based on at least 30 groups of chlorophyll a biomass per unit volume and fresh weight of submerged plants per unit area.
The data analysis module 3 comprises a drawing sub-module 31, a curve generation sub-module 32, a abrupt change point analysis sub-module 33 and an evaluation sub-module 34;
wherein, the drawing submodule 31 is used for drawing at least 30 groups of chlorophyll a biomass in unit volume and fresh weight data of submerged plants in unit area into a scatter diagram;
the curve generation sub-module 32 is configured to generate a regression curve in the scatter plot;
the abrupt change point analysis sub-module 33 is configured to read and analyze abrupt change points in the regression curve,
the evaluation submodule 34 is used for comparing the size of the scattered points with the size of the abrupt change points in the scattered points, and further obtaining the evaluation of the water body steady state at the sampling points corresponding to the scattered points.
Wherein, in the mapping submodule 31, the chlorophyll-a biomass per unit volume is taken as an ordinate of a scatter diagram, and the chlorophyll-a biomass per unit volume (ug/L) and the fresh weight (kg/m) of the submerged plant per unit area are calculated 2 ) As the abscissa.
In the evaluation submodule 34, sampling points corresponding to scattering points with an abscissa greater than or equal to the abscissa of the abrupt change point and a chlorophyll a content greater than or equal to 30ug/L are evaluated as an algae-type turbid water state, and sampling points corresponding to scattering points with an abscissa less than the abscissa of the abrupt change point and a chlorophyll a content less than 30ug/L are evaluated as a grass-type clear water state or a transition state.
The invention also provides a method for evaluating the steady state of a shallow lake by utilizing chlorophyll a and submerged plants, which comprises the following steps:
step 1, driving a chlorophyll fluorescence meter 1, an echo detector 2 and a data analysis module 3 to freely move in a shallow lake through a ship body, taking any position on the surface of a water body as a sampling point, and mooring and detenting; controlling the chlorophyll fluorescence instrument 1 and the echo detector 2 to sample and work when in parking;
and 2, transmitting the collected biomass of chlorophyll a in unit volume and fresh weight data of submerged plants in unit area to the data analysis module 3, and analyzing by the data analysis module 3 to obtain steady state evaluation of the shallow lake.
Wherein in said step 1, said hull is moored at least 30 times in each shallow lake, i.e. at least 30 sampling points are selected.
Wherein, the step 2 comprises the following substeps,
sub-step 2-1, drawing at least 30 groups of chlorophyll a biomass per unit volume and fresh weight data of submerged plants per unit area into a scatter diagram through a drawing sub-module 31;
a substep 2-2 of generating a regression curve in the scatter plot by the curve generation submodule 32;
substep 2-3, reading and analyzing the abrupt change points in the regression curve by the abrupt change point analysis submodule 33,
and 2-4, comparing the scattered points and the abrupt change points in the scattered points by an evaluation sub-module 34, and further obtaining the evaluation of the water quality at the sampling points corresponding to the scattered points.
In the substep 2-1, the biomass of chlorophyll a in unit volume is taken as the ordinate of the scatter diagram, and the ratio of the biomass of chlorophyll a in unit volume to the fresh weight of the submerged plant in unit area is taken as the abscissa of the scatter diagram.
In the substep 2-4, the sampling points corresponding to the scattered points with the abscissa larger than the abscissa of the abrupt change point and the chlorophyll a content larger than 30ug/L are evaluated as algae-type turbid water, and the sampling points corresponding to the scattered points with the abscissa smaller than the abscissa of the abrupt change point and the chlorophyll a content smaller than 30ug/L are evaluated as grass-type clear water or transition state.
The invention has the beneficial effects that:
(1) According to the system and the method for evaluating the steady state of the shallow lake by utilizing the chlorophyll a and the submerged plants, the system state of any sampling point position in the water body can be timely and accurately obtained, and evaluation and early warning can be carried out;
(2) The system and the method for evaluating the steady state of the shallow lake by utilizing chlorophyll a and submerged plants are simple to operate, can realize automation and intellectualization, can conveniently perform remote control, can monitor a water body in a very large range by using very little manpower and material resources, and are convenient for popularization and application of the technology.
Drawings
FIG. 1 is a logic diagram showing the overall structure of a system for evaluating shallow lake steady state using chlorophyll a and submerged plants according to the present application;
FIG. 2 shows a schematic diagram of a scatter plot, regression curve, and abrupt change points in a preferred embodiment of the present application;
fig. 3 shows a schematic diagram of a scatter plot, two regression curves and a second steep change point in a preferred embodiment of the present application.
Reference numerals
1-chlorophyll fluorometer
2-echo detector
3-data analysis module
31-drawing sub-module
32-Curve Generation submodule
33-abrupt change point analysis submodule
34-evaluation submodule
Detailed Description
The invention is further described in detail below by means of the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The system for evaluating the steady state of the shallow lake by utilizing chlorophyll a and submerged plants provided by the invention comprises a chlorophyll fluorescence meter 1, an echo detector 2 and a data analysis module 3 as shown in figure 1;
the chlorophyll fluorescence instrument can be a fluorescent chlorophyll detector of Qingdao Ruimin instrument Co., ltd;
the echo detector can be a DT-X digital echo detector of Beijing HengyuanNuo technology limited company, preferably, the echo detector is integrated with a submerged plant identification module and a biomass estimation module, and the fresh weight of the submerged plant in unit area can be directly read.
The chlorophyll fluorescence instrument 1 is used for collecting biomass of chlorophyll a in a unit volume in a shallow lake and transmitting collected data to the data analysis module 3;
the fresh weight of the submerged plant in the unit area of the shallow lake is collected through the echo detector 2, and the collected data is transmitted to the data analysis module 3;
and summarizing the chlorophyll fluorescence instrument 1 and the echo detector 2 through the data analysis module 3, and analyzing the data to obtain steady state evaluation of the shallow lake.
In a preferred embodiment, the system further comprises a ship body capable of freely sailing on the shallow lake, wherein the ship body can be an unmanned ship or a common water quality monitoring ship, and can meet the requirements of free sailing and berthing.
The ship body is provided with the chlorophyll fluorescence meter 1, the echo detector 2 and the data analysis module 3 which move freely in the shallow lake, so that any position on the surface of the water body can be used as a sampling point and is parked and detained;
preferably, mooring measurements are performed at least more than 30 times in each shallow lake, thereby obtaining chlorophyll a biomass per unit volume (ug/L) and submerged plant fresh weight per unit area (kg/m 2) of at least 30 sampling points;
the data analysis module 3 analyzes and obtains the water quality evaluation of the shallow lake based on at least 30 groups of chlorophyll a biomass in unit volume and fresh weight of submerged plants in unit area.
In a preferred embodiment, the data analysis module 3 includes a drawing sub-module 31, a curve generation sub-module 32, a abrupt change point analysis sub-module 33, and an evaluation sub-module 34;
wherein, the drawing submodule 31 is used for drawing at least 30 groups of chlorophyll a biomass in unit volume and fresh weight data of submerged plants in unit area into a scatter diagram; each scattered point in the graph corresponds to one sampling point, the sampling points and the number of the scattered points can be selected according to the size of the water body, and the accuracy of related operations such as a subsequent regression curve can be basically ensured by more than 30 sampling points;
the curve generation sub-module 32 is configured to generate a regression curve in the scatter plot;
the abrupt change point analysis submodule 33 is configured to read and analyze the abrupt change points in the regression curve, preferably, in the abrupt change point analysis submodule, analyze the slope of a tangent line of each point on the regression curve, find the steep change point of the slope, and the point on the corresponding regression curve is the abrupt change point;
the evaluation submodule 34 is used for comparing the size of the scattered points with the size of the abrupt change points in the scattered points, and further obtaining the evaluation of the water body steady state at the sampling points corresponding to the scattered points.
Further preferably, in the mapping submodule 31, the chlorophyll-a biomass per unit volume is taken as an ordinate of a scatter diagram, and the ratio of the chlorophyll-a biomass per unit volume to the fresh weight of the submerged plant per unit area is taken as an abscissa. Through research of the applicant, a specific nonlinear proportional relationship exists between the biomass of the submerged plant and chlorophyll a, a quantitative threshold value of steady-state conversion of the shallow lake can be identified according to a relationship curve, correspondingly, when the abscissa of the scatter diagram is set in such a way, the shape and the position of a drawn regression curve are most reasonable, and finally, the evaluation result of each obtained sampling point is most accurate.
Further preferably, in the evaluation submodule 34, the sampling points corresponding to the scattered points whose abscissa is greater than or equal to the abrupt change point abscissa and whose chlorophyll a content is greater than or equal to 30ug/L are evaluated as the algae-type turbid water state, and the sampling points corresponding to the scattered points whose abscissa is less than the abrupt change point abscissa and whose chlorophyll a content is less than 30ug/L are evaluated as the grass-type clear water state or the transition state. Wherein, when the curve generating sub-module 32 generates a regression curve, the maximum ordinate value of the discrete points in the regression curve is counted, and the ordinate of the critical value is obtained according to the maximum ordinate value, and in the present application, preferably, the ordinate of the critical value is 30ug/L; the abrupt change point abscissa obtained by the abrupt change point analysis submodule 33 is 5; the units of the abscissa are not considered in the present application, and only the numerical values are compared.
Still more preferably, when the abscissa value of the scattered point is more than 2 times of the abscissa value of the abrupt change point, an alarm message is sent out aiming at the sampling point corresponding to the scattered point, so that the water quality pollution condition of the sampling point is severe, and special treatment and further detection are required.
In a preferred embodiment, after the grass-type clean water state or the transition state is obtained, continuing to generate a regression curve in the scatter diagram through the curve generation sub-module 32 for the sampling points of the grass-type clean water state or the transition state, which is called a second regression curve, wherein the ordinate of the corresponding critical value is 10ug/L; the abrupt change point in the second regression curve is read and analyzed by the abrupt change point analyzing sub-module 33, which is called the second abrupt change point. In this application, the second steep change point is preferably on the abscissa of 1.
That is, in the evaluation submodule 34, the sampling points corresponding to the scattered points whose abscissa is less than or equal to the second steep-change-point abscissa and whose chlorophyll a content is less than 10ug/L are evaluated as the grass-type clear water state, and the sampling points corresponding to the scattered points whose abscissa is less than or equal to the steep-change-point abscissa and whose chlorophyll a content is less than 30ug/L, whose abscissa is greater than the second steep-change-point abscissa or whose chlorophyll a content is greater than 10ug/L are evaluated as the transition state.
In the application, discrete points which do not belong to the three steady state corresponding ranges are classified into abnormal data, resampling measurement and calculation are needed, and steady state evaluation is performed again by the same scheme after resampling.
In a preferred embodiment, the hull is an unmanned ship, on which a GPS receiver, an electronic map module and a path planning module are arranged; after a user defines preset sampling points through an electronic map, the navigation path of the unmanned ship is automatically set through the path planning module, so that sampling can be conducted through each sampling point in sequence.
Preferably, the unmanned ship is further provided with a channel correction module, and the problem that the ship body deviates from a preset navigation route due to water body flow and wind direction is corrected through the channel correction module, so that the unmanned ship can navigate along the shortest route, the sampling time is further saved, and the sampling efficiency is improved.
In the channel correction module, the deflection angle of the unmanned ship propeller is obtained in real time based on the forward looking distance, and is transmitted to the propeller to control the deflection of the propeller, so that the unmanned ship sails to a sampling point according to an optimal path.
Further, the propeller deflection angle is obtained in the channel correction module in real time by performing the following steps:
step a, obtaining the corresponding comprehensive deviation of the next moment aiming at each possible value of the forward looking distance, and selecting the forward looking distance which enables the comprehensive deviation of the next moment to be minimum;
the integrated deviation at the next time is obtained by the following formula (one):
e(i+1)＝F 1 +F 2 +F 3 (one)
e (i+1) represents the integrated deviation at time i+1;
wherein,
F 1 ＝w1(ge(i)-N(i+1))+w2(gn(i)-E(i+1))
F 2 ＝w1vt 0 cosθ(i)+w2vt 0 sinθ(i)
i represents the ith moment, and correspondingly theta (i) represents the heading angle of the ith moment, wherein the heading angle is the angle between the advancing direction of the ship body and the X axis in the horizontal coordinate; the course angle is obtained through detection of an inertial navigation device such as a gyroscope arranged on the ship body;
w1 represents the weight of the lateral deviation, w2 represents the weight of the longitudinal deviation;
(ge (i), gn (i)) represents the center position coordinate of the propeller of the ship body at the i-th moment, the center position of the propeller of the ship body can be considered as the geometric center position of the propeller in the actual working process, and the relative position relationship between the center position and the ship body can be obtained when the ship body leaves a factory; ge (i) represents the abscissa of the center position of the hull propeller at the i-th moment, and gn (i) represents the ordinate of the center position of the hull propeller at the i-th moment.
The coordinates described in the present application are all horizontal plane coordinates, and are two-dimensional coordinates, in which the direction is the direction of the X axis, and the direction is the direction of the Y axis.
ge (i) represents the coordinate of the center position of the hull propeller on the X axis at the i-th moment, and gn (i) represents the coordinate of the center position of the hull propeller on the Y axis at the i-th moment.
(E (i+1), N (i+1)) represents the coordinates of the point on the planned path closest to the center position coordinates (ge (i+1), gn (i+1)) of the propeller at the i+1 th moment, and correspondingly E (i+1) represents the coordinates of the point on the X axis, and N (i+1) represents the coordinates of the point on the X axis; .
v represents the sailing speed of the hull, t 0 The sampling period is represented, and the value is 0.5s, namely, the interval between the moment i and the moment i+1 is 0.5 s;
(E aim ,N aim ) Representing the coordinates of the viewpoint before the i-th moment, i.e. E aim Representing the coordinate of the viewpoint on the X-axis before the ith moment, N aim Representing the coordinate of the viewpoint on the Y axis before the ith moment;
l d representing the forward looking distance.
The front view point is a point in a planned path and is determined by a selected front view distance which enables the comprehensive deviation of the next time to be minimum.
The forward looking distance is a straight line distance between the center position of the ship propeller and the forward viewpoint.
In a preferred embodiment, in step a, the forward looking distance l d Each possible value of (2) is within a range of 5 m.ltoreq.l d Less than or equal to 50m; in step a, step l is traversed d Each possible value of (1) d The value accuracy of (2) is 1m. I.e. in step a, one by one set d For example, 5m, 6m, 7m … … m, 50m. In the application, a comprehensive deviation is correspondingly obtained based on the value of each forward looking distance.
After setting the value of each front view distance, the coordinates of the front view point are found by the following formula
(ge(i)-E aim ) 2 +(gn(i)-N aim ) 2 ＝l d 2
The method embodies the process of drawing a circle, if a solution exists, namely, a circle taking the center position of the ship propeller as the center of a circle and taking the forward viewing distance as the radius intersects with the planned path, a corresponding forward viewpoint exists, and if no solution exists, the situation that no intersection exists and no forward viewpoint exists is indicated. The traversing range of the forward looking distance is set by combining the speed of the ship body and the resolving period, so that each period can be ensured to obtain at least one intersecting point, and the forward looking distance with the minimum comprehensive deviation at the next moment can be selected; after the forward viewing distance is determined, the forward viewing point coordinates can be determined correspondingly, and then the comprehensive deviation is obtained correspondingly by the combination of the forward viewing point coordinates and the formula (I).
When the number of the intersection points is two, the intersection point close to the front is the front view point; in the present application, the ship body traveling direction is defined as the forward direction.
Preferably, the weight w1 of the lateral deviation and the weight w2 of the longitudinal deviation are obtained by:
taking the center position (ge (i), gn (i)) of the propeller of the ship body as a circle center and taking the minimum forward looking distance l as a circle center dmin Detecting points on a given planned trajectory for a circular region of radius; the minimum forward looking distance l dmin Is the minimum allowable value of the forward looking distance, namely 5m;
if there is no point on the planned trajectory within the circular area, w1=w2=0.5;
if there is a point on the planned trajectory within the circular region, a lateral deviation e from the center position is found from the points on the planned trajectory located in the circular region 1 Minimum point (E 1 ,N 1 ) Finding the longitudinal deviation e from the centre position from the points on the planned trajectory located in the circular area 2 Minimum point (E 2 ,N 2 ) And calculate and get the minimum value e of the lateral deviation 1min And a longitudinal deviation minimum e 2min ；
When e 1min ≥e 2min When w1=0.7, w2=0.3;
when e 1min ＜e 2min When w1=0.6, w2=0.4.
The method can improve the reproduction accuracy of path following, and aims to enable the comprehensive deviation e to approach zero, and the method can not enable the e to approach zero all the time under the condition of considering various practical constraints, but fully considers the coupling factors of the transverse deviation and the longitudinal deviation and can enable the e to be minimum in an achievable value range.
Step b, obtaining a propeller deflection angle delta (t) according to the forward looking distance;
preferably, the propeller deflection angle is obtained by the following formula (two):
wherein L represents the length of the ship body, (ge, gn) represents the central position coordinate of the propeller of the ship body, (N) a ,E a ) Representing the coordinates of the front view point.
Repeating the steps a and b once in each period, and controlling the propeller according to the obtained deflection angle of the propeller.
The application also provides a method for evaluating and early warning shallow lakes by utilizing chlorophyll a and submerged plants, which comprises the following steps:
step 1, driving a chlorophyll fluorescence meter 1, an echo detector 2 and a data analysis module 3 to freely move in a shallow lake through a ship body, taking any position on the surface of a water body as a sampling point, and mooring and detenting; controlling the chlorophyll fluorescence instrument 1 and the echo detector 2 to sample and work when in parking;
and 2, transmitting the collected biomass of chlorophyll a in unit volume and fresh weight data of submerged plants in unit area to the data analysis module 3, and analyzing the data through the data analysis module 3 to obtain water quality evaluation of the shallow lake.
Preferably, in said step 1, said hull is moored at least 30 times in each shallow lake, i.e. at least 30 sampling points are selected.
Preferably, said step 2 comprises the sub-steps of,
substep 2-1, drawing at least 30 sets of chlorophyll-a biomass per unit volume and fresh weight data of the submerged plant per unit area into a scatter plot by means of a drawing submodule 31, as shown in fig. 2;
step 2-2, generating a regression curve in the scatter diagram through a curve generation sub-module 32, and obtaining the ordinate of the critical value, namely the chlorophyll a content of 30ug/L;
step 2-3, reading and analyzing abrupt change points in the regression curve through an abrupt change point analysis submodule 33, wherein the abscissa of the abrupt change points is 5, namely, the abscissa of the critical value is 5;
and 2-4, comparing the scattered points and the abrupt change points in the scattered points by an evaluation sub-module 34, and further obtaining the evaluation of the water quality at the sampling points corresponding to the scattered points.
Preferably, in the substep 2-1, the chlorophyll-a biomass per unit volume is taken as an ordinate of a scatter plot, and the ratio of the chlorophyll-a biomass per unit volume to the fresh weight of the submerged plant per unit area is taken as an abscissa of a scatter plot.
Preferably, in the substep 2-4, the sampling point corresponding to the scattered point with the abscissa larger than or equal to the abscissa of the abrupt change point and the chlorophyll a content larger than or equal to 30ug/L is evaluated as the algae-type turbid water state, and the sampling point corresponding to the scattered point with the abscissa smaller than the abscissa of the abrupt change point and the chlorophyll a content smaller than 30ug/L is evaluated as the grass-type clean water state or the transition state. Preferably, the steep change point has an abscissa value of 5.
In a preferred embodiment, the method further comprises step 3 of generating, by the curve generation sub-module 32, a second regression curve in the scatter plot based on the grass-like fresh water state and the transition state sampling points, as shown in fig. 3, with the ordinate of the corresponding critical value being 10ug/L; reading and analyzing the abrupt change point in the second regression curve by the abrupt change point analyzing submodule 33, wherein the abrupt change point is called a second abrupt change point; in this application, the second steep change point is preferably on the abscissa of 1.
Preferably, in step 3, by the evaluation submodule 34, sampling points corresponding to scattering points with an abscissa less than or equal to the second abrupt change point abscissa and a chlorophyll a content less than 10ug/L are evaluated as a grass-type clean water state, and sampling points corresponding to scattering points with an abscissa less than or equal to the abrupt change point abscissa and a chlorophyll a content less than 30ug/L, an abscissa greater than the second abrupt change point abscissa or a chlorophyll a content greater than 10ug/L are evaluated as a transition state.
Experimental example
Evaluating and early warning the water body of the white lake, controlling a ship body carrying a chlorophyll fluorescence meter, an echo detector and a data analysis module to cruise on the water body of the white lake, selecting 41 sampling points, setting a planning path passing through the 41 sampling points, and controlling the ship body to navigate according to the planning path;
in the process of sequentially passing through 41 sampling points according to the planned track, the deflection of the propeller is controlled by the channel correction module, so that the unmanned ship sails according to the optimal path;
the propeller deflection angle is obtained in the channel correction module in real time by performing the following steps:
step a, obtaining the corresponding comprehensive deviation of the next moment aiming at each possible value of the forward looking distance, and selecting the forward looking distance which enables the comprehensive deviation of the next moment to be minimum;
and b, obtaining a propeller deflection angle delta (t) according to the forward looking distance, and further controlling the propeller of the ship body according to the propeller deflection angle obtained in real time.
Wherein the forward looking distance l d Each possible value of (2) is 5 m.ltoreq.l d Traversing l is less than or equal to 50m d Each possible value of (1) d The value precision of (2) is 1m; based on the value of each forward looking distance, correspondingly obtaining a comprehensive deviation;
the next time integrated bias is obtained by the following formula (one):
e(i+1)＝F 1 +F 2 +F 3 (one)
F 1 ＝w1(ge(i)-N(i+1))+w2(gn(i)-E(i+1))
F 2 ＝w1vt 0 cosθ(i)+w2vt 0 sinθ(i)
In step b, the propeller deflection angle is obtained by the following formula (two):
the ship body is controlled to sequentially pass through the 41 sampling points so as to obtain 41 groups of data, wherein each group of data comprises chlorophyll a biomass in unit volume and fresh weight of submerged plants in unit area at the position of the sampling point;
establishing a scatter diagram, wherein the biomass of chlorophyll a in unit volume is taken as an ordinate of the scatter diagram, and the ratio of the biomass of chlorophyll a in unit volume to the fresh weight of submerged plants in unit area is taken as an abscissa;
generating a regression curve according to the scatter diagram, obtaining an ordinate of a critical value, namely, chlorophyll a content of 30ug/L, reading and retrieving a steep change point in the regression curve, namely, the abscissa of the critical value is 5, evaluating a sampling point corresponding to a scatter point with the abscissa of more than or equal to 5 and the chlorophyll a content of more than or equal to 30ug/L as an algae-type turbid water state, and evaluating a sampling point corresponding to a scatter point with the abscissa of less than 5 and the chlorophyll a content of less than 30ug/L as a grass-type clear water state or a transition state.
Further drawing a scatter diagram and generating a second regression curve aiming at water sampling points of a grass-type clean water state and a transition state to obtain a new ordinate of a critical value, namely chlorophyll a content of 10ug/L; the second steep change point, i.e. the abscissa is 1, is read based on the second regression curve.
Sampling points corresponding to scattered points with the abscissa less than or equal to 1 and the chlorophyll a content less than 10ug/L are evaluated as grass-type clean water states, and sampling points corresponding to scattered points with the abscissa less than or equal to 5 and the chlorophyll a content less than 30ug/L, the abscissa greater than 1 or the chlorophyll a content greater than 10ug/L are evaluated as transition states.
The positions and evaluation results of the finally obtained 41 sampling points are shown in the following table (one):
watch 1
| Sequence number | Point location name | Evaluation results |
| 1 | Dujia lake | Algae-laden turbid water |
| 2 | Channel 1 | Algae-laden turbid water |
| 3 | Channel 2 | Grass-type clean water state |
| 4 | Channel 3 | Grass-type clean water state |
| 5 | Channel 4 | Algae-laden turbid water |
| 6 | Rear pond | Transition state |
| 7 | Pu-collecting Tai village north | Transition state |
| 8 | Loop head | Algae-laden turbid water |
| 9 | Yang-calming lake | Transition state |
| 10 | Cultivation area | Algae-laden turbid water |
| 11 | North field village 1 | Algae-laden turbid water |
| 12 | North field village 2 | Grass-type clean water state |
| 13 | Hilsa herring starch | Algae-laden turbid water |
| 14 | Fish-spreading starch | Grass-type clean water state |
| 15 | Polydragon lake | Algae-laden turbid water |
| 16 | Front pond | Grass-type clean water state |
| 17 | Mansion Zhuang Matou | Algae-laden turbid water |
| 18 | Front part of the body 1 | Algae-laden turbid water |
| 19 | Bright lake | Algae-laden turbid water |
| 20 | Small white lake | Algae-laden turbid water |
| 21 | Duck ring | Algae-laden turbid water |
| 22 | Big duck ring | Algae-laden turbid water |
| 23 | Enemy river | Algae-laden turbid water |
| 24 | Light and starch | Algae-laden turbid water |
| 25 | Rujia bay | Algae-laden turbid water |
| 26 | Moon lake | Transition state |
| 27 | Wheat starch | Algae-laden turbid water |
| 28 | Fishing Wang Dian | Algae-laden turbid water |
| 29 | North river lake | Grass-type clean water state |
| 30 | Front part of the body | Grass-type clean water state |
| 31 | Tang Jia lake | Grass-type clean water state |
| 32 | Pool fish lake | Grass-type clean water state |
| 33 | Wang Gangdian | Transition state |
| 34 | Silk screen starch | Grass-type clean water state |
| 35 | Pang Dian | Algae-laden turbid water |
| 36 | He Le Dian | Algae-laden turbid water |
| 37 | Chen Gudian | Algae-laden turbid water |
| 38 | Lotus leaf starch | Algae-laden turbid water |
| 39 | Gaojia white seed | Algae-laden turbid water |
| 40 | Burn the car and starch | Transition state |
| 41 | Xiyu (a hollow) | Algae-laden turbid water |
The experimental process is that the ship body is driven to move on the water body until the table (I) is obtained, and the total time is about 6 hours.
Comparative example
The steady state conversion critical at the sampling point in the water body of the white lake is identified and judged by a statistical factor analysis method, the specific method for statistical judgment is Yu Ruihong, zhang Xiaoxin, liu Tingxi and Hao Yanling. The shallow lake steady state conversion early warning identification method is limited and expected. Ecological theory report, 2017, 37 (11): 3619-3627.
In the comparative example, 41 sampling points which are completely the same as those in the experimental example are selected, steady-state conversion critical analysis is carried out on the 41 sampling points, the steady-state condition of the water body of the sampling points is judged, and the steady-state conditions of the 41 sampling points obtained through the one-by-one analysis of the method are shown in the following table (II):
watch 2
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The data in Table (II) were obtained for 42 hours in total.
As can be seen from the comparison between the first table and the second table, the evaluation result in the first table has an accuracy up to 97.56% only when the evaluation at the 11 th sampling point Beitianzhuang 1 is inconsistent, and the evaluation time can be greatly shortened, the efficiency can be improved, and the method is applicable to more and larger water bodies compared with the prior art.
The invention has been described above in connection with preferred embodiments, which are, however, exemplary only and for illustrative purposes. On this basis, the invention can be subjected to various substitutions and improvements, and all fall within the protection scope of the invention.
Claims (10)
1. A system for evaluating the steady state of shallow lakes by utilizing chlorophyll a and submerged plants is characterized in that,
the system comprises a chlorophyll fluorescence meter (1), an echo detector (2) and a data analysis module (3);
the chlorophyll fluorescence instrument (1) is used for collecting biomass of chlorophyll a in a unit volume in a shallow lake and transmitting collected data to the data analysis module (3);
the fresh weight of the submerged plant in the unit area of the shallow lake is collected through the echo detector (2), and the collected data is transmitted to the data analysis module (3);
and summarizing the chlorophyll fluorescence instrument (1) and the echo detector (2) through the data analysis module (3), and analyzing according to the data to obtain steady state evaluation of the shallow lake.
2. The system for evaluating the steady state of a shallow lake by chlorophyll a and submerged plants according to claim 1,
the system further comprises a hull capable of free sailing on shallow lakes,
the ship body is provided with the chlorophyll fluorescence instrument (1), the echo detector (2) and the data analysis module (3) which move freely in the shallow lake, and any position on the surface of the water body can be used as a sampling point and is parked and detained;
preferably, at least more than 30 mooring measurements are carried out in each shallow lake, thereby obtaining chlorophyll a biomass per unit volume and fresh weight per unit area of submerged plants at 30 sampling points;
the data analysis module (3) is used for analyzing and obtaining steady state evaluation of the shallow lake based on at least 30 groups of chlorophyll a biomass in unit volume and fresh weight of submerged plants in unit area.
3. The system for evaluating the steady state of a shallow lake by chlorophyll a and submerged plants according to claim 2,
the data analysis module (3) comprises a drawing sub-module (31), a curve generation sub-module (32), a abrupt change point analysis sub-module (33) and an evaluation sub-module (34);
wherein the drawing submodule (31) is used for drawing at least 30 groups of chlorophyll a biomass in unit volume and fresh weight data of submerged plants in unit area into a scatter diagram;
the curve generation sub-module (32) is used for generating a regression curve in the scatter diagram;
the abrupt change point analysis submodule (33) is used for reading and analyzing abrupt change points in the regression curve,
the evaluation submodule (34) is used for comparing the sizes of scattered points and abrupt change points in the scattered points so as to further obtain the evaluation of the water body steady state at the sampling points corresponding to the scattered points.
4. The system for evaluating the steady state of a shallow lake by using chlorophyll a and submerged plants according to claim 3,
in the drawing submodule (31), the chlorophyll-a biomass per unit volume is taken as an ordinate of a scatter diagram, and the ratio of the chlorophyll-a biomass per unit volume to the fresh weight of the submerged plant per unit area is taken as an abscissa.
5. The system for evaluating the steady state of a shallow lake by using chlorophyll a and submerged plants according to claim 3,
in the evaluation submodule (34), sampling points corresponding to scattered points with the abscissa being greater than or equal to the abscissa of the abrupt change point and the chlorophyll a content being greater than or equal to 30ug/L are evaluated as algae-type turbid water states, and sampling points corresponding to scattered points with the abscissa being less than the abscissa of the abrupt change point and the chlorophyll a content being less than 30ug/L are evaluated as grass-type clear water states or transition states.
6. A method for evaluating the steady state of a shallow lake by utilizing chlorophyll a and submerged plants, which is characterized by comprising the following steps:
the method comprises the following steps:
step 1, driving a chlorophyll fluorescence meter (1), an echo detector (2) and a data analysis module (3) to freely move in a shallow lake through a ship body, taking any position on the surface of a water body as a sampling point, and mooring and retaining; controlling a chlorophyll fluorescence instrument (1) and an echo detector (2) to sample when the vehicle is parked;
and 2, transmitting the collected biomass of chlorophyll a in unit volume and fresh weight data of submerged plants in unit area to the data analysis module (3), and analyzing by the data analysis module (3) to obtain steady state evaluation of the shallow lake.
7. The method for evaluating a shallow lake steady state by using chlorophyll a and submerged plants according to claim 6, wherein:
in the step 1, the hull is moored at least 30 times in each shallow lake, i.e. at least 30 sampling points are selected.
8. The method for evaluating a shallow lake steady state by using chlorophyll a and submerged plants according to claim 6, wherein:
said step 2 comprises the sub-steps of,
a substep 2-1 of drawing at least 30 groups of chlorophyll a biomass per unit volume and fresh weight data of submerged plants per unit area into a scatter diagram through a drawing submodule (31);
a substep 2-2 of generating a regression curve in the scatter plot by means of a curve generation submodule (32);
a substep 2-3, reading and analyzing the abrupt change points in the regression curve by an abrupt change point analysis submodule (33),
and 2-4, comparing the scattered points in the scattered point diagram with the abrupt change points through an evaluation sub-module (34), and further obtaining the evaluation of the water quality of the water body at the sampling points corresponding to the scattered points.
9. The method for evaluating a shallow lake steady state by using chlorophyll a and submerged plants according to claim 8, wherein:
in the substep 2-1, the chlorophyll-a biomass (μg/L) per unit volume is taken as the ordinate of a scatter plot, and the chlorophyll-a biomass (μg/L) per unit volume is taken as the ordinate of a scatter plot together with the fresh weight (kg/m) of the submerged plant per unit area 2 ) As the abscissa of the scatter plot.
10. The method for evaluating a shallow lake steady state by using chlorophyll a and submerged plants according to claim 8, wherein:
in the substep 2-4, the sampling points corresponding to the scattered points with the abscissa larger than the abscissa of the abrupt change point and the chlorophyll a content larger than 30ug/L are evaluated as algae-type turbid water states, and the sampling points corresponding to the scattered points with the abscissa smaller than the abscissa of the abrupt change point and the chlorophyll a content smaller than 30ug/L are evaluated as grass-type clear water states or transitional states.
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