CN207798085U - A kind of phytal zone bathymetric surveying device - Google Patents
A kind of phytal zone bathymetric surveying device Download PDFInfo
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- CN207798085U CN207798085U CN201820227179.8U CN201820227179U CN207798085U CN 207798085 U CN207798085 U CN 207798085U CN 201820227179 U CN201820227179 U CN 201820227179U CN 207798085 U CN207798085 U CN 207798085U
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- inertial measurement
- rod
- measurement units
- gnss
- divining
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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
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The utility model provides a kind of phytal zone bathymetric surveying device, which includes GNSS base stations, mobile operation carrier and workbench, GNSS movement stations, IMU Inertial Measurement Units, angle rotary encoder, divining rod and the pin-saving chip being arranged in the mobile operation carrier being placed near phytal zone on known control point；The divining rod stretches into underwater one end and fixes metal ball, and the metal ball is in direct contact with underwater topography.The method that the utility model is in direct contact bathymetric surveying using mechanical divining rod, the data exception occurred when acoustics or the optics bottom being avoided to measure, in conjunction with GNSS movement stations, IMU Inertial Measurement Units and angle rotary encoder motion track acquisition technique, dynamic access underwater topography data improve the measurement accuracy and measurement efficiency of underwater topography.
Description
Technical field
The utility model is related to bathymetric surveying fields, more particularly to a kind of phytal zone bathymetric surveying device.
Background technology
Bathymetric surveying is the important job content of the engineering mappings such as marine charting, navigation channel mapping, lake mapping.Under water
Topographic survey includes mainly positioning and depth measurement two large divisions.Positioning means waterborne are mainly fixed including optical instrument positioning, radio
Position, satellite positioning and integrated positioning etc.；Depth measurement means waterborne are mainly by echo depth sounder.
For phytal zone bathymetric surveying, more common method includes at present：Manually using GNSSRTK and feeler lever into
Row One-Point Location depth sounding, the method operating efficiency is low, high labor cost, and to personnel safety and instrument and equipment security threat pole
Greatly；Or acoustic measurement method is used, but the method is easy to be interfered in phytal zone, and in phytal zone, acoustic equipment once leaves
The water surface, you can't get normal datas, cause data exception, measurement accuracy low；Or use movable type GNSS RTK and laser
The single-point measurement method of ranging, the method frequency acquisition is relatively low, and laser is easy to make under the water quality situation of phytal zone complexity
At interference, data exception is equally will also result in, measurement accuracy is low.
Utility model content
The purpose of this utility model is to provide a kind of phytal zone bathymetric surveying device, passes through satellite positioning and inertia
Airmanship carries out Waterborne movable track acquisition, and water-bed landform is in direct contact by improved mechanical divining rod, avoid acoustics or
The data exception that the optics bottom occurs when measuring not only increases measurement accuracy and measurement efficiency compared to traditional work, and drops
Low labor intensity and security risk.
To achieve the above object, the utility model provides following scheme：
A kind of phytal zone bathymetric surveying device, described device include being placed near phytal zone on known control point
GNSS base stations, mobile operation carrier and the workbench being arranged in the mobile operation carrier, GNSS movement stations, IMU are used
Property measuring unit, angle rotary encoder, divining rod and pin-saving chip；The divining rod stretches into underwater one end and fixes
Metal ball；The pin-saving chip is arranged in the side of the IMU Inertial Measurement Units；
One end of the workbench is equipped with swivel bearing；The divining rod is connect with the swivel bearing, and the depth sounding
Bar is rotated along the swivel bearing；The angle rotary encoder is arranged on the rotation center of the swivel bearing；The angle
Degree rotary encoder is used to acquire the rotation angle of the divining rod；
The workbench is connect with the mobile operation carrier by the swivel bearing；Turn in the mobile operation carrier
When curved or horizontal direction moves, the workbench is with swivel bearing described in the divining rod in the horizontal direction upper edge with the movement
Operation carrier moves；
The IMU Inertial Measurement Units are fixed on the other end of the workbench；The IMU Inertial Measurement Units are equipped with
Supporting rod；One end of the supporting rod is fixedly connected with the IMU Inertial Measurement Units, the other end of the supporting rod with it is described
GNSS movement stations are fixedly connected.
Optionally, the measuring center of the GNSS movement stations and the measuring center of the IMU Inertial Measurement Units are located at same
On one plumb line.
Optionally, the swivel bearing, the GNSS movement stations and the IMU Inertial Measurement Units are fixed as same rigid
Body.
Optionally, scale is carried on the divining rod.
Optionally, the divining rod is telescopic rod.
Optionally, the sample frequency of the GNSS movement stations is more than or equal to 1Hz.
Optionally, the sample frequency of the IMU Inertial Measurement Units is more than or equal to 200Hz.
Optionally, the mobile operation carrier is pneumatic boat, boat or duck.
According to specific embodiment provided by the utility model, the utility model discloses following technique effects：
The utility model provides a kind of phytal zone bathymetric surveying device, which includes being placed near phytal zone
GNSS base stations on known control point, mobile operation carrier and the workbench being arranged in the mobile operation carrier,
GNSS movement stations, IMU Inertial Measurement Units, angle rotary encoder, divining rod and pin-saving chip；The divining rod is stretched
Enter underwater one end and fix metal ball, and the metal ball is in direct contact with underwater topography；One end of the workbench is equipped with rotation
Shaft is held；The divining rod is connect with the swivel bearing, and the divining rod is rotated along the swivel bearing；The angle rotation
Turn encoder to be arranged on the rotation center of the swivel bearing；The angle rotary encoder is for acquiring the divining rod
Rotation angle；The IMU Inertial Measurement Units are fixed on the other end of the workbench；It is set on the IMU Inertial Measurement Units
There is supporting rod；One end of the supporting rod is fixedly connected with the IMU Inertial Measurement Units, the other end of the supporting rod and institute
GNSS movement stations are stated to be fixedly connected.The method that the utility model is in direct contact bathymetric surveying using mechanical divining rod, avoids
The data exception that acoustics or the optics bottom occur when measuring, rotates in conjunction with GNSS movement stations, IMU Inertial Measurement Units and angle
Encoder motion track acquisition technique, the terrain data below dynamic access motion track, improves the measurement accuracy of underwater topography
And measurement efficiency.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without having to pay creative labor, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structural schematic diagram of the utility model embodiment phytal zone bathymetric surveying device；
Fig. 2 is the flow diagram of the utility model embodiment phytal zone bathymetric surveying method.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
The purpose of this utility model is to provide a kind of phytal zone bathymetric surveying device, passes through satellite positioning and inertia
Airmanship carries out Waterborne movable track acquisition, and water-bed landform is in direct contact by mechanical feeler lever, avoids acoustics or optics water-bed
The data exception occurred when measurement not only increases measurement accuracy and measurement efficiency compared to traditional work, and it is strong to reduce labour
Degree and security risk.
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, below in conjunction with the accompanying drawings and have
Body embodiment is described in further detail the utility model.
First major name is explained.
Angle rotary encoder：Mechanical rotation or angular displacement are converted to the sensor of electric signal output, recording angular is true
Real variable quantity.
GNSS：Global Satellite Navigation System or Global Navigation Satellite System (English：Global Navigation
Satellite System, guide number SS).
IMU：Inertial Measurement Unit (English：Inertial measurement unit, abbreviation IMU) it is to measure object three
The device of axis attitude angle (or angular speed) and acceleration, and calculate with this posture of object.
Fig. 1 is the structural schematic diagram of the utility model embodiment phytal zone bathymetric surveying device, as shown in Figure 1, this
The phytal zone bathymetric surveying device that utility model embodiment carries arch includes being placed near phytal zone on known control point
GNSS base stations, mobile operation carrier and workbench 1, GNSS movement stations 2, the IMU being arranged in the mobile operation carrier
Inertial Measurement Unit 3, angle rotary encoder 4, divining rod 5 and pin-saving chip 6.GNSS base stations are erected at land
Satellite data is received simultaneously on control point and with GNSS movement stations 2.IMU Inertial Measurement Units 3 are for obtaining mobile operation carrier
Attitude data.
The divining rod 5 stretches into underwater one end and fixes metal ball 7；The setting of the pin-saving chip 6 is used in the IMU
The side of property measuring unit 3.
One end of the workbench 1 is equipped with swivel bearing 8；The divining rod 5 is connect with the swivel bearing 8, and described
Divining rod 5 is rotated along the swivel bearing 8.The rotation center in the swivel bearing 8 is arranged in the angle rotary encoder 4
On.The divining rod 5 can be around the concentric rotation of the angle rotary encoder 4, during traverse measurement, underwater topography
Change or carrier state waterborne change will all make the divining rod 5 send out the angular metric relative to workbench 1 without departing from the bottom
It is raw to change.The angle rotary encoder 4 is used to acquire the rotation angle of the divining rod 5.
The workbench 1 is connect with the mobile operation carrier by the swivel bearing 8；In the mobile operation carrier
When turning or horizontal direction move, the workbench 1 is with swivel bearing 8 described in the divining rod 5 in the horizontal direction upper edge with institute
State mobile operation carrier movement.
The IMU Inertial Measurement Units 3 are fixed on the other end of the workbench 1.On the IMU Inertial Measurement Units 3
Equipped with supporting rod 9.One end of the supporting rod 9 is fixedly connected with the IMU Inertial Measurement Units 3, the supporting rod 9 it is another
End is fixedly connected with the GNSS movement stations 2.
The measuring center of the GNSS movement stations 2 and the measuring center of the IMU Inertial Measurement Units 3 are located at same vertical
On line.
The swivel bearing 8, the GNSS movement stations 2 and the IMU Inertial Measurement Units 3 are fixed as same rigid body.
Meanwhile the GNSS movement stations 2, the IMU Inertial Measurement Units 3 and angle rotary encoder 4 are mounted on workbench 1 simultaneously
On, three's relative position is constant, also constitutes same rigid body.
Mobile operation carrier pulls divining rod 5 by workbench 1 and is travelled in shallow water area, obtains underwater topography data.It is described
Mobile operation carrier is pneumatic boat, boat or duck.
The divining rod 5 is with graduated telescopic rod, and the divining rod 5 is to be made and carried with metal or other materials
It is carved with scale, the rigid scale bar for sounding the depth of the water for reading in chassis.
The sample frequency of the GNSS movement stations 2 is more than or equal to 1Hz.The sample frequency of the IMU Inertial Measurement Units 3 is big
In equal to 200Hz.
The course of work using measuring device provided by the utility model is as follows：
Measuring device provided by the utility model is mounted on measurement boat or duck, divining rod is adjusted
Length, with adapt to survey area waters, after measuring device is ready, along scheduled acquisition route progress uninterrupted data adopt
Collection.The navigation equipment that GNSS movement stations, IMU Inertial Measurement Units combine obtains mobile operation carrier position and attitude data, angle
Rotary encoder obtains the rotary variable of metal ball upper end in water-bed traveling process.
Compared with prior art, the utility model innovative point is as follows：
First, the utility model substitutes the non-contact measurements such as acoustics, laser ranging using mechanical device and carries out under water
It measures, the underwater topography data for obtaining geodetic coordinates is acquired in conjunction with Waterborne movable track.Divining rod combination angle rotary encoder
The mode that phytal zone measures can be made to change, being converted to the few continuous path of manual operation by the single-point acquiring of website acquires.
The second, divining rod is transformed：Traditional divining rod and GNSS movement stations, IMU Inertial Measurement Units are passed through into rotary shaft
Connection is held, circular metal ball is fixed in the lower end of divining rod, facilitates divining rod water-bed by the contact of metal ball gravity, divining rod upper end connects
Equipment swivel bearing is connect, swivel bearing carries out concentric angle wheel measuring using angle rotary encoder.
Third, the acquisition of Waterborne movable track：Using the combination of the GNSS movement stations, IMU Inertial Measurement Units of technology maturation
Airmanship scheme carries out, and obtains the motion track of the moving movements carriers such as pneumatic boat.Specially GNSS movement stations are acquired
Track dynamic position (geodetic coordinates XYZ), the IMU Inertial Measurement Units of moving movement carrier record high frequency attitude data, then
The data of acquisition are stored by pin-saving chip, and are transmitted to later stage software, navigation calculation is combined by later stage software,
The mobile trajectory data for obtaining moving movement carrying encryption (includes coordinate X, Y, Z attitude angle Heading Pitch Roll and phase
The temporal information answered).
4th, the pin-saving chip absolute angle delta data that also stored angles rotary encoder acquires simultaneously, and pass
Later stage software is transported to, the data for GNSS movement stations, IMU Inertial Measurement Units, angle rotary encoder being acquired by later stage software
Data fusion clearing are carried out on the basis of time synchronization, the geographical coordinate xyz of the position where final output metal ball passes through
The clearing of motion track are to obtain the terrain data of underwater large area.The angle exported specifically by angle rotary encoder
Value can obtain vertical direction relative angle of the underwater bathy metry metal ball of corresponding time relative to the rigid platfor for moving operation carrier
Degree constitutes polar coordinates by this angle and the length of divining rod, is settled accounts with the coordinate attitude data of pier, exports water
Water-bed coordinate data measured by bottom depth measurement metal.
5th, the sample frequency of GNSS movement stations is up to 10Hz, the sample frequencys of IMU Inertial Measurement Units up to 200Hz,
High sample frequency can be such that mobile operation carrier persistently travels without stopping static gathered data, efficient, entire data acquisition
In the process without human intervention, safety coefficient is high.
Compared with prior art, the beneficial effects of the utility model are：
The utility model detects underwater topography using mechanical structure, not by water quality impact, same to acoustics, optical probe phase
Than data reliability is stronger, is more suitable for river entrance, the complex water areas such as silt region.
Using GNSS movement stations, IMU Inertial Measurement Unit combined navigation locating methods rail is carried out using the poster processing soft
The combination of mark data resolves, and mobile operation carrier aquatic measurement track is obtained, and measurement frequency reaches 200Hz, in operation process
Without stopping, measurement efficiency is improved.
The water-bed measurement of contact is directly pulled after mobile operation carrier using divining rod combination metal ball, compared to acoustics, light
Etc. non-contact measurement methods improve measurement accuracy.
To achieve the above object, the utility model additionally provides a kind of phytal zone bathymetric surveying method, the method
Applied on the phytal zone bathymetric surveying device.
Fig. 2 is the flow diagram of the utility model embodiment phytal zone bathymetric surveying method, as shown in Fig. 2, this
The phytal zone bathymetric surveying method that utility model provides specifically includes following steps：
Step 100：Obtain GNSS base stations data, GNSS moving station numbers according to this and the attitude data of mobile operation carrier.
Step 200：According to this and the mobile operation carrier according to the GNSS base stations data, the GNSS moving station numbers
Attitude data, determine the motion track of the mobile operation carrier.
Step 300：Obtain the rotation angle information of divining rod and the length information of the divining rod.
Step 400：According to the rotation angle information of the divining rod, the length information of the divining rod and the mobile fortune
The run trace of row carrier determines the motion track for the metal ball that the divining rod is contacted with underwater topography.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Specific case used herein is expounded the principles of the present invention and embodiment, above example
Explanation be merely used to help understand the method and its core concept of the utility model；Meanwhile for the general technology of this field
Personnel, according to the thought of the utility model, there will be changes in the specific implementation manner and application range.In conclusion
The content of the present specification should not be construed as a limitation of the present invention.
Claims (8)
1. a kind of phytal zone bathymetric surveying device, which is characterized in that described device includes being placed in known near phytal zone
GNSS base stations, mobile operation carrier and the workbench being arranged in the mobile operation carrier, GNSS on control point move
Dynamic station, IMU Inertial Measurement Units, angle rotary encoder, divining rod and pin-saving chip；The divining rod stretches under water
One end fix metal ball；The pin-saving chip is arranged in the side of the IMU Inertial Measurement Units；
One end of the workbench is equipped with swivel bearing；The divining rod is connect with the swivel bearing, and the divining rod edge
The swivel bearing rotation；The angle rotary encoder is arranged on the rotation center of the swivel bearing；The angle rotation
Turn rotation angle of the encoder for acquiring the divining rod；
The workbench is connect with the mobile operation carrier by the swivel bearing；In the mobile operation carrier turning or
When horizontal direction moves, the workbench is with swivel bearing described in the divining rod in the horizontal direction upper edge with the mobile operation
Carrier movement；
The IMU Inertial Measurement Units are fixed on the other end of the workbench；The IMU Inertial Measurement Units are equipped with support
Bar；One end of the supporting rod is fixedly connected with the IMU Inertial Measurement Units, the other end of the supporting rod and the GNSS
Movement station is fixedly connected.
2. the apparatus according to claim 1, which is characterized in that the measuring center of the GNSS movement stations and the IMU are used
The measuring center of property measuring unit is located on same plumb line.
3. the apparatus according to claim 1, which is characterized in that the swivel bearing, GNSS movement stations and described
IMU Inertial Measurement Units are fixed as same rigid body.
4. the apparatus according to claim 1, which is characterized in that carry scale on the divining rod.
5. the apparatus according to claim 1, which is characterized in that the divining rod is telescopic rod.
6. the apparatus according to claim 1, which is characterized in that the sample frequency of the GNSS movement stations is more than or equal to 1Hz.
7. the apparatus according to claim 1, which is characterized in that the sample frequency of the IMU Inertial Measurement Units be more than etc.
In 200Hz.
8. the apparatus according to claim 1, which is characterized in that the mobile operation carrier is pneumatic boat, boat or water
Land convertible car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227179.8U CN207798085U (en) | 2018-02-09 | 2018-02-09 | A kind of phytal zone bathymetric surveying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227179.8U CN207798085U (en) | 2018-02-09 | 2018-02-09 | A kind of phytal zone bathymetric surveying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207798085U true CN207798085U (en) | 2018-08-31 |
Family
ID=63276010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820227179.8U Withdrawn - After Issue CN207798085U (en) | 2018-02-09 | 2018-02-09 | A kind of phytal zone bathymetric surveying device |
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| CN (1) | CN207798085U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108151715A (en) * | 2018-02-09 | 2018-06-12 | 首都师范大学 | A kind of phytal zone bathymetric surveying device and method |
-
2018
- 2018-02-09 CN CN201820227179.8U patent/CN207798085U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108151715A (en) * | 2018-02-09 | 2018-06-12 | 首都师范大学 | A kind of phytal zone bathymetric surveying device and method |
| CN108151715B (en) * | 2018-02-09 | 2023-09-26 | 首都师范大学 | Shallow water area underwater topography measurement device and method |
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Granted publication date: 20180831 Effective date of abandoning: 20230926 |
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Granted publication date: 20180831 Effective date of abandoning: 20230926 |
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