TW201537143A - Methods and systems for monitoring the water surface elevations of the ocean - Google Patents

Abstract

The present invention develops methods and systems for monitoring the water surface elevations of the ocean by utilizing a VBS-RTK control and computing center. The systems mainly consists of a GPS system and a floating body on which the GPS system is mounted and a receiving system. The GPS system includes a RTK-GPS receiver, a data logger, two GPRS modems (at least). The receiving system is composed of a data receiving, a data quality control, and a data analyzing module; in which the data quality control (QC) module includes a data QC program and the data analyzing module includes a statistical tool for analyzing the data. The RTK-GPS receiver receives the satellite signals and determines the positions of the floating body on which the GPS is installed. The position data is then transferred to the VBS-RTK center via a GPRS modem. The VBS-RTK control and computing center calculates data of a virtual base station near the buoy and then transferred the data back to the RTK-GPS receiver for completing the continuous RTK computation at a time interval in every one hour. Eventually, the water surface elevation of the ocean in the time domain is obtained in the RTK-GPS receiver and is further transmitted to the receiving system for data quality control and statistical analysis; thereby the tide and wave data of the water where the floating body is deployed are obtained. Consequently, the present invention can be used to obtain accurate real-time water surface elevations and the floating buoy is easily deployed.

Description

Sea surface water level observation method and system

The invention relates to a sea surface water level observation method and system, in particular to a virtual base station real-time dynamic (Virtual Base Station Real-Time Kinematic, VBS-RTK) positioning technology, which has the advantages of real-time and high-precision tidal level and wave data. And efficacy.

According to the prior art, a "sea weather observation operation device and method" is provided. Please refer to the invention patent case No. 087358 of the Republic of China. The observation operation device includes: an observation system mounted on the buoy body and having data 撷Taking a system and a data processing system, the data acquisition system includes a wind anemometer, a barometer, a temperature meter, and a global locator (GPS). The data processing system includes a wave sensing module, a control and a capture module. The group, the analysis and storage module, the wind and the water temperature conversion module, etc., wherein the wave sensing module is a three-in-one sensor such as an accelerometer, an inclinometer and a northerer; thereby the buoy body cloth After being placed at a fixed point, the data can be used to capture the sensor signals of the system, and the meteorological data of water temperature, temperature, air pressure, wind, wave and current can be measured, and finally the observation task is achieved through analysis and finishing.

For example, the invention patents of the Republic of China No. I356897 and No. I356157 provide a "GPS sea surface fluctuation observation method" and a "GPS sea surface fluctuation observation device", both of which mainly disclose the detection of the floating body through the GPS module. The three axial movement speeds during floating shall be determined by the moving average method with probability distribution characteristics to determine whether the sequence of the three-axis motion speed has GPS signal offset and filtering, and is more in line with the application of wave theory. The software calculates the sea surface fluctuation data such as the velocity spectrum, the water level spectrum, the indicative wave height, the average period and the direction spectrum, and the purpose is to observe the wave state of the sea surface, that is, the method and device for obtaining wave data such as wave height, period and wave direction. .

The invention also provides a "GPS DEVICE FOR MEASURING WAVE HEIGHT AND CURRENT DIRECTION AND SPEED AND GPS SYSTEM FOR MEASURING WAVE HEIGHT AND CURRENT DIRECTION AND SPEED" invention patent, which discloses a GPS device capable of measuring wave height, flow direction and speed, The GPS device comprises: a GPS receiver, which receives GPS signals of measured wave height, wave direction and motion speed from a GPS antenna, and calculates three-axis position data; a data storage unit, which is connected The GPS receiver is configured to store the three-axis position data; when the floating system equipped with the antenna, the GPS receiver and the data storage unit floats on the sea surface, the floating body will fluctuate with waves and currents, and continues to cooperate with one The high-pass filter of the processing unit corrects the error, and then calculates the displacement variation of the sea surface wave, and the actual fluctuation of the sea surface can be measured.

However, after checking the above-mentioned observation techniques in practical applications, whether using various types of different sensors for sensing, or using GPS modules to capture motion speed data, and filtering the GPS signal offset, or It is the height data solved by the GPS receiver, and the filtering means, such as GPS noise, can only measure the meteorological data of water temperature, temperature, air pressure, wind, wave and current, but it is difficult to observe the long The tide of the cycle.

The prior art also uses RTK-GPS to measure sea surface water level changes, which mainly uses more than two GPS receivers, and one of the fixed points set up at a known location is called a GPS reference station, and the GPS reference station Calculate the influence of atmospheric error (ionosphere, tropospheric delay) and orbital error on the received observation data, and transmit the error correction value to other GPS receivers through the terrestrial radio or telecommunication system, and instantly calculate the receiver and the base station. The relative vector of the position is used to obtain the position data of high precision.

It can be seen from the above description that the disclosed patent case is a technique for indirect observation of waves, and the measured data needs to be converted to obtain wave height, period, one-dimensional wave spectrum and wave water level data, and RTK-GPS. It is easy to be limited in use, that is, the base station must be built by itself, and there is a distance limit between it and the base station. If the distance between the base station and the receiver increases, the influence of atmospheric error will make the measurement accuracy greatly. The decline is based on how to improve the measurement accuracy and widely used in various environmental conditions.

In view of this, our inventors have devote themselves to further research on the conventional sea meteorological observation technology, and have begun research and development and improvement, with a better creation to solve the above problems, and have been experimentally and modified to have the invention.

Therefore, the object of the present invention is to solve the conventional sea meteorological observation technology, which is an indirect observation wave regardless of the means used, and it is necessary to analyze and collate the measured data to obtain the wave height, the period, the one-dimensional wave spectrum and the wave water level. As a result of the data, there are problems and shortcomings such as the inability to observe the tide level on the floating body, the low measurement accuracy, and the limitation of the construction of the base station.

In order to achieve the above objectives, our inventors provide a sea level water level observation system using a VBS-RTK control and calculation center, including: a GPS system and a receiving system, the GPS system is mounted on a floating body, and the GPS The system includes an RTK-GPS receiving module, a storage module and at least two transmission modules. The RTK-GPS receiving module respectively connects the storage module and a transmission module thereof, and the storage module is coupled to another a transmission module; and a receiving system comprising a receiving module, a quality control module and a statistical analysis module, wherein the receiving module is wirelessly connected to the other transmitting module, the quality control module The system has a data quality control program, and the statistical analysis module has a data statistical analysis program; the RTK-GPS receiving module is configured to receive the satellite signal and solve the position data of the floating body, and the transmission is performed. The module receives the virtual reference station data, so that the RTK-GPS receiving module continuously performs differential (RTK) solution in a time interval, and then obtains the calculated sea surface water level data and records in the storage module. Again, that Collection system will receive the time interval of the sea water level data, perform data quality control procedures and statistical analysis procedures to obtain the floating body should be put at the tide of cloth and wave data.

According to the sea surface water level observation system described above, the RTK-GPS receiving module is further connected to a GPS antenna for receiving the satellite signal.

According to the sea surface water level observation system described above, the GPS system further includes an angular accelerometer for measuring the acceleration, inclination and azimuth of the floating body.

In order to achieve the above objectives, our inventors also provide a sea level water level observation method, the steps comprising: a GPS system installed in a floating body receiving a satellite signal, and solving the position information of the floating body; transmitting the position The data is sent to a VBS-RTK (Virtual Base Station Real-Time Kinematic) control and calculation center, and the virtual base station data corresponding to the floating body is obtained through operation; the virtual base station data is returned to the GPS system, and at a time The interval is continuously differentially (RTK) solved to obtain the calculated sea surface water level data and recorded, and then transmitted to a receiving system; and the receiving system performs data quality control procedures and statistical analysis on the surface water level data of the time interval. Procedure to obtain the tidal level and wave data corresponding to the floating body.

According to the sea surface water level observation method described above, wherein the calculation obtains the virtual base station data corresponding to the floating body, and further comprises the sub-step: the VBS-RTK control and computing center wireless connection-satellite positioning reference system for continuously acquiring the satellite The original data is located and the virtual base station data is corrected and calculated.

According to the sea surface water level observation method described above, the sea level water level data after the solution includes multiple water surface height data and quality indicator data, and the data quality control program includes substeps: defining a quality indicator standard, and according to the quality The indicator standard filters the sea level data after the solution.

According to the sea surface water level observation method described above, the statistical analysis program of the data includes the sub-step: performing arithmetic average on the sea surface water level data after the data quality control program to obtain the tide level data.

According to the sea surface water level observation method described above, wherein the obtained sea surface water level data includes a sub-step: the GPS system is provided with an angular accelerometer for measuring the acceleration, inclination and azimuth of the floating body, and according to the The sea surface water level data are analyzed by the acceleration, dip angle and azimuth angle; and the sea surface water level data analyzed by the angular accelerometer is verified based on the sea surface water level data calculated by the GPS system.

With the above arrangement, compared with the prior art, the present invention mainly integrates the RTK-GPS module, the storage module and the transmission module through the setting of the GPS system, so that the floating body cloth is placed in the estuary. And the coastal area, because it will fluctuate with the fluctuation of the water surface, only need to cooperate with the VBS-RTK control and calculation center, generate the virtual reference station data corresponding to the floating body, and obtain the difference (RTK) solution after the sea surface The water level data means that the present invention does not need to be built by itself as a reference station. Furthermore, the present invention performs the calculation, screening and analysis of the sea surface water level data by the operation of the receiving system. Instant and high-precision tidal level and wave data with the advantages and benefits of wide applicability.

With regard to the technical means of the inventors, several preferred embodiments are described in detail below with reference to the drawings, and the present invention will be further understood and appreciated.

First, referring to Fig. 1, the present invention is a sea surface water level observation system, which includes:

A GPS system 1 is mounted on a floating body (not shown, and does not define the type of the floating body), the floating system floats in the estuary and the coastal area, and the GPS system 1 includes an RTK-GPS The receiving module 11 , the storage module 12 , the at least two transmission modules 13 , 13 a and the corner accelerometer 14 , the RTK-GPS receiving module 11 respectively connecting the storage module 12 and a transmission module 13 thereof, The storage module 12 is coupled to another transmission module 13a. The transmission modules 13 and 13a are GPRS data machines. The angular acceleration device 14 is a gyroscope connected to the storage module 12 and configured to measure the floating body. Acceleration, inclination and azimuth; the present invention utilizes a VBS-RTK (Virtual Base Station Real-Time Kinematic) control and computing center 2 to wirelessly connect the transmission module 13;

A receiving system 3, which is a physical receiving station, and the receiving system 3 includes a receiving module 31, a quality control module 32 and a statistical analysis module 33, and the receiving module 31 is coupled to the other transmitting module. 13a is a wireless connection, the quality control module 32 has a data quality management program, and the statistical analysis module 33 has a data statistical analysis program;

The RTK-GPS receiving module 11 is further connected to a GPS antenna 15 for receiving satellite signals and solving the position data of the floating body. The VBS-RTK control and computing center 2 is wirelessly coupled to a satellite positioning reference system 4 For continuously obtaining the satellite positioning original data, and the VBS-RTK control and calculation center 2 receives the position data from the transmission module 13 and corrects and calculates the original data according to the satellite positioning data to make the transmission mode The group 13 returns the virtual base station data corresponding to the floating body, so that the RTK-GPS receiving module 11 continuously performs differential (RTK) solution in a time interval, and then obtains the calculated sea surface water level data and records it in the storage mode. Group 12, in addition, the receiving system 3 will receive the sea surface water level data of the time interval, perform data quality control procedures and data statistical analysis procedures to obtain tidal level and wave data corresponding to the floating body deployment.

Next, referring to FIG. 2, the present invention is a sea surface water level observation method, and the steps thereof include:

The GPS system 1 is mounted on the floating body, the GPS antenna 15 receives the satellite signal, and the RTK-GPS receiving module 11 solves the position data of the floating body;

Transmitting the location data to the VBS-RTK (Virtual Base Station Real-Time Kinematic) control and computing center 2 through the transmission module 13, the VBS-RTK control and computing center 2 wirelessly connecting the satellite positioning reference system 4, for continuous acquisition of satellite positioning original data, and according to the correction and calculation of the virtual base station data corresponding to the floating body;

The VBS-RTK control and computing center 2 returns the virtual reference station data to the RTK-GPS receiving module 11 by the one transmission module 13, and continuously performs differential (RTK) solution in a time interval. Obtaining and calculating the sea surface water level data after the solution, the sea level data includes the complex water surface height data, the water surface fluctuation data and the quality indicator data, and is continuously transmitted to the receiving system 3; the RTK- is assumed in the embodiment. The data sampling frequency of the GPS receiving module 11 is 1 Hz, and the operation is continuously performed every 10 minutes for 10 minutes, that is, the differential (RTK) solution is performed every 1 second within 10 minutes, and 600 water surface height data and water surface fluctuation data can be obtained. The quality indicator data is continuously recorded by the storage module 12 and recorded;

The other transmission module 13a transmits the decoded sea surface water level data recorded by the storage module 12 to the receiving system 3 for archival transmission through the transmission mode of the wireless network;

The receiving system 3 performs a data quality control program and a data statistical analysis program for the sea surface water level data of the time interval, and the data quality control program refers to defining a quality indicator standard, and filtering the solved sea surface water level data according to the quality index standard. The statistical analysis program refers to the arithmetic average of the sea surface water level data after the data quality control procedure to obtain the tide level data corresponding to the floating body deployment; in other words, the quality control module 32 is for the 600 points. The water surface height data and the quality index data are compared one by one according to the quality index standard, and the water surface height data that does not meet the quality indicator standard can be filtered out, and the statistical analysis module 33 adopts the water surface height data that meets the quality indicator standard. After the arithmetic average, the tide level data is obtained. At the same time, the water surface fluctuation data conforming to the quality index standard is adopted, and the analysis method based on the wave theory is used to calculate the one-dimensional wave spectrum, the indicative wave height, the average period and the peak period, and the like. Wave data.

In addition, as shown in Figure 3, the obtained sea level data after the solution includes sub-steps:

The GPS system 1 is provided with the angular accelerometer 14 for measuring the acceleration, inclination and azimuth of the floating body, and analyzing the sea surface water level data according to the acceleration, the inclination angle and the azimuth angle;

Based on the calculated sea surface water level data of the GPS system 1, the sea level data of the analyzed angular accelerometer 14 is verified.

Through the above description, it is apparent that the present invention mainly integrates the RTK by the GPS system 1 in the actual application, compared with the prior art, such as the inability to observe the tidal level, the low measurement accuracy, and the limitation of the built reference station. - GPS module 11, storage module 12 and transmission module 13, 13a, when the floating body cloth is placed in the estuary and coastal area and floated, the position data calculated by the RTK-GPS module 11 is matched with the VBS - The RTK control and calculation center 2 generates the virtual base station data corresponding to the floating body, and can obtain the difference (RTK) solved sea surface water level data. At the same time, the present invention is based on the data quality control program of the receiving system 3 and The data statistical analysis program, the screening and analysis of the sea surface water level data after the solution, has the instant and high-precision tidal level and wave data, and has the advantages and effects of wide applicability.

In summary, the technical means disclosed in the present invention can effectively solve the conventional problems and achieve the intended purpose and effect, and are not seen in the publication before publication, have not been publicly used, and have long-term progress, and are patents. The invention claimed by the law is correct, and the application is filed according to law, and the company is invited to give a detailed examination and grant a patent for invention.

The above is only the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, that is, the equivalent changes and modifications made by the scope of the invention and the contents of the invention are all It should remain within the scope of this invention.

1‧‧‧GPS system
11‧‧‧RTK-GPS Receiver Module
12‧‧‧ Storage Module
13, 13a‧‧‧Transmission module
14‧‧‧Angle Accelerator
15‧‧‧GPS antenna
2‧‧‧VBS-RTK Control and Computing Center
3‧‧‧ Receiving system
31‧‧‧ receiving module
32‧‧‧Quality Control System
33‧‧‧Statistical Analysis Module
4‧‧‧Satellite Positioning Reference System

[Fig. 1] is a schematic view showing the structure of the present invention. [Fig. 2] is a flow chart of the present invention. [Fig. 3] is a flow chart of the substeps of the present invention.

1‧‧‧GPS system

11‧‧‧RTK-GPS Receiver Module

12‧‧‧ Storage Module

13, 13a‧‧‧Transmission module

14‧‧‧Angle Accelerator

15‧‧‧GPS antenna

2‧‧‧VBS-RTK Control and Computing Center

3‧‧‧ Receiving system

31‧‧‧ receiving module

32‧‧‧Quality Control System

33‧‧‧Statistical Analysis Module

4‧‧‧Satellite Positioning Reference System

Claims (8)

A sea level water level observation system includes: a GPS system installed on a floating body, and the GPS system includes an RTK-GPS receiving module, a storage module and at least two transmission modules, the RTK-GPS The receiving module is respectively connected to the storage module and a transmission module thereof, and the storage module is coupled to another transmission module; and a receiving system comprising a receiving module, a quality control module and a statistical analysis a module, the receiving module is wirelessly connected to the other transmission module, the quality control module has a data quality control program, and the statistical analysis module has a data statistical analysis program; by the RTK The GPS receiving module is configured to receive the satellite signal and solve the position data of the floating body, and the transmitting module receives the virtual reference station data to enable the RTK-GPS receiving module to be in a time interval. Continuously performing differential (RTK) calculation, and then obtaining the calculated sea surface water level data and recording in the storage module, and the receiving system will receive the sea surface water level data of the time interval, and perform data quality control procedures and data statistical analysis procedures. , Get the tidal level and wave data corresponding to the floating body. The sea surface water level observation system according to claim 1, wherein the RTK-GPS receiving module is further connected to a GPS antenna for receiving the satellite signal. The sea surface water level observation system according to claim 1, wherein the GPS system further comprises an angular accelerometer for measuring acceleration, inclination and azimuth of the floating body. A sea surface water level observation method, the method comprising: receiving a satellite signal by a GPS system installed in a floating body, and calculating a position data of the floating body; and transmitting the position data to a VBS-RTK (Virtual Base Station Real- Time Kinematic) control and calculation center, which obtains the virtual base station data corresponding to the floating body; returns the virtual base station data to the GPS system, and continuously performs differential (RTK) solution in a time interval to obtain After the solution, the sea surface water level data is recorded and recorded, and then transmitted to a receiving system; and the receiving system performs a data quality control program and a statistical analysis program on the sea surface water level data of the time interval to obtain a corresponding floating body deployment place. Tidal level and wave data. The sea surface water level observation method described in claim 4, wherein the calculating the virtual base station data corresponding to the floating body further comprises the substep: the VBS-RTK control and computing center wireless connection-satellite positioning reference system For continuously obtaining satellite positioning original data, and correcting and calculating the virtual base station data. The sea surface water level observation method described in claim 4, wherein the sea level water level data after the solution includes a plurality of water surface height data and quality indicator data, and the data quality control program includes the substep: defining a quality indicator standard And filtering the calculated sea surface water level data according to the quality indicator standard. For example, the sea surface water level observation method described in claim 4, wherein the statistical analysis program includes a sub-step: performing arithmetic average on the sea surface water level data after the data quality control program to obtain the tide level data. The sea surface water level observation method described in claim 4, wherein the obtained sea surface water level data includes a substep: the GPS system is provided with an angular accelerometer for measuring the acceleration, inclination and orientation of the floating body. Angle, and analyzing the sea surface water level data according to the acceleration, inclination angle and azimuth angle; and verifying the sea level water level data analyzed by the angular accelerometer based on the sea surface water level data calculated by the GPS system.