CN101706275A - Measuring device and method of dynamic ocean waves - Google Patents
Measuring device and method of dynamic ocean waves Download PDFInfo
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- CN101706275A CN101706275A CN200910073155A CN200910073155A CN101706275A CN 101706275 A CN101706275 A CN 101706275A CN 200910073155 A CN200910073155 A CN 200910073155A CN 200910073155 A CN200910073155 A CN 200910073155A CN 101706275 A CN101706275 A CN 101706275A
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Abstract
The invention provides measuring device and method of dynamic ocean waves. The device comprises two pressure sensors, a temperature sensor, an acceleration sensor, an inclination angle sensor, a signal conditioning unit, an AD conversion unit, a data storage unit, an RS485 communication unit, a power management unit and a digital signal processor. The invention has the core that the two pressure sensors are utilized for detecting the pressure in water, the depth at the zero crossing moment is derived according to the pressure-in-water computing formula described by a Bernoulli equation in fluid mechanics, the depths at other times except the zero-crossing moment are continuously estimated according to the data of the acceleration sensor and an angle sensor, the wave number and the wave height are computed according to the computing relational expression of the wave number and the wave height at the non-zero-crossing moment. The technical method not only has novelty and creativity, but also has simple structure and convenient manufacture and can be widely used for underwater robots, communication buoys and other diving sounding systems.
Description
Technical field
The present invention relates to a kind of dynamic measuring tech and the device of ocean wave parameter, the depth of water, belong to electronic information technical field and ocean research and development field.
Background technology
Aspect oceanographic engineering, ocean scientific investigation, often need the degree of depth under water of understanding local wave height, wavelength and apparatus for work etc., particularly understand the depth of water under the wave, traditional method is difficult to realize.Wherein ocean wave parameter often obtains by weather forecast, and the difficulty of measuring is very big in real time.Instantaneous depth can only be measured by the sounding gear of operating apparatus self under water.
The underwater operation device has sonar to measure, pressure transducer measurement, laser depth and GPS location depth measurement or the like, the applied environment difference of every kind of technical scheme apart from the degree of depth depth detecting method of the water surface.Bathymetric Technology difficulty under the hydrostatic environment is low, and said method all can meet the demands, but the depth measurement under the wave environment is then comparatively complicated.GPS location bathymetry must be placed on antenna more than the water surface, and according to the gps antenna and the underwater portion distance calculation depth of water, it highly need keep vertically must some staying on the water surface, and it is infeasible that the underwater operation type is equipped.Laser depth, sonar depth measurement must keep accurately depth measurement of plumbness, and these two kinds active depth detecting methods are not suitable for hidden measurement.Single pressure sensor carries out sea water advanced measurement, because of it has good disguise and advantage of simple structure, becomes the preferred option of dive device or the depth measurement of hydrospace detection device usually.But, near the ocean surface depth measurement time, being subjected to the influence of wave, measuring error is very big.
Summary of the invention
The object of the present invention is to provide a kind of dynamic situation that can in time measure the demonstration wave, a kind of dynamic ocean waves method of underwater survey point instantaneous depth.The present invention also aims to provide a kind of dynamic ocean waves device.
The object of the present invention is achieved like this:
Dynamic ocean waves device of the present invention is become with bank of digital signal processors by two pressure transducers, temperature sensor, acceleration transducer, obliquity sensor, signal condition unit, AD conversion unit, data storage cell, RS485 communication unit, Power Management Unit; Pressure transducer is gathered pressure under water, through supplied with digital signal processor after signal condition unit, the AD conversion unit; Temperature sensor is used for the temperature compensation of various kinds of sensors; Acceleration transducer and obliquity sensor are gathered the attitude information supplied with digital signal processor of measurement mechanism; Digital signal processor is according to the parameter of the information calculations wave of pressure transducer, temperature sensor, acceleration transducer, obliquity sensor, instantaneous depth under water; Result of calculation is stored in data storage cell, perhaps sends by the RS485 communication unit; Power Management Unit provides power supply for digital signal processor and various sensors etc.
Dynamic ocean waves method of the present invention is:
After the digital signal processor initialization, gather the information of pressure transducer, temperature sensor, acceleration transducer and an obliquity sensor every the T time, average and the rough judgement of variable quantity according to some point pressure numerical value are profundal zone or shoal water zone, when in the profundal zone, wave can be ignored to the influence of pressure, directly according to formula P
1=-ρ gZ
1Compute depth, result of calculation is placed on the data buffer and waits for that regularly signal procedure transfers to other system, return starting point then and continue to gather pressure data, when in the shoal water zone, at first seek row ripple zero crossing, if zero crossing according to the dual pressure sensor data, carry out shallow water depth of water algorithm, if crest or trough point then change the wave height computing module over to, the wave height computing formula is
Known mean depth Z
1, P
1And P
2, calculate wave number and wave height, adopt linear prediction and filtering method that wave height, wave number and mean depth are carried out data processing, return initial point after finishing and continue sampling, repeat computation cycles next time.
Described shallow water depth of water algorithm comprises that the zero crossing depth of water is calculated and startup is calculated any time mean depth computing between zero crossing by acceleration transducer and obliquity sensor, and its key step is 1) by formula P
1=-ρ gZ
1Calculate the zero crossing mean depth; 2) initialization by three dimension acceleration sensor and obliquity sensor attitude data calculation pressure sensor vertical depth variable quantity flow process between adjacent two zero crossings, 3) adopt filtering method to estimate the mean depth Z of any time between the adjacent zero crossing
1, return initial point then and continue sampling.
Described employing linear prediction and filtering method carry out data processing to wave height, wave number and mean depth.Wave height, wavelength only calculate at the Wave crest and wave trough point of error of calculation minimum, only carry out a predictive filtering computing in a wave period.
Computing formula related among the present invention has:
P＝-ρgz+ρgA·cos(kx-ωt)·e
k·z…………(1)
P
1＝-ρgZ
1………………………(4)
In the formula, Δ h represents the difference in height of two sensors, first cell pressure value P
1, second pressure transducer pressure value P
2, Z
1Be mean depth.Two pressure transducers are fixed on the support, and difference in height is therebetween fixed, and are can be with wave in water floating or be pulled mobile.
Innovative point of the present invention is with dual pressure sensor, inertia device and digital signal processor, and filtering, prediction and Track In Track scheduling algorithm, calculate ocean wave parameter, the degree of depth under water, having use flexibly, does not need advantages such as the seabed is fixing, can use under motion, floating state.
The present invention derives the wavelength of wave, the computing method of wave height according to the wave fluid mechanics principle, adopts technological means such as acceleration transducer, obliquity sensor, calculates the mean depth of measurement point.
Technical method provided by the present invention not only has its new Ying's property and creativeness, and it is simple in structure, easily manufactured, can be widely used for underwater robot, communication buoy and other diving sounding system.
Description of drawings
Fig. 1 typical case ocean wave parameter synoptic diagram;
The dynamic wave pick-up unit of Fig. 2 structure principle chart;
The dynamic wave detection method of Fig. 3 process flow diagram;
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
The present invention is a kind of dynamic situation that can in time measure the demonstration wave, not only can calculate the parameter of wave apace, but also can show the dynamic ocean waves device and the measuring method of dynamic wave situation at any time.
The wave model as shown in Figure 1.Generally speaking, wave is described wave with wave height H, wavelength X and average sea level height h.If wave amplitude A, crest h+A then, trough h-A, wave height 2A; The pass of wave number K and wavelength X is K=2 π/λ, and the technical method that this patent provided is at first tried to achieve wave number K, tries to achieve wave amplitude A subsequently.
Dynamic ocean waves device of the present invention comprises two pressure transducers, temperature sensor, acceleration transducer, inclinator, signal condition unit, AD conversion unit, data storage cell, RS485 communication unit, Power Management Unit, digital signal processor etc., sees schematic diagram 2.Pressure transducer is gathered the pressure of measurement mechanism position, in input signal processor behind signal condition, the digital to analog converter.Temperature sensor is used for the temperature compensation of various kinds of sensors.The attitude information of accelerometer and inclinator harvester is according to the mean depth outside these data computation zero crossings.High capacity Flash storer of native system design is used to preserve pressure data and ocean wave parameter, is used for ex-post analysis and record queries.Serial communication port RS485 of design in this device is transferred to the data of measuring on other device by this serial ports.Power module is responsible for digital signal processing, various sensors etc. power supply is provided.All computings are all finished on digital signal processor.Calculate ocean wave parameter such as wave height, wave number and instantaneous mean depth in real time.
Two inertia devices of acceleration transducer and obliquity sensor obtain attitude of carrier information, calculate the displacement information of carrier vertical direction.The SCA3000-D02 type three axis accelerometer that acceleration transducer uses Finland VTI company to produce.Obliquity sensor SCA100T-D02.
Temperature sensor
Temperature is a key factor that influences measuring accuracy, need compensate correction to the input data with temperature, thereby improve the measuring accuracy of each sensor.The DS1631 type temperature sensor that temperature sensor selects for use MAXIM company to produce.
The signal condition unit
The current delivery mode is often adopted in pressure transducer output, and therefore the line drop problem of bringing in the time of can avoiding voltage transmission need be voltage with current conversion, and according to the amplifying signal that requires of range and digital-to-analog conversion.
AD conversion unit
Adopt 12 digital to analog converter LV2544 of TI company, have the precision height, volume is little, passage is many, uses flexible characteristic.
Power Management Unit
The present technique embodiment, use UA78M12 general+24v supply voltage reduce to+12v powers as pressure transducer.The TPS5430 switching mode voltage stabilizer that adopts TI company directly general+24v is converted into+7v, again by UCC283 general+7v voltage stabilizing arrive+5v, TPS767D301 generation DSP and other digit chips be required+3.3v and+1.9v voltage.
Digital signal processor
For realize patent of the present invention final goal, for satisfying the demand of novel dynamic wave pressure sounding system, the technical program is selected the TMS320F28335 type floating type digital signal processor (DigitalSignal Processor) of TI company, the required peripheral hardware resource of control system that chip is both integrated has data-handling capacity and C compile efficiency again.
Data storage cell
The function of data storage cell is record ocean wave parameter and attitude data.Select 4 S25FL064A high-capacity FLASH storeies of SPANSION company, to satisfy the record of data in system's operational process.
The RS485 communication unit
This part is pressed the full-duplex mode design, uses the full duplex RS485 transceiver MAX3490 of MAXIM company, operating voltage 3.3v, and traffic rate is up to 10Mbps.
Dynamically the core feature of ocean wave parameter measuring method is to utilize dual pressure sensor to detect pressure in the water, calculate formula according to the described submersible pressure gauge of the Bernoulli equation (1) in the fluid mechanics, derive zero crossing wave number (2) and wave height (3) calculation relational expression constantly, calculate the degree of depth of zero crossing, estimate the zero crossing degree of depth of other times in addition continuously according to acceleration transducer and angular transducer data. algorithm is that two parallel calculation process are formed the one-period compute depth; One is computation of Period ocean wave parameter (wave number and wave height). algorithm flow is seen Fig. 3.
In conjunction with Fig. 3, dynamic ocean waves method of the present invention is:
Dynamically ocean wave parameter is measured mainly near the sea level.During than deepwater field, the pressure that dynamic wave causes changes very little, is difficult to accurately extract ocean wave parameter, therefore at first judges the depth of water roughly according to force value, and depth survey is only carried out in the profundal zone, and to the data filtering and noise reduction, obtains stable degree of depth sequence.If tangible shallow water area, when dynamically the influence of wave is near the water surface influence very big, must concern compute depth according to fluid mechanics, and calculate ocean wave parameter and instantaneous depth according to the degree of depth, attitude and motion state.
Software is realized
The software of native system is pressed slave computer and host computer designing two portions, and wherein slave computer software realization and the result of calculation of finishing information acquisition and depth of water computational algorithm is transmitted to host computer, and this part is write as by the C language; Host computer is finished the reception of data and parsing and Water Depth Information is drawn and shows this part MATLAB language compilation.In calculating process, in order to accelerate the speed of computing,, write out corresponding " operating function table " to functions such as index, logarithm and sines, adopt and table look-up and the algorithm of Taylor expansion combination, thereby, shortened time of computing.
Claims (4)
1. a dynamic ocean waves device is become with bank of digital signal processors by two pressure transducers, temperature sensor, acceleration transducer, obliquity sensor, signal condition unit, AD conversion unit, data storage cell, RS485 communication unit, Power Management Unit; It is characterized in that: pressure transducer is gathered pressure under water, through supplied with digital signal processor after signal condition unit, the AD conversion unit; Temperature sensor is used for the temperature compensation of various kinds of sensors; Acceleration transducer and obliquity sensor are gathered the attitude information supplied with digital signal processor of measurement mechanism; Digital signal processor is according to the parameter of the information calculations wave of pressure transducer, temperature sensor, acceleration transducer, obliquity sensor, instantaneous depth under water; Result of calculation is stored in data storage cell, perhaps sends by the RS485 communication unit; Power Management Unit provides power supply for digital signal processor and various sensor.
2. dynamic ocean waves method, it is characterized in that: after the digital signal processor initialization, the information of gathering pressure transducer, temperature sensor, acceleration transducer and an obliquity sensor every the T time judges it is profundal zone or shoal water zone roughly according to the average and the variable quantity of some point pressure numerical value.When in the profundal zone, wave can be ignored to the influence of pressure, can be directly according to formula P
1=-ρ gZ
1Compute depth, result of calculation are placed on the data buffer and wait for that regularly signal procedure transfers to other system, return starting point then and continue image data.When in the shoal water zone, at first seek row ripple zero crossing according to the dual pressure sensor data, if zero crossing is carried out shallow water depth of water algorithm, if crest or trough point then change wave height wave number computing module over to, computing formula is
Known mean depth Z
1, P
1And P
2, calculate wave number and wave height, adopt linear prediction and filtering method that wave height, wave number and mean depth are carried out data processing, return initial point after finishing and continue sampling, repeat computation cycles next time.
3. dynamic ocean waves method according to claim 2, it is characterized in that: described shallow water depth of water algorithm comprises that the zero crossing depth of water is calculated and startup is calculated any time mean depth computing between zero crossing by acceleration transducer and obliquity sensor, and its key step is 1) by formula P
1=-ρ gZ
1Calculate the zero crossing mean depth; 2) initialization by three dimension acceleration sensor and obliquity sensor attitude data calculation pressure sensor vertical depth variable quantity flow process between adjacent two zero crossings, 3) adopt filtering method to estimate the mean depth Z of any time between the adjacent zero crossing
1, return initial point then and continue sampling.
4. dynamic ocean waves method according to claim 1 and 2 is characterized in that: described employing linear prediction and filtering method carry out data processing to wave height, wave number and mean depth.Wave height, wave number are only calculated at the Wave crest and wave trough point of error of calculation minimum, only carry out a predictive filtering computing in a wave period.
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