CN108362269B - Wave measurement system and method based on navigation mark body - Google Patents
Wave measurement system and method based on navigation mark body Download PDFInfo
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- CN108362269B CN108362269B CN201810340320.XA CN201810340320A CN108362269B CN 108362269 B CN108362269 B CN 108362269B CN 201810340320 A CN201810340320 A CN 201810340320A CN 108362269 B CN108362269 B CN 108362269B
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- 238000005259 measurement Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 26
- 238000000691 measurement method Methods 0.000 claims abstract description 7
- QQONPFPTGQHPMA-UHFFFAOYSA-N propylene Natural products CC=C QQONPFPTGQHPMA-UHFFFAOYSA-N 0.000 claims description 12
- 125000004805 propylene group Chemical group [H]C([H])([H])C([H])([*:1])C([H])([H])[*:2] 0.000 claims description 12
- 125000000484 butyl group Chemical group [H]C([*])([H])C([H])([H])C([H])([H])C([H])([H])[H] 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 3
- 238000003672 processing method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 8
- 230000007547 defect Effects 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/002—Measuring the movement of open water
- G01C13/004—Measuring the movement of open water vertical movement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/002—Measuring the movement of open water
- G01C13/006—Measuring the movement of open water horizontal movement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a wave measurement system and a wave measurement method based on a navigation mark body, wherein the measurement system comprises the navigation mark body floating on the sea surface, and a case and a triaxial magnetic force sensor fixed through a horizontal fixing plate are arranged in the navigation mark body; four cylinder-mounted measuring modules are uniformly distributed on the periphery of the outer bottom surface of the cylinder of the navigation mark body, and the axis of the module cylinder is parallel to the axis of the cylinder of the navigation mark body; each measuring module comprises a triaxial acceleration sensor, a triaxial angular velocity sensor and a pressure sensor; the machine case is internally provided with a communication module, a control module, an operation module, a storage module, a GPS module and a power module; the measuring method is to measure the dynamic data of the navigation mark body under the wave action and the dynamic data of the variation of the draft of the navigation mark body, and combine the two parts of data synchronously after measuring the two parts of data so as to obtain the dynamic data of the real running condition of the wave. The measuring difficulty caused by inconsistent motion rules and sea waves of the buoy wave meter can be overcome, and the measuring is more accurate.
Description
Technical Field
The invention belongs to the technical field of measurement, and relates to a wave measurement system and a wave measurement method based on a navigation mark body.
Background
In recent decades, the development and utilization of the ocean by humans has been increasing, and thus, monitoring of the ocean environment has also become of exceptional importance. Among the numerous monitoring parameters of the marine environment, the sea wave related parameters are extremely important, and play an important role in safety guidance in aspects of offshore traffic safety, production operation safety and the like.
Currently, there are several types of wave measuring instruments, and a buoy wave instrument is a common wave measuring instrument, and the measuring principle is as follows: a multi-degree-of-freedom sensor (comprising a triaxial acceleration sensor, a triaxial angular velocity sensor and a triaxial magnetometer) and a central processing unit are fixedly arranged at the mass center position of a navigation mark body with good wave following property, the central processing unit synchronously collects data of all the sensors, then the data of the triaxial acceleration sensor and the data of the triaxial angular velocity sensor are synthesized to extract a vertical motion track of the navigation mark body, and wave height and period data of sea waves can be extracted through the vertical motion track. And the central processing unit synthesizes the data of the triaxial acceleration sensor, the triaxial angular velocity sensor and the triaxial magnetometer to extract the motion gesture of the navigation mark body, and the wave direction data of the sea wave can be extracted through the motion gesture.
Although the existing buoy wave measurement system can be used, the following defects exist: the method can accurately extract wave height, period and wave direction data of the sea wave only on the navigation mark body with good wave following performance, and can be applied to the navigation mark body with poor wave following performance (such as the navigation mark body), so that the extracted wave height, period and wave direction data have larger deviation and even cannot be used. Therefore, the use of existing buoy wave measurement systems is not ideal. Moreover, professional wave buoys are expensive, due in part to the high cost of the buoy housing, and thus the high price prevents their widespread use. The sea surface has more ready-made navigation marks, and if the navigation mark carrier can be fully utilized, the observation of popularizing waves at a lower price can be achieved. However, the primary task of the navigation mark is to provide an indication to the vessel sailing, so that it is often required to have a better stability, which is in contradiction to the better compliance of the wave measurement with the carrier. How to solve the problem, realizes the observation of sea waves on the navigation mark with poor wave following property, and has important significance and application prospect.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a buoy-based wave measurement system and a buoy-based wave measurement method, which can overcome the measurement difficulty caused by inconsistent motion rules of a buoy body and sea waves in the existing buoy-based wave measurement system, so that measurement data are more accurate.
The technical scheme adopted by the invention for achieving the technical purpose is as follows:
a wave measurement method based on a navigation mark body, the measurement method adopts a wave measurement system, and the wave measurement system comprises:
the device comprises a sealed cylindrical navigation mark body which floats on the sea surface, wherein a case and a triaxial magnetic force sensor which is fixedly connected through a horizontal fixing plate are arranged in a cylindrical cavity of the navigation mark body; four measuring modules encapsulated by a thin cylinder body are uniformly distributed on the periphery of the outer bottom surface of the cylinder of the navigation mark body, and the axis of the thin cylinder body is parallel to the axis of the cylinder of the navigation mark body; each measuring module comprises a triaxial acceleration sensor, a triaxial angular velocity sensor and a pressure sensor; the top surface of the cylinder body is provided with a communication antenna and a GPS antenna; the machine case is internally provided with a communication module, a control module, an operation module, a storage module, a GPS module and a power module; the corresponding signal output ends of the four measuring modules, the triaxial magnetic force sensor, the GPS module, the operation module, the communication module and the storage module are respectively connected with the corresponding signal input end of the control module; the corresponding signal output ends of the control module are respectively connected with the corresponding signal input ends of the four measuring modules, the triaxial magnetic force sensor, the operation module, the communication module and the storage module; the corresponding output ends of the power supply module are respectively connected with the corresponding power supply input ends of the control module, the four measuring modules, the three-axis magnetic force sensor, the GPS module, the operation module, the communication module and the storage module; the communication antenna is connected with a corresponding antenna end of the communication module through a feeder line; the GPS antenna is connected with a corresponding antenna end of the GPS module through a feeder line; in a state of calm sea surface, the navigation mark body is arranged on the sea surface in a floating way, and the axis is vertical to the sea surface and the horizontal fixing plate is flush with the sea surface through the adjustment of the counterweight and the gravity center;
the measuring method comprises the steps that the triaxial acceleration sensor and the triaxial angular velocity sensor output time series data signals of the up-and-down fluctuation motion state of the thin cylinder packaged measuring module body at the corresponding position; the pressure sensor outputs a time series data signal of the draft of the thin cylinder packaged measuring module body at the corresponding position; the triaxial magnetic force sensor outputs a time sequence data signal of the orientation of the navigation mark body; the control module controls the synchronization of each time sequence data signal in time; the corresponding measuring module synthesizes the time series data signal of the up-and-down fluctuation motion state of the body and the time series data signal vector of the draft of the body, namely the time series data signal of the real motion of the wave at the body of the measuring module, the time series data signals obtained by the four measuring modules are synthesized and processed to be the time series data signal of the real motion of the wave at the measuring position of the navigation mark body, and the operation module can extract the wave height and the period value of the sea wave from the time series data signal of the real motion of the wave at the measuring position of the navigation mark body according to the data processing method in the wave observation standard; and then, extracting a wave direction value by combining the time sequence data signals of the orientation of the navigation mark body output by the triaxial magnetic force sensor; the GPS module outputs longitude and latitude signals of the navigation mark body to the control module, and provides reference time signals for system timing, so that measurement is realized.
Further, the four measuring modules packaged by the thin cylinder body comprise a first measuring module, a second measuring module, a third measuring module and a fourth measuring module; the first measuring module comprises a first triaxial acceleration sensor, a first triaxial angular velocity sensor and a first pressure sensor; the second measuring module comprises a second triaxial acceleration sensor, a second triaxial angular velocity sensor and a second pressure sensor; the propylene measurement module comprises a propylene three-axis acceleration sensor, a propylene three-axis angular velocity sensor and a propylene pressure sensor; the butyl measuring module comprises a Ding Sanzhou acceleration sensor, a Ding Sanzhou angular velocity sensor and a butyl pressure sensor.
The beneficial effects of the invention are as follows: the measuring system with the structural characteristics is adopted, and the measuring method is adopted. Therefore, the invention can overcome the measurement difficulty of the buoy wave instrument caused by inconsistent movement rules of the buoy body and the sea waves, and has more accurate measurement data and more ideal use effect.
Drawings
The invention is further described below with reference to the drawings and examples. Wherein:
FIG. 1 is a schematic view of a body portion of the present invention;
fig. 2 is a block diagram of the present invention.
The reference numbers in the drawings are illustrated as follows: a first measuring module 1, a first triaxial acceleration sensor 101, a first triaxial angular velocity sensor 102, a first pressure sensor 103, a second measuring module 2, a second triaxial acceleration sensor 201, a second triaxial angular velocity sensor 202, a second pressure sensor 203, a third measuring module 3, a third triaxial acceleration sensor 301, a third triaxial angular velocity sensor 302, a third pressure sensor 303, a fourth measuring module 4, a Ding Sanzhou acceleration sensor 401, a Ding Sanzhou angular velocity sensor 402, a fourth pressure sensor 403, a triaxial magnetic sensor 5, a communication module 6, a control module 7, an operation module 8, a storage module 9, a GPS module 10, a power module 11, a case 12, a navigation mark body 13, a horizontal fixing plate 14, a communication antenna 15, and a GPS antenna 16.
Detailed Description
The embodiment of the invention is shown in fig. 1 and 2, and the wave measuring system and the measuring method based on the navigation mark body, wherein the measuring system comprises a sealed cylindrical navigation mark body 13 which is floatingly arranged on the sea surface, and a case 12 and a triaxial magnetic sensor 5 which is fixedly connected through a horizontal fixing plate 14 are arranged in a cylindrical cavity of the navigation mark body 13; four measuring modules encapsulated by a thin cylinder body are uniformly distributed on the periphery of the bottom surface of the outer cylinder of the navigation mark body 13, and the axis of the thin cylinder body is parallel to the axis of the cylinder body of the navigation mark body 13; each measuring module comprises a triaxial acceleration sensor, a triaxial angular velocity sensor and a pressure sensor; the top surface of the cylinder body is provided with a communication antenna 15 and a GPS antenna 16; the machine case 12 is provided with a communication module 6, a control module 7, an operation module 8, a storage module 9, a GPS module 10 and a power module 11; the corresponding signal output ends of the four measuring modules, the triaxial magnetic force sensor 5, the GPS module 10, the operation module 8, the communication module 6 and the storage module 9 are respectively connected with the corresponding signal input end of the control module 7; the corresponding signal output ends of the control module 7 are respectively connected with the corresponding signal input ends of the four measuring modules, the triaxial magnetic sensor 5, the operation module 8, the communication module 6 and the storage module 9; the corresponding output ends of the power supply module 11 are respectively connected with the corresponding power supply input ends of the control module 7, the four measuring modules, the three-axis magnetic force sensor 5, the GPS module 10, the operation module 8, the communication module 6 and the storage module 9; the communication antenna 15 is connected with a corresponding antenna end of the communication module 6 through a feeder line; the GPS antenna 16 is connected with a corresponding antenna end of the GPS module 10 through a feeder line; in a calm sea surface state, the buoy body 13 is set to be vertical to the sea surface and the horizontal fixing plate 14 is flush with the sea surface through adjustment of the counterweight and the gravity center when floating on the sea surface.
The four measuring modules packaged by the thin cylinder body comprise a first measuring module 1, a second measuring module 2, a third measuring module 3 and a fourth measuring module 4; the first measuring module 1 comprises a first triaxial acceleration sensor 101, a first triaxial angular velocity sensor 102 and a first pressure sensor 103; the second measuring module 2 comprises a second-axis acceleration sensor 201, a second-axis angular velocity sensor 202 and a second pressure sensor 203; the propylene measurement module 3 comprises a propylene three-axis acceleration sensor 301, a propylene three-axis angular velocity sensor 302 and a propylene pressure sensor 303; the butyl measuring module 4 comprises Ding Sanzhou acceleration sensors 401, ding Sanzhou angular velocity sensors 402 and butyl pressure sensors 403.
The measuring method adopts the measuring system, and the measuring steps are as follows: the triaxial acceleration sensor and the triaxial angular velocity sensor output time series data signals of the up-and-down fluctuation motion state of the thin cylinder packaged measuring module body at the corresponding position; the pressure sensor outputs a time series data signal of the draft of the thin cylinder packaged measuring module body at the corresponding position; the triaxial magnetic force sensor 5 outputs a time sequence data signal of the orientation of the navigation mark body 13; the control module 7 controls the synchronization of each time sequence data signal in time; the corresponding measuring module synthesizes the time series data signal of the up-and-down fluctuation motion state of the body and the time series data signal vector of the draft of the body, namely the time series data signal of the real motion of the wave at the body of the measuring module, the time series data signals obtained by the four measuring modules are synthesized and processed to be the time series data signal of the real motion of the wave at the measuring position of the navigation mark body 13, and the operation module 8 can extract the wave height and the period value of the wave from the time series data signal of the real motion of the wave at the measuring position of the navigation mark body 13 according to the data processing method in the wave observation standard; and then the wave direction value can be extracted by combining the time sequence data signals of the orientation of the navigation mark body 13 output by the triaxial magnetic sensor 5; the GPS module 10 outputs longitude and latitude signals of the navigation mark body 13 to the control module 7 and provides reference time signals for system timing, so that measurement can be realized.
Further description of the invention:
the data processing flow is divided into two steps:
(1) Single point processing
The wave measuring device of the accelerometer principle obtains wave information by measuring the motion displacement of a carrier under the action of waves. The precondition for this is that the carrier has good satellite properties, but not any carrier has such properties, the worse the satellite properties, the worse the measurement results.
The motion of the carrier can be decomposed into two parts of motion of the carrier itself under the action of waves and the draft of the carrier no matter how the carrier has following wave performance, and the real running condition of waves can be obtained by measuring and combining the two parts of data. Taking each point location as an example, the motion condition of the point location can be obtained by twice integrating the signal output by the triaxial acceleration sensor and the signal output by the triaxial angular velocity sensor at the corresponding position, the draft at each moment can be measured by the pressure sensor at the corresponding position, and as long as the two measurements are time synchronization in a strict sense, the two partial results can be synthesized into time series data of the real motion of the waves. And then according to a standard method for calculating characteristic values of wave heights and wave periods in the wave specification, wave height and wave period data can be obtained.
The GPS module 10 is responsible for measuring the latitude and longitude of the carrier and providing standard time for timing. The communication module 6 comprises a plurality of RS-232 serial ports which are responsible for data transmission and can be connected with communication equipment of various standard RS-232 serial ports. The control module 7 is responsible for controlling the operation of the whole workflow.
The processing modes of the other three points are the same.
Through this step of treatment, the actual wave height and period of the wave can be obtained.
(2) Multi-point processing
The poor carrier wave-following performance is not only represented by poor performance along with the change of wave height, but also may exist. In this case, the inclination measurement by only one point is insufficient to measure the wave direction. Through the measurement of four points, the effect of array measurement is achieved, and then the actual wave direction and direction spectrum can be obtained by using a classical array wave direction and direction spectrum data processing algorithm and combining the direction of the carrier measured by the triaxial magnetic sensor 5.
The invention has the advantages that:
(1) The novel mode of combining the triaxial acceleration sensor, the triaxial angular velocity sensor and the pressure sensor is adopted, and the measurement data of the pressure sensor is used for correction, so that the relation between the measurement result and the satellite wave performance of the navigation mark body 13 does not exist, and the problem that the sea wave height and the sea wave period can still be accurately measured when the satellite wave performance of the navigation mark body 13 is poor is solved.
(2) By adopting a mode of combining four groups of triaxial acceleration sensors, triaxial angular velocity sensors and pressure sensors, the problem of poor performance of the navigation mark body 13 along with waves can be effectively solved, the problem of poor performance of the navigation mark body 13 along with waves can be solved, and the aim of accurately measuring both the wave height and the wave direction can be truly achieved.
When the invention is popularized and applied, the existing navigation mark body 13 can be used in a large amount, so that good wave observation capability is realized, navigation safety is ensured, and the navigation safety of key ports and key navigation lines can be ensured.
Claims (2)
1. The wave measurement method based on the navigation mark body is characterized in that the wave measurement method adopts a wave measurement system, and the wave measurement system comprises the following steps:
the device comprises a sealed cylindrical navigation mark body which floats on the sea surface, wherein a case and a triaxial magnetic force sensor which is fixedly connected through a horizontal fixing plate are arranged in a cylindrical cavity of the navigation mark body; four measuring modules encapsulated by a thin cylinder body are uniformly distributed on the periphery of the outer bottom surface of the cylinder of the navigation mark body, and the axis of the thin cylinder body is parallel to the axis of the cylinder of the navigation mark body; each measuring module comprises a triaxial acceleration sensor, a triaxial angular velocity sensor and a pressure sensor; the top surface of the cylinder body is provided with a communication antenna and a GPS antenna; the machine case is internally provided with a communication module, a control module, an operation module, a storage module, a GPS module and a power module; the corresponding signal output ends of the four measuring modules, the triaxial magnetic force sensor, the GPS module, the operation module, the communication module and the storage module are respectively connected with the corresponding signal input end of the control module; the corresponding signal output ends of the control module are respectively connected with the corresponding signal input ends of the four measuring modules, the triaxial magnetic force sensor, the operation module, the communication module and the storage module; the corresponding output ends of the power supply module are respectively connected with the corresponding power supply input ends of the control module, the four measuring modules, the three-axis magnetic force sensor, the GPS module, the operation module, the communication module and the storage module; the communication antenna is connected with a corresponding antenna end of the communication module through a feeder line; the GPS antenna is connected with a corresponding antenna end of the GPS module through a feeder line; in a state of calm sea surface, the navigation mark body is arranged on the sea surface in a floating way, and the axis is vertical to the sea surface and the horizontal fixing plate is flush with the sea surface through the adjustment of the counterweight and the gravity center;
the measuring method comprises the steps that the triaxial acceleration sensor and the triaxial angular velocity sensor output time series data signals of the up-and-down fluctuation motion state of the thin cylinder packaged measuring module body at the corresponding position; the pressure sensor outputs a time series data signal of the draft of the thin cylinder packaged measuring module body at the corresponding position; the triaxial magnetic force sensor outputs a time sequence data signal of the orientation of the navigation mark body; the control module controls the synchronization of each time sequence data signal in time; the corresponding measuring module synthesizes the time series data signal of the up-and-down fluctuation motion state of the body and the time series data signal vector of the draft of the body, namely the time series data signal of the real motion of the wave at the body of the measuring module, the time series data signals obtained by the four measuring modules are synthesized and processed to be the time series data signal of the real motion of the wave at the measuring position of the navigation mark body, and the operation module can extract the wave height and the period value of the sea wave from the time series data signal of the real motion of the wave at the measuring position of the navigation mark body according to the data processing method in the wave observation standard; and then, extracting a wave direction value by combining the time sequence data signals of the orientation of the navigation mark body output by the triaxial magnetic force sensor; the GPS module outputs longitude and latitude signals of the navigation mark body to the control module, and provides reference time signals for system timing, so that measurement is realized.
2. The method for measuring waves based on a navigation mark body according to claim 1, wherein: the four measuring modules packaged by the thin cylinder body comprise a first measuring module, a second measuring module, a third measuring module and a fourth measuring module; the first measuring module comprises a first triaxial acceleration sensor, a first triaxial angular velocity sensor and a first pressure sensor; the second measuring module comprises a second triaxial acceleration sensor, a second triaxial angular velocity sensor and a second pressure sensor; the propylene measurement module comprises a propylene three-axis acceleration sensor, a propylene three-axis angular velocity sensor and a propylene pressure sensor; the butyl measuring module comprises a Ding Sanzhou acceleration sensor, a Ding Sanzhou angular velocity sensor and a butyl pressure sensor.
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109781075A (en) * | 2018-12-13 | 2019-05-21 | 中国航空工业集团公司上海航空测控技术研究所 | A kind of ocean wave height measuring system and method |
| CN110104125B (en) * | 2019-04-18 | 2020-07-28 | 杭州腾海科技有限公司 | Buoy system is surveyd to ocean wave |
| CN114455004A (en) * | 2022-01-29 | 2022-05-10 | 交通运输部天津水运工程科学研究所 | Wave buoy combined with pressure acceleration sensor and precision improvement method |
| CN114674524A (en) * | 2022-03-03 | 2022-06-28 | 深圳市朗诚科技股份有限公司 | Wave spectrum measuring method, wave measuring device and computer readable storage medium |
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| CN101706275A (en) * | 2009-11-09 | 2010-05-12 | 哈尔滨工程大学 | Measuring device and method of dynamic ocean waves |
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| US8195395B2 (en) * | 2009-09-06 | 2012-06-05 | The United States Of America As Represented By The Secretary Of Commerce | System for monitoring, determining, and reporting directional spectra of ocean surface waves in near real-time from a moored buoy |
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| CN101706275A (en) * | 2009-11-09 | 2010-05-12 | 哈尔滨工程大学 | Measuring device and method of dynamic ocean waves |
| CN104567829A (en) * | 2015-01-19 | 2015-04-29 | 合肥工业大学 | Ball type water surface wave test device and test method |
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Address after: 361006 room 3d2-1, No. 46, Huli Avenue, Huli District, Xiamen City, Fujian Province Applicant after: Xiamen Yinghuan marine instrument Co.,Ltd. Address before: 361006 room 3d2-1, No. 46, Huli Avenue, Huli District, Xiamen City, Fujian Province Applicant before: XIAMEN YINGHUAN ELECTRONIC TECHNOLOGY Co.,Ltd. |
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Address after: Unit 401, No. 1728 Gangzhong Road, Xiamen Area, China (Fujian) Pilot Free Trade Zone, Xiamen City, Fujian Province, 361006 Applicant after: Xiamen Yinghuan marine instrument Co.,Ltd. Address before: 361006 room 3d2-1, No. 46, Huli Avenue, Huli District, Xiamen City, Fujian Province Applicant before: Xiamen Yinghuan marine instrument Co.,Ltd. |
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