CN114002720A - Ship positioning and meteorological data inversion method based on ocean tide load - Google Patents
Ship positioning and meteorological data inversion method based on ocean tide load Download PDFInfo
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Abstract
The invention discloses a ship positioning and meteorological data inversion method based on ocean tidal load, which comprises the following steps: calculating initial position information of the ship based on a single-point positioning mode, and simultaneously acquiring GNSS real-time data flow and correction information flow of satellite ephemeris and clocks; constructing grids by taking the initial position as a center, performing convolution integral on the grid points according to a global tide model and a green function to obtain tide loads on 9 grid points including the initial position, taking the mean value of each vertex in 4 grid areas formed by the 9 grid points as tide load correction of the area, judging the next epoch driving area of the ship by using the navigation direction information of the ship, and taking the tide load influence of the area as an error item; and calculating the tidal load correction of the corresponding grid area according to the error term, and then performing real-time dynamic PPP resolving by using the real-time data stream and the correction information stream to obtain high-precision ship position information and meteorological data.
Description
Technical Field
The invention belongs to the fields of ship navigation positioning, meteorological parameter detection and the like, and relates to a ship positioning and meteorological data inversion method based on ocean tidal loads.
Background
With the rapid development of Global Navigation Satellite System (GNSS), GNSS is widely used for Navigation and positioning of ships, due to its advantages of all weather, high precision, small receiver volume, complete functions, simple operation, etc., and GNSS is used for marine Navigation, ship steering, dead reckoning, clock synchronization, clock dialing, and even anchoring. In the past, it was not easy to measure an accurate vessel position in the vast stormy waves and in extreme inclement weather in the vast sea. However, with the development of new-generation GNSS, it is possible to acquire position information of a ship by using GNSS technology in vast sea or in a severe climate environment. During the current ship sailing, the maximum speed of the ship can reach 70-80 knots/hour (about 36m/s), and the sailing safety of the ship can be effectively guaranteed by acquiring the real-time position of the ship at the speed.
The real-time dynamic PPP technology can well solve the problem of real-time position resolving of a ship, the technical means is a new GNSS positioning technology developed in recent years, static or dynamic independent operation can be carried out in a global range by using a single receiver, a reference station does not need to be arranged, and the operation distance is not limited. The method has wide application prospect in the aspects of regional or global scientific investigation, aviation dynamic measurement, ocean mapping and the like, is a new research hotspot in the GNSS navigation positioning field, and obtains a series of research results. Under the support of various Real-Time GNSS track correction products and Real-Time data streams, the Real-Time data processing of Precise single-Point Positioning can achieve a very high Positioning result, and the current Real-Time Precise single-Point Positioning technology (RT-PPP) has become one of the leading edges and hot spots of research in the field of current satellite navigation Positioning, and will also be one of the main technical means of Real-Time high-precision dynamic Positioning in the future.
When the ship runs in the vast sea, the change situation of the sea weather is particularly important for the running of the ship. The inversion of troposphere zenith delay and atmospheric observation information such as PWV by using GNSS technology has become a widely used technology. In the offshore positioning and the offshore real-time meteorological data inversion, ocean tide is an important influence factor, the sea surface periodically rises and falls under the action of the tidal force of the sun and the moon, so that the seabed load generates periodic deformation, and the influence of an ocean tide model in the GNSS position calculation can reach the magnitude of centimeter or even decimeter. Therefore, the influence of the ocean tidal load is not negligible in high-precision data processing.
At present, ocean tide models frequently used in the world mainly comprise DUT10, EOT11a, FES2004, GOT4.7, HAMTIDE11a, TPX07.2, Nao.99b and the like, and as the spatial resolution can reach 0.125 degrees by 0.125 degrees at most and the coverage range is wider, the influence degree of the current position real-time tide load cannot be accurately obtained in the high-speed navigation of a ship, the influence degree of the tide load is difficult to correct in a model mode in data processing, and the model provides a chance for the research of dynamically obtaining the ocean tide load with smaller resolution in real time to be applied to high-precision real-time dynamic PPP positioning and meteorological inversion.
Disclosure of Invention
The invention discloses a ship positioning and meteorological data inversion method based on ocean tidal loads, which can perform model correction on positioning errors generated by tidal loads in ship navigation so as to obtain high-precision position and meteorological information of a high-speed navigation ship.
The invention is realized by the following technical scheme.
A ship positioning and meteorological data inversion method based on ocean tidal loads comprises the following steps:
calculating initial position information of the ship based on a single-point positioning mode, and simultaneously acquiring GNSS real-time data flow and correction information flow of satellite ephemeris and clocks;
constructing grids by taking the initial position as a center, performing convolution integral on the grid points according to a global tide model and a green function to obtain tide loads on 9 grid points including the initial position, taking the mean value of each vertex in 4 grid areas formed by the 9 grid points as tide load correction of the area, judging the next epoch driving area of the ship by using the navigation direction information of the ship, and taking the tide load influence of the area as an error item;
and calculating the tidal load correction of the corresponding grid area according to the error term, and then performing real-time dynamic PPP resolving by using the real-time data stream and the correction information stream to obtain high-precision ship position information and meteorological data.
The invention has the beneficial effects that:
according to the method, a global ocean tide model FES2004 widely used at present is utilized, a grid is constructed by taking the approximate position of a ship obtained based on GNSS as the center and taking the approximate position as the center along the distances of 100m in the four directions of east, west, south and north of the ship, 9 grid point coordinates including ship point positions are utilized, SPOTL software is used for resolving the influence of the tide load at the current moment, four closed areas can be formed by 9 grid points, and the average tide load influence of 4 grid points in each area is respectively resolved to serve as the tide load influence of the area; the navigation direction of the ship is utilized to judge which area the ship will travel to in the next epoch, the tidal load correction value of the area is used as an error item to be added into the positioning calculation of RT-PPP, and the high-precision ship position information and the meteorological data above the ship are effectively acquired by utilizing the correction information of the real-time GNSS data stream, the real-time clock error and the ephemeris, so that the ship navigation method has great technical advantages and application prospects for guaranteeing the ship navigation.
Drawings
FIG. 1 is a flow chart of a marine vessel positioning and meteorological data inversion method based on ocean tidal loads according to the present invention;
FIG. 2 is a flow chart of the construction and calibration of a real-time dynamic tidal load grid according to the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, a ship positioning and meteorological data inversion method based on ocean tidal load in the present embodiment specifically includes:
step one, calculating initial position information of a ship based on a single-point positioning mode, and simultaneously acquiring a GNSS real-time data stream and a correction information stream of a satellite ephemeris and a clock;
in specific implementation, the initial position information of the ship generally combines multi-system GNSS observation data and broadcast ephemeris information, and generally includes:
(1) real-time data flow: since the position of the ship changes every moment when the ship runs at a high speed, the GNSS data stream must be received in real time, and the data stream has a high time resolution, so the time resolution is set to 1s in the embodiment.
(2) In the present embodiment, the CLK93 is selected as the real-time correction information of the satellite clock offset and the ephemeris, and is added to the broadcast ephemeris, so that the ephemeris and clock offset information have higher accuracy.
After the information is acquired, sorting and arranging the information, and establishing a corresponding database for storage; in addition, various model files, including PCO and PCV correction files, are synchronously downloaded and stored in a database to prepare for real-time dynamic PPP correction.
Step two, constructing grids by taking the initial positions as centers, performing convolution integral on the grid points according to a global tide model and a green function to obtain tide loads on 9 grid points including the initial positions, then taking the mean value of each vertex in 4 grid areas formed by the 9 grid points as the tide load correction of the area, judging the next epoch driving area of the ship by using the navigation direction information of the ship, and taking the tide load influence of the area as an error item;
in practical implementation, the maximum sailing speed of the ship is about 36m/s, and in the current real-time data processing, the time interval of the data stream is 1s, namely the maximum sailing speed of the ship is about 36m within 1 s. In general, the variation of tidal load is small in the range of 100m, so the present embodiment chooses to construct a grid around the ship coordinate as the center and at a distance of 100 m.
In this embodiment, the global tidal model is selected from the FES2004 global tidal model provided by the splpt software. The specific calculation method is as follows:
in the formula, p represents the density of the seawater,
is the spherical coordinates of the survey station,
is the spherical coordinate of the load point, the coordinate corresponds to the spherical coordinate of the central point of each grid of the global tide model, and theta represents
And
angle of a sphere between according to
Finding, A is the azimuth angle between the survey station and the load point,
is the point of load
Corresponding instantaneous tidal height, ds' is the load bin, G (θ, a) is the displacement load green function related to the azimuth angle a;
and (3) performing corresponding tidal wave coefficient superposition calculation by using the 11 tidal wave coefficients provided by the FES2004, wherein the formula is as follows:
in the formula, N is the total number of partial tides, and the sea tide model generally considers 11 tidal waves (M) for praise displacement correction2,S2,N2,K2,K1,O1,P1,Q1,Mf,Mm,Ssa) Including 4 half-daily periodic tidal waves (subscript 2), 4 full-daily tidal waves (subscript 1), and three long-periodic tidal waves (M)f,Mm,Ssa)；
And deltaP radial direction，δThings P，δP north-southThe amplitude and the phase of each partial tide wave P in the vertical, east-west and north-south directions at the survey station are respectively corresponding; omegaPIs the angular velocity, χ, of each partial tidal wavePThe initial phase of the astronomical argument corresponding to each partial tide wave changes along with the change of the positions of the sun and the moon; t is the time corresponding to the initial phase of computing the astronomical argument,
for the influence value of displacement of the survey station in the vertical (U), east-west (E) and north-south (N) directions caused by sea tide load, chi is used for each tidepMay be calculated from astronomical parameters.
Calculating tidal load correction of a corresponding grid area according to the error term, and then performing real-time dynamic PPP resolving by using the real-time data stream and the correction information stream to obtain high-precision ship position information and meteorological data;
during specific implementation, antenna phase winding, phase center correction and earth rotation correction model introduction are usually added in the dynamic PPP resolving process, ionosphere errors are corrected in a double-frequency ionosphere elimination combination mode, and then the tidal influence obtained in real time is utilized to estimate troposphere delay as an unknown parameter, so that high-precision ship position information and meteorological data are obtained.
Therefore, in the embodiment, the data of the convection layer is further inverted and imaged in real time after the high-precision ship position information and the meteorological data are obtained; the method comprises the following specific steps:
the method comprises the steps of utilizing a data processing mode of real-time dynamic PPP, using a mapping function model and a sass model, adding troposphere zenith delay and troposphere horizontal gradient as parameters to be estimated into real-time data calculation, combining calculated troposphere information and real-time position information, inputting a calculation result into a screen terminal, and obtaining a ship navigation trajectory graph and a troposphere change graph which are drawn in real time, wherein the specific process adopts the following formulas:
where s, r, i denote the satellite, receiver and frequency number,
representing phase and pseudorange observations in m, p representing the geometric distance between the satellite and the receiver, c representing the speed of light in vacuum, dtr,dtsRepresenting the receiver clock offset and the satellite clock offset, I representing the ionospheric error,
representing tropospheric error, lambda represents a wavelength factor, N represents integer ambiguity,
which represents the phase offset of the receiver and the satellite,
representing the receiver and satellite pseudorange bias,
representing pseudorange and phase noise.
In the formula, ZT,rIs tropospheric zenith delay, ZH，rFor dry retardation, mH(El) is a dry mapping function,
for the wet mapping function, the dry delay is estimated using the Saas model at tropospheric estimation and the mapping function is solved using NMF, where ZT,r,GN,r,GE,rAs an unknown parameter.
In summary, the above description is only a preferred example of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A ship positioning and meteorological data inversion method based on ocean tidal loads is characterized by comprising the following steps:
calculating initial position information of the ship based on a single-point positioning mode, and simultaneously acquiring GNSS real-time data flow and correction information flow of satellite ephemeris and clocks;
constructing grids by taking the initial position as a center, performing convolution integral on the grid points according to a global tide model and a green function to obtain tide loads on 9 grid points including the initial position, taking the mean value of each vertex in 4 grid areas formed by the 9 grid points as tide load correction of the area, judging the next epoch driving area of the ship by using the navigation direction information of the ship, and taking the tide load influence of the area as an error item;
and calculating the tidal load correction of the corresponding grid area according to the error term, and then performing real-time dynamic PPP resolving by using the real-time data stream and the correction information stream to obtain high-precision ship position information and meteorological data.
2. The method as claimed in claim 1, wherein after the GNSS real-time data stream and the correction information stream of the satellite ephemeris and clock are obtained, the classification and the arrangement are performed, and a corresponding database is built for storage.
3. The marine vessel positioning and meteorological data inversion method based on ocean tidal loads according to claim 2, wherein after the corresponding database is established for storage, various model files, including PCO and PCV correction files, are synchronously downloaded and stored in the database.
4. A method for vessel location and meteorological data inversion based on marine tidal loading as claimed in claim 1, 2 or 3, wherein the grid is constructed around the vessel at a distance of 100m, centred on the vessel's coordinates.
5. A method for vessel location and meteorological data inversion based on ocean tidal loading as claimed in claim 1, 2 or 3, wherein the global tidal model selection employs FES2004 global tidal model provided by the splpt software.
6. The marine vessel positioning and meteorological data inversion method based on ocean tidal loading according to claim 1, 2 or 3, wherein after the high-precision vessel position information and meteorological data are obtained, inversion and data imaging of the convective layer data are further carried out in real time.
7. The marine vessel positioning and meteorological data inversion method based on ocean tidal loading according to claim 6, wherein the real-time inversion and data imaging of the convective layer data are carried out by the following methods:
and adding the troposphere zenith delay and the troposphere horizontal gradient serving as parameters to be estimated into real-time data calculation by using a data processing mode of real-time dynamic PPP and using a mapping function model and a sass model, combining the calculated troposphere information and the real-time position information, and inputting a calculation result into a screen terminal to obtain a ship navigation trajectory graph and a troposphere change graph which are drawn in real time.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115047500A (en) * | 2022-06-08 | 2022-09-13 | 中南大学 | Offshore region sea tide load displacement model refinement method based on GPS data |
| CN115099159A (en) * | 2022-07-20 | 2022-09-23 | 武汉大学 | MODIS water vapor inversion method based on neural network and considering earth surface difference |
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2021
- 2021-09-14 CN CN202111075887.7A patent/CN114002720A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115047500A (en) * | 2022-06-08 | 2022-09-13 | 中南大学 | Offshore region sea tide load displacement model refinement method based on GPS data |
| CN115099159A (en) * | 2022-07-20 | 2022-09-23 | 武汉大学 | MODIS water vapor inversion method based on neural network and considering earth surface difference |
| CN115099159B (en) * | 2022-07-20 | 2023-03-07 | 武汉大学 | MODIS water vapor inversion method based on neural network and considering earth surface difference |
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