CN209264759U - A kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat - Google Patents
A kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat Download PDFInfo
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- CN209264759U CN209264759U CN201920130943.4U CN201920130943U CN209264759U CN 209264759 U CN209264759 U CN 209264759U CN 201920130943 U CN201920130943 U CN 201920130943U CN 209264759 U CN209264759 U CN 209264759U
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Abstract
The utility model relates to a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat, the switching support of device is fixed on unmanned boat, switching support top connects GPS measuring instrument, switching support lower part connects fine angle turntable, fine angle turntable connects acoustic Doppler fluid velocity profile instrument to be checked by adapter flange dish, and two high-speed camera lines are parallel to experimental tank long side and are arranged far from experimental tank.The utility model has the beneficial effects that unmanned boat band ADCP cruises along track line and measures navigation channel flow velocity, ADCP average speed is compared as reference standard value and ADCP flow velocity indicating value in the total station equipment measurement section that high-speed camera, magnitude can trace to the source, and carries out flow parameters calibration；By fine angle turntable, the instruction direction ADCP and navigation angular separation are adjusted, surveys and draws unmanned boat motion profile and yaw error, calculating flows to reference standard value, flows to indicating value with ADCP and be compared, carry out flowing to parametric calibration.
Description
Technical field
The utility model belongs to hydrographic survey instrument field of measuring techniques more particularly to marine traffic engineering field one kind is based on nothing
The acoustic Doppler fluid velocity profile instrument calibrating installation of people's ship.
Background technique
Acoustic Doppler current measured technology is the important breakthrough of last century the eighties current measured technology, and acoustic Doppler flow velocity cuts open
Face instrument (ADCP) is the new instrument that Current Observations are carried out using this principle.It is passed relative to the flow velocity based on machine power
Sensor, acoustic Doppler fluid velocity profile instrument (ADCP) be not necessarily to start velocity, can under the premise of not interference flowing field, high-precision,
The three-dimensional flow in a wide range of is rapidly measured, therefore is currently widely used for water transport engineering project, hydrological environment monitoring, sea
The flow field structure investigation in ocean, river mouth, harbor approach flow velocity and discharge measurement etc., measurement result and the relevant technologies have obtained correlation
The approval of worker.However, the variation of long working environment, will lead to the change of instrument self performance, cause the survey of instrument
There is relatively large deviation in amount result.Therefore, periodically to the flow velocity of instrument, flow to metering performance calibrate/test it is particularly important.
China is not yet directed to the large-scale calibration trial assembly of the special construction of acoustic Doppler fluid velocity profile instrument (ADCP) and sets at present, sound
It learns Doppler's flow velocity section plotter (ADCP) calibration and is broadly divided into indoor flow velocity sink calibration and outdoor navigation calibration.Since acoustics is more
The general expansion for strangling fluid velocity profile instrument (ADCP) frequency range and the inspection demand for being layered flow velocity, acoustic Doppler fluid velocity profile instrument
(ADCP) indoor calibration is to the more demanding of straight line hydrostatic vater tand: sink length is not less than 100m, and width is not less than 3m, and depth is not small
In 3m, the flow velocity acting trailer system of 5m/s need to be not less than equipped with speed, water body need to be above many containing suspended particulate or bubble etc.
Restrictive condition brings huge funds expense and construction cost to interior ADCP calibration test.Outdoor navigation calibration generally ocean,
Using self-correcting or than being carried out by the way of surveying under the natural environments such as river or lake, due to the integrated environments such as field wave, tide, stream, sand
Influence, introduce larger uncertainty to calibration.
Utility model content
To solve the above problems, the utility model provides a kind of acoustic Doppler fluid velocity profile instrument calibration based on unmanned boat
Device, calibration parameter include flow velocity and flow direction, by the ship lock navigation channel that can open/close at outdoor estuary, by nobody
Ship drives acoustic Doppler fluid velocity profile instrument (ADCP) to cruise along pond short side middle line and measures navigation channel flow velocity, is taken the photograph by high-speed light
Acoustic Doppler fluid velocity profile in the equipment measurement section such as total station (electronic total station) that camera, magnitude can trace to the source
Instrument (ADCP) average speed shows this average speed as reference standard value and acoustic Doppler fluid velocity profile instrument (ADCP) flow velocity
Value compares, and carries out flow parameters calibration；The fine angle turntable that can be traced to the source by design processing magnitude, adjusts acoustic Doppler stream
Fast section plotter (ADCP) instruction direction and navigation angular separation, survey and draw unmanned boat motion profile and yaw error, calculate flow direction ginseng
Standard value is examined, indicating value is flowed to ADCP and is compared, carries out flowing to parametric calibration.
The technical solution of the utility model includes: a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat,
Be characterized in that include experimental tank, unmanned boat, switching support, GPS measuring instrument, the first high-speed camera, the second high-speed camera,
Total station, fine angle turntable, the switching support are fixed on the unmanned boat, and switching support top connects the GPS and surveys
Measure instrument, the fine angle turntable is by adapter flange dish connection acoustic Doppler fluid velocity profile instrument to be checked, and described first
High-speed camera and the second high-speed camera optical centre line are parallel to the experimental tank long side and far from the examinations
Pond setting is tested, the total station is located at first high-speed camera and the second high-speed camera optical centre line is remote
From the experimental tank side.Further, the optical centre of first high-speed camera and second high-speed camera
Axis is each perpendicular to the long side of the experimental tank, and the total station is located at first high-speed camera and described second high
On the perpendicular bisector of fast video camera line.
Further, the GPS measuring instrument, the fine angle turntable, the adapter flange dish and the acoustics to be checked
The axis of Doppler's flow velocity section plotter is overlapped；
Preferably, the size of the unmanned boat is long 1.5m × wide 0.4m × high 0.3m, and the highest of the unmanned boat is run
Speed is 5m/s.
Further, the experimental tank is divided into accelerating sections, measuring section and deceleration according to the operating status of the unmanned boat
Section, the distance that the length of the accelerating sections is run over when accelerating to maximum speed by stationary state not less than the unmanned boat,
The distance that the length of the braking section is run over when being decelerated to stationary state by maximum speed not less than the unmanned boat, the survey
The detection zone that section is calibrated as the flow parameters of the acoustic Doppler fluid velocity profile instrument to be checked is measured, the measurement segment length is not
The distance that 30s is run over is driven at a constant speed with highest running speed less than the unmanned boat；
The experimental tank is the semiclosed cuboid ship lock of rule, long 180m, wide 25m, deep 10m, the experimental tank
For the stability test place for having suspended material, being layered flow field.
Further, track line of the two short side wall midpoint line of experimental tank as the unmanned foot, it is described
Track line is parallel to the long side wall of the experimental tank.
Further, first high-speed camera and second high-speed camera are selected with model high-speed camera,
First high-speed camera and the second high-speed camera frame rate reach 30fps or more, first high-speed camera
With the firing line for the unmanned boat is set in second high-speed camera respectively field range entering and exiting, into described
The unmanned boat chosen in the firing line of one high-speed camera field range and the experimental tank enters the measurement
Section boundary line is overlapped, and leaves the institute chosen in the firing line and the experimental tank of the second high-speed camera field range
State the boundary line coincidence that unmanned boat leaves the measuring section, the view of first high-speed camera and second high-speed camera
Field size should ensure that the unmanned boat can be traveled at the uniform speed in the trigger area of each high-speed camera with highest running speed
30s or more.
Further, counterweight surge bunker is set in the unmanned boat, fluid filled sac is set in the counterweight surge bunker.
Further, tap hole is filled in setting in the fluid filled sac, and protective cap is arranged in described fill on tap hole, the charge and discharge liquid
Mouth is connect with the protective cap using Detachable connection structure.
The utility model beneficial effect is: experimental tank is the semiclosed cuboid ship lock of rule, and long 180m, wide 25m are deep
10m, without influence factors such as tidal level, stormy waves, water flows in pond when closing gate, it is excellent that water body, which has suspended material, layering flow field,
Acoustic Doppler fluid velocity profile instrument (ADCP) calibrates place；Since cuboid ship lock is located at estuary, great river and sea are connected, is led to
Gate opening amplitude is overregulated, can produce layering flow field, flow velocity school can be provided for acoustic Doppler fluid velocity profile instrument (ADCP)
Quasi；Water body contains the backscattering such as silt, planktonic organism necessary to acoustic Doppler frequency displacement measuring principle in experimental tank
Body.The measuring section of 150m can guarantee the ADCP continuous acquisition at least data of 30s, and the waters of 25m wide can avoid Doppler's flow velocity
The boundary reverberation of section plotter (ADCP) wave beam angle of release is interfered, and the depth of water of 10m can guarantee acoustic Doppler fluid velocity profile instrument
(ADCP) layering flow velocity acquisition is carried out except measurement blind area, provides possibility, novel nothing for this calibration method utility model
People's ship is light, high stability, the superpower advantage for carrying compatibility, load of the unmanned boat as acoustic Doppler fluid velocity profile instrument to be checked
Body, for driving acoustic Doppler fluid velocity profile instrument to be checked to move in experimental tank by the direction of setting and speed, switching branch
Frame is used to for GPS measuring instrument and fine angle turntable being fixed on unmanned boat, and GPS measuring instrument realizes nothing for receiving GPS signal
The absolute coordinate of people's ship positions, and fine angle turntable is for adjusting Doppler's flow velocity section plotter (ADCP) energy converter to be measured and nobody
The angle of bow tail central axis realizes that institute Doppler flow velocity section plotter (ADCP) energy converter flows to the calibration of parameter, method of transferring
Blue disk is for being fixedly connected with fine angle turntable and Doppler's flow velocity section plotter (ADCP) energy converter, the first high-speed camera and the
Whether two high-speed cameras enter detection zone for real-time monitoring unmanned boat, and are touched by being arranged in respective field range
Hair line records the time of unmanned boat disengaging detection zone, and average speed of the unmanned boat in detection zone is obtained by calculation, and makees
For the standard flow rate value being compared with Doppler's flow velocity section plotter (ADCP) energy converter flow velocity measurement result, total station is for putting
The track line of the unmanned foot of sample, and measure the first high-speed camera two triggering wire spacing, the triggering of the second high-speed camera two
Wire spacing and measurement segment length；
Unmanned boat band ADCP cruises along track line measures navigation channel flow velocity, the whole station that high-speed camera, magnitude can trace to the source
ADCP average speed is compared as reference standard value and ADCP flow velocity indicating value in instrument equipment measurement section, carries out flow parameters school
It is quasi-；By fine angle turntable, the instruction direction ADCP and navigation angular separation are adjusted, mapping unmanned boat motion profile and yaw miss
Difference, calculating flow to reference standard value, flow to indicating value with ADCP and be compared, carry out flowing to parametric calibration.
Calibration method can satisfy the flow velocity and flow direction for the shallow waters field ADCP such as harbor approach, marine traffic engineering, offshore be coastal
Alignment requirements；Solve the problems, such as various in acoustic Doppler fluid velocity profile instrument (ADCP) metering performance calibration process, foundation measurement
The magnitude tracing chain of instrument and measurement criteria ensures the magnitude system of acoustic Doppler fluid velocity profile instrument (ADCP) flow velocity and flow direction
One, accurate and reliable.
Detailed description of the invention
Fig. 1 is the schematic illustration of the calibration method of the utility model；
Fig. 2 is the structural schematic diagram of 1 lieutenant colonel's standard apparatus of the utility model embodiment；
Fig. 3 is that fine angle turntable in the utility model embodiment 1, adapter flange dish, acoustic Doppler flow velocity to be measured cut open
The scheme of installation of face instrument；
Fig. 4 is the structural schematic diagram of 2 lieutenant colonel's standard apparatus of the utility model embodiment；
Fig. 5 is the structural schematic diagram of fluid filled sac in the utility model embodiment 2
In figure: 1. experimental tanks, 2. unmanned boats, 3. switching supports, 4.GPS measuring instrument, 5. fine angle turntables, 6. switchings
Ring flange, 7. acoustic Doppler fluid velocity profile instrument to be measured, 8. first high-speed cameras, 9. second high-speed cameras, 10. whole stations
Instrument, the long side wall of 11. experimental tanks, 12. experimental tank short side walls, 13. track lines, 14. first high-speed cameras drive into firing line,
15. the first high-speed camera is driven out to firing line, 16. second high-speed cameras drive into firing line, and 17. second high-speed cameras are driven out to
Firing line, 18. zero degree Warning Marks, 19. accelerating sections, 20. measuring sections, 21. braking sections, 22. counterweight surge bunkers, 23. fluid filled sacs,
24. filling tap hole, 25. protective caps.
Specific embodiment
It explains with reference to the accompanying drawing to specific embodiment of the present utility model.
Embodiment 1
A kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat, including experimental tank 1, unmanned boat 2, turn
Bracket 3, GPS measuring instrument 4, fine angle turntable 5, the first high-speed camera 8, the second high-speed camera 9, total station 10 are connect, is turned
It connects bracket 3 to be fixed on unmanned boat 2,3 top of switching support connects GPS measuring instrument 4, and fine angle turntable 5 passes through adapter flange
Disk 6 connects acoustic Doppler fluid velocity profile instrument 7 to be checked, 9 optical centre line of the first high-speed camera 8 and the second high-speed camera
It is parallel to experimental tank long side and is arranged far from experimental tank 1, total station 10 is located at the first high-speed camera 8 and the second high speed is taken the photograph
9 optical centre line of camera is far from 1 side of experimental tank.
The optical center axis of first high-speed camera 8 and the second high-speed camera 9 is each perpendicular to the long side of experimental tank
Side, total station are located on the perpendicular bisector of the first high-speed camera and the second high-speed camera line.
GPS measuring instrument 4, fine angle turntable 5, adapter flange dish 6 and acoustic Doppler fluid velocity profile instrument 7 to be checked axis
Line is overlapped；
The size of unmanned boat 2 is long 1.5m × wide 0.4m × high 0.3m, and the highest running speed of unmanned boat is 5m/s.
Experimental tank 1 is divided into accelerating sections, measuring section and braking section according to the operating status of unmanned boat, and the length of accelerating sections is not
The distance run over when accelerating to maximum speed by stationary state less than unmanned boat, the length of braking section not less than unmanned boat by
Maximum speed is decelerated to the distance run over when stationary state, flow velocity of the measuring section as acoustic Doppler fluid velocity profile instrument to be checked
The detection zone of parametric calibration, measurement segment length drive at a constant speed what 30s was run over not less than unmanned boat with highest running speed
Distance；
Experimental tank 1 is the semiclosed cuboid ship lock of rule, and long 180m, wide 25m, deep 10m, experimental tank is to have suspension
Substance, the stability test place for being layered flow field.
Track line 13 of the 1 liang of short side wall midpoint line of experimental tank as unmanned foot, track line 13 are parallel to test
The long side wall in pond 1.The accurate positioning that 1 liang of short side wall midpoint of experimental tank is carried out by total station 10, by 1 liang of short side of experimental tank
The track line that wall midpoint line is travelled as unmanned boat 2, the track line are parallel to the long side wall of experimental tank 1, and unmanned boat 2 travels
When pass through 4 real-time reception of GPS measuring instrument and correct its absolute coordinate position, deviate the displacement of track line not in whole driving process
More than 20mm.
First high-speed camera 8 and the second high-speed camera 9 are selected with model high-speed camera, the first high-speed camera 8
Reach 30fps or more, the first high-speed camera 8 and the respective visual field of the second high-speed camera 9 with 9 frame rate of the second high-speed camera
The firing line that setting unmanned boat enters and exits in range, into the first high-speed camera of the first high-speed camera field range
It drives into firing line and is overlapped with the boundary line that the unmanned boat of selection in experimental tank enters measuring section, leave the second high-speed camera view
Second high-speed camera of field range is driven out to the boundary line weight that the unmanned boat chosen in firing line and experimental tank leaves measuring section
It closes, the visual field size of the first high-speed camera 8 and the second high-speed camera 9 should ensure that unmanned boat 2 in each high-speed camera
Can be traveled at the uniform speed 3s or more in trigger area with highest running speed.
A kind of acoustic Doppler fluid velocity profile instrument calibration method based on unmanned boat, it is characterised in that including flow velocity calibration side
Method and calibration method is flowed to, flow velocity calibration method refers to drives acoustic Doppler fluid velocity profile instrument to be checked short along pond by unmanned boat
Side middle line, that is, track line, which cruises, measures navigation channel flow velocity, and the first high-speed camera, the second high-speed camera, magnitude can trace to the source
The average speed of acoustic Doppler fluid velocity profile instrument to be checked in total station equipment measurement section, using this average speed as reference
Standard value is compared with acoustic Doppler fluid velocity profile instrument flow velocity indicating value to be checked, carries out flow parameters calibration；
The fine angle turntable that calibration method can trace to the source by processing magnitude is flowed to, acoustic Doppler flow velocity to be checked is adjusted and cuts open
Face instrument indicates direction and navigation angular separation, surveys and draws unmanned boat motion profile and yaw error, and calculating flows to reference standard value, with
Acoustic Doppler fluid velocity profile instrument to be checked flows to indicating value and is compared, and carries out flowing to parametric calibration.
Flow velocity calibration method specifically comprises the following steps:
Step 1: acoustic Doppler fluid velocity profile instrument to be checked being installed to the bottom of unmanned boat by adapter flange dish, is adjusted
Acoustic Doppler fluid velocity profile instrument zero degree Warning Mark to be checked is overlapped with the degree Warning Mark of fine angle turntable zero, with sound to be checked
The electronics watertight compartment for learning the communication cable access unmanned boat of Doppler's flow velocity section plotter energy converter connection, steadily hangs unmanned boat extremely
Experimental tank；
Step 2: it is high normally to start unmanned boat, acoustic Doppler fluid velocity profile instrument to be checked and the first high-speed camera and second
Unmanned boat, acoustic Doppler fluid velocity profile instrument energy converter to be checked and first are established in fast video camera, the pulse per second (PPS) based on GPS measuring instrument
The time synchronization benchmark of high-speed camera and the second high-speed camera；
Step 3: two 180m of total station setting-out isometric and parallel virtual line, wherein straight line and experimental tank
Setting track line of the short side midpoint as unmanned foot parallel and by experimental tank of long side, another straight line position
In the first high-speed camera and the second high-speed camera side as measurement criteria line；
Step 4: being divided the long side of experimental tank according to the maximum travel speed of the length of experimental tank and unmanned boat
Absolute coordinate for accelerating sections, measuring section, braking section, each section of separation is determined by the measurement criteria line of total station setting-out, is recorded
The starting point and terminating point absolute coordinate of measuring section, are entered into nobody on setting track line corresponding with measurement criteria line
Ship plateform system, which controls, carries out course line instruction editor in software；
Step 5: in the initial position of measuring section and final position the first high-speed camera being installed respectively and the second high speed is taken the photograph
The optical center axis of camera, the first high-speed camera and the second high-speed camera is each perpendicular to the long side of experimental tank, the
The line of one high-speed camera and the second high-speed camera is parallel to the long side of experimental tank, the first high-speed camera visual field model
The unmanned boat chosen in firing line and experimental tank that drives into enclosed enters the boundary line of driving into of measuring section and is overlapped, the second high-speed camera
The unmanned boat chosen in firing line and experimental tank that is driven out to of machine field range leaves the boundary line that is driven out to of measuring section and is overlapped；
Step 6: unmanned boat is according to assignment instructions along track line autonomous navigation, acoustic Doppler stream to be checked in experimental tank
Fast section plotter energy converter is to underwater emission ultrasonic beam in unmanned boat motion process, and the suspended matter or silt in water body are to sound
Wave generates irregular scattering, and scatter echo is received energy converter reception, and acoustic Doppler fluid velocity profile instrument energy converter to be checked is adding
After accelerating to setting speed in fast section, at the uniform velocity by measuring section, the ground survey base station of GPS measuring instrument is carried out by wireless bridge
Speed of a ship or plane real time monitoring, analysis, storage；
Step 7: the first high-speed camera carries out real-time monitoring to field of view, passes through pond face to experimental tank and visual field
Feature difference of the interior other background objects in color and texture, extracts experimental tank in the field range of the first high-speed camera
Interior pond facial contour line only differentiates the dynamic object occurred in the contour line by making the difference the method compared frame by frame, from
And it reduces the first high-speed camera and the mistake of mobile object other than the face field range Nei Chi is differentiated；
Step 8: when having moving object by when driving into firing line of the first high-speed camera, the first high-speed camera is real-time
The moment point is recorded, and real time dynamic tracing is carried out to moving object using particle filter algorithm, while passing through mean filter, side
Edge detection scheduling algorithm obtains the contour feature of the moving object, compares with the contour feature of the unmanned boat prestored, to sentence
Whether the moving object that regular inspection measures is the unmanned boat driven into, if so, go to step 9, if it is not, then stop to the object with
Track and record, repeat step 8；
Step 9: reaching the image for driving into firing line by the unmanned boat of backtracking the first high-speed camera record, redefine
The precise time for driving into firing line that unmanned boat bow enters the first high-speed camera enters the starting of measuring section as unmanned boat
Time tas, when unmanned boat stern is by when being driven out to firing line of the first high-speed camera, high-speed camera 8 records the moment in real time
Point tae；
Step 10: the second high-speed camera carries out real-time monitoring to field of view, by the pond face to experimental tank and regards
Feature difference of other background objects in color and texture, extracts experimental tank 1 in the visual field of the second high-speed camera in
Pond facial contour line in range only sentences the dynamic object occurred in the contour line by making the difference the method compared frame by frame
Not, the mistake of mobile object other than the face field range Nei Chi is differentiated to reduce the second high-speed camera；
Step 11: when having moving object by when driving into firing line 16 of the second high-speed camera 9, the second high-speed camera
9 record the moment point in real time, and carry out real time dynamic tracing to moving object using particle filter algorithm, while filtering by mean value
Wave, edge detection scheduling algorithm obtain the contour feature of the moving object, compare with the contour feature of the unmanned boat 2 prestored,
Therefore, it is determined that whether the moving object detected is the unmanned boat 2 driven into, if so, 12 are gone to step, if it is not, then stopping to this
The tracking of object and record repeat step 11；
Step 12: the image for driving into firing line is reached by the unmanned boat of backtracking the second high-speed camera record, again really
Determine the precise time t for driving into firing line that unmanned boat bow enters the second high-speed camerabs, when unmanned boat stern is high by first
When being driven out to firing line of fast video camera, the first high-speed camera record the end that the moment point is driven out to measuring section as unmanned boat in real time
Only time tbe；
Step 13: total station 10 carries out accurate measurement to the length L of measuring section, while by total station to the first high-speed camera
Machine, which drives into firing line and is driven out to the distance between firing line, carries out accurate measurement, drives into touching to the second high-speed camera by total station
It hair line and is driven out to the distance between firing line and carries out accurate measurement, unmanned boat is calculated by formula 1- formula 3 and passes through measuring section, the
Distance L between one high-speed camera, two firing line1, distance L between 9 liang of firing lines of high-speed camera2Speed.
Step 14: uniformly choosing m stream from the initial data that acoustic Doppler fluid velocity profile instrument energy converter to be checked measures
Speed value calculates arithmetic average and is compared as flow rate measurements with the standard flow rate value that step 13 is calculated, and realizes stream
The calibration of fast parameter, m >=30；
Step 15: repeating step 6 to step 14, duplicate measurements 10 times, realize acoustic Doppler fluid velocity profile instrument stream to be checked
The calibration of fast parameter.
Further, if v in step 131≤v≤v2, then using v as standard flow rate value；If v≤v1Or v >=v2, then compare
|v-v1|、|v-v2|, if | v-v1|<|v-v2|, then by v=v1As standard flow rate value；If | v-v1|>|v-v2|, then by v=v2
As standard flow rate value；
Calibration method is flowed to specifically comprise the following steps:
Step 1: acoustic Doppler fluid velocity profile instrument instruction direction to be checked and unmanned boat axis are adjusted by fine angle turntable
Wire clamp angle is to selected angle value；
Step 2: unmanned boat is arranged GPS measuring instrument with the sample rate of 1Hz and acquires nothing in real time to drive at a constant speed along track line
The location information of people's ship calculates the course drift error of different moments compared with track line coordinate information, by fine angle turntable
Direction initialization value and course drift value Vector modulation, the standard flow direction value as the moment；
Step 3: 10 for acquiring acoustic Doppler fluid velocity profile instrument to be checked in measuring section flow to indicating value, choose with for the moment
The indicating value that flows to carved is compared with standard value is flowed to, and calculating flows to the error of indication；
Step 4: within the scope of 0 °~180 °, 0 ° of the angle value of uniform design 7,30 °, 60 °, 90 °, 120 °, 150 °,
180 °, step 1 is repeated to step 3, carries out the calibration that the acoustic Doppler fluid velocity profile instrument energy converter to be checked flows to parameter.
Embodiment 1
It is as shown in Figure 1 to Figure 3 a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat, including flow velocity
Calibrating installation flows to calibrating installation, experimental tank 1, flow velocity calibrating installation include unmanned boat 2, switching support 3, GPS measuring instrument 4,
First high-speed camera 8, the second high-speed camera 9 and total station 1, switching support 3 are fixed on unmanned boat 2, and switching support is adopted
With lifting and 360 ° of rotation functions are able to achieve, to adjust depth and the rotation under water of acoustic Doppler fluid velocity profile instrument 7 to be checked
Angle, 3 top of switching support connect GPS measuring instrument 4, and lower part connects fine angle turntable 5, and fine angle turntable 5 passes through switching
Ring flange 6 connects 7 energy converter of acoustic Doppler fluid velocity profile instrument to be measured, GPS measuring instrument 4, fine angle turntable 5,6 and of ring flange
The axis of acoustic Doppler fluid velocity profile instrument 7 is overlapped, and the first high-speed camera 8 and the second high-speed camera 9 are placed in test water
The optical center axis of 1 long side 11 of pond, the first high-speed camera 8 and the second high-speed camera 9 is each perpendicular to experimental tank 1
The optical centre line of long side 11, the first high-speed camera 8 and the second high-speed camera 9 is parallel to the long side of experimental tank 1
Side 11, total station 1 are located at the first high-speed camera 8 and 9 optical centre line of the second high-speed camera far from experimental tank 1 one
Side.
Experimental tank 1 is used to provide to have for the calibration test of 7 energy converter of acoustic Doppler fluid velocity profile instrument to be measured and suspend
Substance, the stability test place for being layered flow field, unmanned boat 2 is having a size of 1.5m (length) × 0.4m (width) × 0.3m (depth), highest fortune
Scanning frequency degree selects macromolecule polyester carbon fiber to be used as hull material up to 5m/s, guarantees that unmanned boat 2 is born having enough carry
Have the characteristics that compact-sized, running resistance is small, sturdy and durable while loading capability, as acoustic Doppler fluid velocity profile to be measured
The carrier of instrument 7, for driving acoustic Doppler fluid velocity profile instrument 7 to be measured to transport in experimental tank 1 by the direction of setting and speed
Dynamic, switching support 3 is used to for GPS measuring instrument 4 and fine angle turntable 5 being fixed on unmanned boat 2, and GPS measuring instrument 4 is for receiving
GPS signal realizes the absolute coordinate positioning of unmanned boat 2, and fine angle turntable 5 is for adjusting acoustic Doppler fluid velocity profile to be measured
The angle of 7 energy converter of instrument and 2 head and the tail central axis of unmanned boat realizes that acoustic Doppler fluid velocity profile instrument 7 to be measured flows to parameter
Calibration, adapter flange dish 6 are for being fixedly connected with fine angle turntable 5 and acoustic Doppler fluid velocity profile instrument 7 to be measured, the first high speed
Video camera 8 and the second high-speed camera 9 are used for whether real-time monitoring unmanned boat 2 to enter detection zone, and by respective view
Setting firing line records the time that unmanned boat 2 passes in and out detection zone in the range of field, and unmanned boat 2 is obtained by calculation in detection zone
Interior average speed, as the standard flow rate value being compared with 7 flow velocity measurement result of acoustic Doppler fluid velocity profile instrument to be measured,
Total station 1 is used for the track line that setting-out unmanned boat 2 travels, and carries out the accurate of 1 liang of 12 midpoint of short side wall of experimental tank by total station 1
Positioning, the track line that 1 liang of short side wall of experimental tank, 12 midpoint line is travelled as unmanned boat 2, the track line are parallel to test
The long side wall 11 in pond 1, unmanned boat 2 pass through 4 real-time reception of GPS measuring instrument when driving and correct its absolute coordinate position, entirely
The displacement for deviateing track line 13 in driving process is no more than 20mm, while total station is for measuring 8 liang of the first high-speed camera touchings
Send out wire spacing, 9 liang of triggering wire spacings of the second high-speed camera and 20 length of measuring section.
Experimental tank 1 is divided into accelerating sections 19, measuring section 20 and braking section 21, accelerating sections according to the operating status of unmanned boat 2
The distance that 19 length is run over when should accelerate to maximum speed by stationary state not less than unmanned boat 2, the length of braking section 13
The distance that degree is run over when should be decelerated to stationary state by maximum speed not less than unmanned boat 2, measuring section 20 are used as acoustics to be measured
The detection zone of 7 flow parameters of Doppler's flow velocity section plotter calibration, length should at full throttle drive at a constant speed not less than unmanned boat 2
The distance that 30s is run over, the segment length carry out accurate measurement by total station 1.
First high-speed camera 8 and the second high-speed camera 9 are selected with model high-speed camera, and frame rate reaches 30fps
More than, the firing line that unmanned boat 2 enters and exits is set in two video cameras respectively field range, wherein the first high-speed camera
The firing line 14 of driving into of 8 field range of machine is overlapped with the boundary line of unmanned boat 2 into the measuring section 20 chosen in experimental tank 1,
The unmanned boat 2 chosen in firing line 17 and experimental tank 1 that is driven out to of second high-speed camera field range leaves measuring section 20
Boundary line is overlapped, and the visual field size of the first high-speed camera 8 and the second high-speed camera 9 should ensure that unmanned boat 2 in each high speed
Can at full throttle travel at the uniform speed 3s or more in the trigger area of video camera.
A kind of acoustic Doppler fluid velocity profile instrument calibration method based on unmanned boat, which is characterized in that calibrated including flow velocity
Method and flow to calibration method, wherein flow velocity calibration method includes the following steps:
Step 1: acoustic Doppler fluid velocity profile instrument 7 to be measured is installed to the bottom of unmanned boat 2 by adapter flange dish 6,
7 zero degree Warning Mark of acoustic Doppler fluid velocity profile instrument to be measured is adjusted to be overlapped with 5 zero degree Warning Mark 18 of fine angle turntable, with
The electronics watertight compartment of the communication cable access unmanned boat 2 of 7 energy converter of acoustic Doppler fluid velocity profile instrument connection to be measured, steadily hangs
Unmanned boat 2 is to experimental tank 1；
Step 2: normal starting unmanned boat 2,7 energy converter of acoustic Doppler fluid velocity profile instrument to be measured and the first high-speed camera
8 and second high-speed camera 9, the pulse per second (PPS) (1pps) based on GPS measuring instrument 4 establish unmanned boat 2, acoustic Doppler flow velocity to be measured
The time synchronization benchmark of section plotter 77 and the first high-speed camera 8 and the second high-speed camera 9；
Step 3: by the isometric and parallel virtual line of 1 setting-out of total station, two 180m, wherein straight line and test water
The long side in pond 1 is parallel and passes through the short side midpoint of experimental tank 1, the setting track line which travels as unmanned boat 2
13, another straight line is located at 9 side of the first high-speed camera 8 and the second high-speed camera, and the straight line is as measurement criteria line；
Step 4: being drawn the long side of experimental tank 1 according to the maximum travel speed of the length of experimental tank 1 and unmanned boat 2
Be divided into accelerating sections 19, measuring section 20, braking section 21, the absolute coordinate of each section of separation by 1 setting-out of total station measurement criteria line
It determines, records the starting point and terminating point absolute coordinate of measuring section 20 on setting track line corresponding with measurement criteria line, it will
It, which is input in 2 plateform system of unmanned boat control software, carries out course line instruction editor.
Step 5: the first high-speed camera 8 and the second high speed being installed respectively in the initial position of measuring section 20 and final position
The optical center axis of video camera 9, the first high-speed camera 8 and the second high-speed camera 9 is each perpendicular to the long side of experimental tank 1
The optical centre line of side, the first high-speed camera 8 and the second high-speed camera 9 is parallel to the long side of experimental tank 1, and first
The driving into measuring section 20 of unmanned boat 2 of 8 field range of high-speed camera driving into firing line 14 with being chosen in experimental tank 1
Boundary line is overlapped, the unmanned boat 2 that being driven out to of 9 field range of the second high-speed camera is chosen in firing line 17 and experimental tank 1 from
That opens measuring section 20 is driven out to boundary line coincidence；
Step 6: unmanned boat 2 is according to the assignment instructions of pre-edit along track line autonomous navigation, acoustics in experimental tank 1
Suspended matter or silt of the Doppler's flow velocity section plotter 7 in 5 motion process of unmanned boat to underwater emission ultrasonic beam, in water body
Deng to sound wave generate irregular scattering, scatter echo be received energy converter reception, acoustic Doppler fluid velocity profile instrument 7 is in accelerating sections
After accelerating to setting speed in 11, at the uniform velocity by measuring section 20, the ground survey base station of GPS 4 carries out the speed of a ship or plane by wireless bridge
Real time monitoring, analysis, storage；
Step 7: the first high-speed camera 8 carries out real-time monitoring to field of view, by the pond face to experimental tank 1 and regards
Feature difference of other background objects in color and texture, extracts experimental tank 1 in the visual field of the first high-speed camera 8 in
Pond facial contour line in range only sentences the dynamic object occurred in the contour line by making the difference the method compared frame by frame
Not, the mistake of mobile object other than the face field range Nei Chi is differentiated to reduce the first high-speed camera 8；
Step 8: when having moving object by when driving into firing line 14 of the first high-speed camera 8, the first high-speed camera 8
The moment point is recorded in real time, and real time dynamic tracing is carried out to moving object using particle filter algorithm, while filtering by mean value
Wave, edge detection scheduling algorithm obtain the contour feature of the moving object, compare with the contour feature of the unmanned boat 2 prestored,
Therefore, it is determined that whether the moving object detected is the unmanned boat 2 driven into, if so, 9 are gone to step, if it is not, then stopping to this
The tracking of object and record repeat step 8；
Step 9: the image for driving into firing line 14 is reached by the unmanned boat 2 of backtracking the first high-speed camera 8 record, again
The precise time for driving into firing line for determining 2 bow of unmanned boat into the first high-speed camera 8 enters measuring section as unmanned boat 2
20 initial time tas, when 2 stern of unmanned boat passes through when being driven out to firing line 15 of the first high-speed camera 8, the first high-speed camera
Machine 8 records moment point t in real timeae；
Step 10: the second high-speed camera 9 carries out real-time monitoring to field of view, by pond face to experimental tank 1 with
Feature difference of other background objects in color and texture, extracts experimental tank 1 in the view of the second high-speed camera 9 in visual field
Pond facial contour line in the range of field, only sentences the dynamic object occurred in the contour line by making the difference the method compared frame by frame
Not, the mistake of mobile object other than the face field range Nei Chi is differentiated to reduce the second high-speed camera 9；
Step 11: when having moving object by when driving into firing line 16 of the second high-speed camera 9, the second high-speed camera
9 record the moment point in real time, and carry out real time dynamic tracing to moving object using particle filter algorithm, while filtering by mean value
Wave, edge detection scheduling algorithm obtain the contour feature of the moving object, compare with the contour feature of the unmanned boat 2 prestored,
Therefore, it is determined that whether the moving object detected is the unmanned boat 2 driven into, if so, 12 are gone to step, if it is not, then stopping to this
The tracking of object and record repeat step 11；
Step 12: the image for driving into firing line 16, weight are reached by the unmanned boat 2 of backtracking the second high-speed camera 9 record
The new precise time t for driving into firing line for determining 2 bow of unmanned boat and entering the second high-speed camera 9bs, when 2 stern of unmanned boat is logical
When being driven out to firing line 17 of the first high-speed camera 8 is crossed, the first high-speed camera 8 records the moment point as unmanned boat 2 in real time
It is driven out to the termination time t of measuring section 20be；
Step 13: accurate measurement being carried out by length L of the total station 10 to measuring section 20, while by total station to the first high speed
Video camera drives into firing line 14 and is driven out to the distance between firing line 15 L1Accurate measurement is carried out, the second high speed is taken the photograph by total station
Camera drives into firing line 16 and is driven out to the distance between firing line 17 L2Accurate measurement is carried out, is counted by formula (1)-formula (3)
It calculates unmanned boat 2 and passes through distance L between 8 liang of measuring section 20, the first high-speed camera firing lines1, 9 liang of the second high-speed camera triggering
Distance L between line2Speed.
If v1≤v≤v2, then using v as standard flow rate value, if v≤v1Or v >=v2, then compare | v-v1|、|v-v2|, if |
v-v1|<|v-v2|, then by v=v1As standard flow rate value, if | v-v1|>|v-v2|, then by v=v2As standard flow rate value；
Step 14: uniformly choosing m flow speed value meter from the initial data that acoustic Doppler fluid velocity profile instrument to be measured measures
It calculates arithmetic average to be compared as flow rate measurements with the standard flow rate value that step 13 is calculated, realizes flow parameters
Calibration, wherein the size of the selection gist experimental tank 1 of m and the speed of unmanned boat 2 determine, usual m >=30；
Step 15: repeating step 6 to step 14, duplicate measurements 10 times, realize 7 flow velocity of acoustic Doppler fluid velocity profile instrument ginseng
Several calibrations.
It is as follows to flow to calibration method:
Step 1: flow to the early-stage preparations of calibration, experimental condition, the installation of acoustic Doppler fluid velocity profile instrument and setting with
Flow velocity calibration method is consistent；
Step 2: acoustic Doppler fluid velocity profile instrument 7 is adjusted by fine angle turntable 5 and indicates direction and 2 axis of unmanned boat
Wire clamp angle is to selected angle value；
Step 3: unmanned boat 2 is driven at a constant speed with 3m/s along track line, and setting GPS measuring instrument 4 is real-time with the sample rate of 1Hz
The location information of acquisition unmanned boat 2 calculates the course drift error of different moments compared with track line coordinate information, will be accurate
5 direction initialization value of angle disk and course drift value Vector modulation, the standard flow direction value as the moment；
Step 4: 10 for acquiring acoustic Doppler fluid velocity profile instrument to be measured in measuring section 20 flow to indicating value, choose same
The indicating value that flows at moment is compared with standard value is flowed to, and calculating flows to the error of indication；
Step 5: within the scope of 0 °~180 °, 7 angle values of uniform design (0 °, 30 °, 60 °, 90 °, 120 °, 150 °,
180 °), step 2 is repeated to step 4, carries out the calibration that acoustic Doppler fluid velocity profile instrument flows to parameter.
When work, using above-mentioned flow velocity and the stream that calibration method exports acoustic Doppler fluid velocity profile instrument energy converter is flowed to
Speed carries out real-time dynamic calibration with measurement data is flowed to, and measurement data is as shown in Table 1 and Table 2.
The calibration of 1 acoustic Doppler fluid velocity profile instrument flow parameters of table
2 acoustic Doppler fluid velocity profile instrument of table flows to parametric calibration
During engineer application, it is desirable that the flow velocity limits of error are v × 1% ± 0.005m/s, flow to maximum allowable mistake
Difference is ± 5 °, be can be seen that from the measurement result in Tables 1 and 2, how general using the acoustics based on unmanned boat in the utility model
Fluid velocity profile instrument calibrating installation and calibration method are strangled, the error of indication has and surveys much smaller than the limits of error in engineer application
Accuracy of measurement is high, speed is fast, flexibility is good, the advantages of being easily achieved, for improving the standard of Doppler's flow velocity section plotter measurement data
True property, stability and reliability, the use of specification acoustic Doppler fluid velocity profile instrument are of great significance with management.
Embodiment 2
Further include following technical scheme in addition to above technical scheme:
Counterweight surge bunker 22 is set in unmanned boat 2, fluid filled sac 23 is set in counterweight surge bunker 22, and fluid filled sac is using elastic material
Material has certain intensity, and tap hole 24 is filled in setting in fluid filled sac 23, fills setting protective cap 25 on tap hole 24, fills tap hole
24 are connect with protective cap 25 using Detachable connection structure, and Detachable connection structure facilitates as being threadedly coupled and carries out filling liquid or put
Liquid operation.Filling amount by adjusting 22 internal-filling liquid capsule 23 of counterweight surge bunker adjusts counterweight, to keep the stable gravity center of unmanned boat 2
It is fixed, prevent unmanned boat from toppling, but also 2 switching support of unmanned boat is perpendicular to still water, switching support lower end connect to
Acoustic Doppler fluid velocity profile instrument is examined, avoids acoustic Doppler fluid velocity profile instrument 7 to be checked from measuring flow velocity and flows to the generation of data
Error.
Compared with prior art, rationally, experimental tank is the semiclosed cuboid ship lock of rule for design, and long 180m is wide
250m, deep 10m, without influence factors such as tidal level, stormy waves, water flows in pond when closing gate, water body has suspended material, layering flow field,
It is excellent acoustic Doppler fluid velocity profile instrument (ADCP) calibration place；Since cuboid ship lock is located at estuary, great river is connected
With sea, amplitude is opened by regulating gate, can produce layering flow field, can be mentioned for acoustic Doppler fluid velocity profile instrument (ADCP)
For flow velocity calibration environment；Water body contains silt, planktonic organism necessary to acoustic Doppler frequency displacement measuring principle etc. in experimental tank
Backscatter.The measuring section of 150m can guarantee the ADCP continuous acquisition at least data of 30s, and the waters of 25m wide can avoid more
The general boundary reverberation interference for strangling fluid velocity profile instrument (ADCP) wave beam angle of release, the depth of water of 10m can guarantee that acoustic Doppler flow velocity cuts open
Face instrument (ADCP) carries out layering flow velocity acquisition except measurement blind area, provides possibility for this calibration method utility model, newly
Type unmanned boat is light, high stability, the superpower advantage for carrying compatibility, and unmanned boat 2 is used as acoustic Doppler fluid velocity profile to be checked
The carrier of instrument, for driving acoustic Doppler fluid velocity profile instrument to be checked to move in experimental tank by the direction of setting and speed,
Switching support is used to for GPS measuring instrument and fine angle turntable being fixed on unmanned boat, and GPS measuring instrument is used to receive GPS signal,
Realize the absolute coordinate positioning of unmanned boat, fine angle turntable is for adjusting Doppler's flow velocity section plotter (ADCP) energy converter to be measured
With the angle of unmanned boat head and the tail central axis, realize that institute Doppler flow velocity section plotter (ADCP) energy converter flows to the calibration of parameter,
Adapter flange dish for being fixedly connected with fine angle turntable 5 and Doppler's flow velocity section plotter (ADCP) energy converter, take the photograph by the first high speed
Camera and the second high-speed camera are used for whether real-time monitoring unmanned boat to enter detection zone, and by respective field range
Interior setting firing line records the time of unmanned boat disengaging detection zone, and unmanned boat being averaged in detection zone is obtained by calculation
Speed, as the standard flow rate value being compared with Doppler's flow velocity section plotter (ADCP) energy converter flow velocity measurement result, whole station
Instrument is used for the track line of the unmanned foot of setting-out, and measures the first high-speed camera two and trigger wire spacing, the second high-speed camera
Machine two triggers wire spacing and 20 length of measuring section；
Unmanned boat band ADCP cruises along track line measures navigation channel flow velocity, the whole station that high-speed camera, magnitude can trace to the source
ADCP average speed is compared as reference standard value and ADCP flow velocity indicating value in instrument equipment measurement section, carries out flow parameters school
It is quasi-；By fine angle turntable, the instruction direction ADCP and navigation angular separation are adjusted, mapping unmanned boat motion profile and yaw miss
Difference, calculating flow to reference standard value, flow to indicating value with ADCP and be compared, carry out flowing to parametric calibration.
Calibration method can satisfy the flow velocity and flow direction for the shallow waters field ADCP such as harbor approach, marine traffic engineering, offshore be coastal
Alignment requirements；Solve the problems, such as various in acoustic Doppler fluid velocity profile instrument (ADCP) metering performance calibration process, foundation measurement
The magnitude tracing chain of instrument and measurement criteria ensures the magnitude system of acoustic Doppler fluid velocity profile instrument (ADCP) flow velocity and flow direction
One, accurate and reliable.
The example of the utility model is described in detail above, but content is only the preferable implementation of the utility model
Example, should not be considered as limiting the scope of the present invention.Impartial change made according to the scope of application of this utility model
Change and improve etc., it should still belong within the patent covering scope of the utility model.
Claims (10)
1. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat, it is characterised in that including experimental tank, nothing
People's ship, switching support, GPS measuring instrument, the first high-speed camera, the second high-speed camera, total station, fine angle turntable, institute
It states switching support to be fixed on the unmanned boat, the switching support top connects the GPS measuring instrument, and the fine angle turns
Disk connects acoustic Doppler fluid velocity profile instrument to be checked, first high-speed camera and second high speed by adapter flange dish
The camera optics line of centres is parallel to the experimental tank long side and is arranged far from the experimental tank, and the total station is located at
First high-speed camera and the second high-speed camera optical centre line are far from the experimental tank side.
2. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 1, feature
It is that first high-speed camera and the optical center axis of second high-speed camera are each perpendicular to the experimental tank
Long side.
3. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 2, feature
It is the GPS measuring instrument, the fine angle turntable, the adapter flange dish and the acoustic Doppler fluid velocity profile to be checked
The axis of instrument is overlapped.
4. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 1,2 or 3,
The size for being characterized in that the unmanned boat is long 1.5m × wide 0.4m × high 0.3m, and the highest running speed of the unmanned boat is
5m/s。
5. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 1,2 or 3,
It is characterized in that the experimental tank is divided into accelerating sections, measuring section and braking section according to the operating status of the unmanned boat, it is described to add
The distance that the length of fast section is run over when accelerating to maximum speed by stationary state not less than the unmanned boat, the braking section
Length distance for running over when being decelerated to stationary state by maximum speed not less than the unmanned boat, the measuring section is as institute
The detection zone of the flow parameters calibration of acoustic Doppler fluid velocity profile instrument to be checked is stated, the measurement segment length is not less than the nothing
People's ship drives at a constant speed the distance that 30s is run over highest running speed.
6. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 1,2 or 3,
It is characterized in that the experimental tank is the semiclosed cuboid ship lock of rule, long 180m, wide 25m, deep 10m, the experimental tank
For the stability test place for having suspended material, being layered flow field.
7. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 1,2 or 3,
It is characterized in that track line of the two short side wall midpoint line of experimental tank as the unmanned foot, the track line are parallel
In the long side wall of the experimental tank.
8. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 5, feature
It is that first high-speed camera and second high-speed camera are selected with model high-speed camera, first high speed is taken the photograph
Camera and the second high-speed camera frame rate reach 30fps or more, first high-speed camera and second high speed
The video camera firing line that respectively the interior setting unmanned boat of field range enters and exits, regards into first high-speed camera
The firing line of driving into of field range is overlapped with the boundary line of the unmanned boat into the measuring section chosen in the experimental tank,
Leave the second high-speed camera field range be driven out to the unmanned boat chosen in firing line and the experimental tank from
The boundary line for opening the measuring section is overlapped, and the visual field size of first high-speed camera and second high-speed camera should all
Guaranteeing the unmanned boat can be traveled at the uniform speed 3s or more in the trigger area of each high-speed camera with highest running speed.
9. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 8, feature
It is that counterweight surge bunker is arranged in the unmanned boat, fluid filled sac is set in the counterweight surge bunker.
10. a kind of acoustic Doppler fluid velocity profile instrument calibrating installation based on unmanned boat according to claim 9, feature
It is in the fluid filled sac that tap hole is filled in setting, protective cap is arranged in described fill on tap hole, described to fill tap hole and the protection
Cap is connected using Detachable connection structure.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487439A (en) * | 2019-01-25 | 2020-08-04 | 交通运输部天津水运工程科学研究所 | Unmanned ship-based acoustic Doppler current profiler calibration device and method |
| CN114397480A (en) * | 2022-01-04 | 2022-04-26 | 湖南大学 | Acoustic Doppler velocimeter error estimation method, device and system |
| CN115617052A (en) * | 2022-12-16 | 2023-01-17 | 陕西欧卡电子智能科技有限公司 | Unmanned ship warehousing method and device under flow velocity, computer equipment and storage medium |
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2019
- 2019-01-25 CN CN201920130943.4U patent/CN209264759U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487439A (en) * | 2019-01-25 | 2020-08-04 | 交通运输部天津水运工程科学研究所 | Unmanned ship-based acoustic Doppler current profiler calibration device and method |
| CN114397480A (en) * | 2022-01-04 | 2022-04-26 | 湖南大学 | Acoustic Doppler velocimeter error estimation method, device and system |
| CN114397480B (en) * | 2022-01-04 | 2022-10-14 | 湖南大学 | Acoustic Doppler velocimeter error estimation method, device and system |
| CN115617052A (en) * | 2022-12-16 | 2023-01-17 | 陕西欧卡电子智能科技有限公司 | Unmanned ship warehousing method and device under flow velocity, computer equipment and storage medium |
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