This invention relates to the field of
water flow velocity measurement technology, and particularly to a method and
system for dynamic state
estimation of electronic buoys in
water flow velocity measurement. The method employs BeiDou dual-frequency RTK
positioning technology to obtain the observation position of the electronic
buoy; it uses the universal transverse
Mercator projection method to convert the
longitude and
latitude of the reference point into east and north distance coordinates, which serve as the origin of the electronic
buoy observation coordinate
system; it then converts the subsequently acquired electronic
buoy observation position into east and north distance information, and performs difference calculations with the origin of the electronic buoy observation coordinate
system to obtain the east and north distance offsets of the electronic buoy, which are used as measurement information; a dynamic state
estimation model for the electronic buoy is constructed; and the measurement information is used as input parameters for a UKF filtering
algorithm to perform real-
time estimation of the electronic buoy's motion state. This invention directly processes the nonlinear characteristics of electronic buoy motion and
water flow disturbances through a nonlinear
Kalman filtering algorithm, significantly improving the accuracy and stability of state estimations such as velocity and heading angle.