168results about "Measuring open water depth" patented technology

The invention discloses an intelligent water depth measurement method for waterway maintenance of a water transportation project, and particularly relates to the technical field of water conservancy projects. Historical sounding data, meteorological and hydrological parameters, real-time sonar echo data and unmanned surveying ship path information of the target channel area are acquired; a multi-source sounding data fusion model is constructed, and heterogeneous data fusion is realized by adopting wavelet domain feature extraction, remote sensing delay compensation and a graph attention mechanism; constructing a water depth evolution characteristic spectrum based on multi-scale spatial domain characteristic extraction; modeling a water depth propagation relationship between the sounding units by using a graph neural network; projecting the evolution graph to a section grid, and outputting a continuous water depth prediction value in combination with residual error correction and a rolling prediction strategy; identifying a water depth deviation by comparing with a designed navigation depth, and constructing a risk map layer; the method has the advantages of high prediction precision, strong adaptability, good response real-time performance and the like, and can be widely applied to scenes of channel siltation monitoring, scouring early warning, shipping maintenance management and the like.

The invention provides a river sediment physical habitat evolution identification method, device and system and a medium. The method comprises the following steps: acquiring a multi-temporal remote sensing image and hydrological data (flow Q, water level Zw and slope S), screening and other hydrological condition image pairs; extracting a water surface range, and calculating the average width B of the main groove; deducing the average water depth h by using a Manning formula, and calculating the riverbed elevation zbed by combining the Zw; the difference value delta zbed of zbed in different periods is calculated, and the substrate state is judged according to the difference value delta zbed and a threshold value epsilon; and performing segment processing along the center line to output a spatial distribution result. On-site measurement is not needed by relying on conventional data, and consumption is reduced; water level interference is eliminated through equal hydrological condition matching, and comparability is ensured; water depth inversion and differential analysis directly reflect scour deposition and quantitatively reveal rules; long-distance automatic processing improves space-time coverage capability and precision, and provides a basis for river regulation, ecological restoration and drainage basin management.

The invention provides a water depth pressure dynamic data characteristic value real-time calculation method and system, electronic equipment and a storage medium, and relates to the technical field of water pressure monitoring. The method comprises the steps that voltage signals reflecting water depth changes of multiple channels are collected, the relevance of the voltage signals is analyzed, and the main fluctuation frequency of water flow is determined; setting a merging proportion, and fusing the multi-channel signals into a target signal; separating the target signal into a smooth trend part and an abrupt change part, and setting an abrupt change judgment threshold based on the energy change; detecting and marking a mutation time interval in the mutation part by using the threshold, and extracting the maximum fluctuation amplitude and duration in the interval as a first feature value; meanwhile, the smooth trend part is used for predicting and correcting the long-term reference offset of the voltage collecting device, the maximum value, the minimum value and the fluctuation range are output on the basis of the corrected signal to serve as second feature values, real-time feature extraction of the dynamic water depth pressure can be achieved, meanwhile, a sudden change event is accurately captured, and a stable extreme value range is output after drift is corrected.

The invention provides a river flow online measurement and calculation method based on multi-source data fusion, and belongs to the technical field of river flow measurement. A Bayesian neural network and active learning collaborative hydrological memory reconstruction model is adopted to carry out high-confidence data interpolation on a sensor failure period and quantify uncertainty, fractional calculus is introduced to model a river memory effect, and flow evolution is analyzed through a fractional order water balance equation. And selecting a steady-state or non-constant flow calculation mode according to the flow change rate, inverting an optimal flow field for the non-constant flow by adopting a four-dimensional variational data assimilation method in combination with regularization constraint and time smoothing constraint, and outputting a flow measurement result and an uncertainty quantitative index. The technical problems that flow measurement and calculation data are missing and accurate interpolation is difficult due to sensor failure under the extreme hydrological condition are solved.

The invention relates to the technical field of ecological monitoring, in particular to a resident-free island resource monitoring method based on a spatial three-dimensional model, and the method comprises the following steps: S1, building a remote sensing image interpretation information base; s2, based on the remote sensing image interpretation information base, generating an island space three-dimensional model containing island land terrain and shoreline distribution; s3, generating a total element three-dimensional dynamic map; s4, the interpretation result and the total element three-dimensional dynamic map in the S3 are superposed, and a reef area comprehensive distribution map is generated; s5, calculating the island resource development intensity and the ecological risk level, and outputting an island ecological assessment report; and S6, generating an island resource monitoring report. According to the invention, unmanned aerial vehicle aerial survey, GNSS measurement, depth sounding technology, image interpretation and ecological assessment are combined, a high-precision total-factor three-dimensional dynamic monitoring system is constructed, accurate analysis and visual expression of the current island resource utilization situation are realized, and scientific decision support is provided for island management and ecological protection.

The invention relates to an unmanned aerial vehicle towed body positioning attitude measurement method based on binocular vision positioning, and relates to the technical field of computer processing, and the method comprises the following steps: S01, constructing a measurement system which comprises an unmanned aerial vehicle and a towed body connected with the unmanned aerial vehicle through a cable; the unmanned aerial vehicle carries a GNSS module, an IMU module and a binocular camera, and the upper surface of the towed body is provided with a coding pattern and carries a sonar sensor; s02, establishing a towed body coordinate system by taking the acoustic center of the sonar sensor as an original point, obtaining three-dimensional coordinates of feature points on the towed body in the towed body coordinate system, and generating a three-dimensional space model operation simulation model of the towed body; and S03, the binocular camera is calibrated. According to the invention, the problem of underwater topographic survey of a near-shore high-flow-velocity turbid water area is solved, and high-efficiency, low-cost and high-precision surveying and mapping operation is realized.

An apparatus and method for predicting sea level fluctuations are disclosed. The method for predicting sea level fluctuations includes: acquiring past time-series data of past wind stress and past sea level height, determining an optimal length of a time lag of a response function representing a convolution relationship between the past wind stress and the past sea level height and a future sea level height, determining weighting factors of the past wind stress and the past sea level height in the response function to which the determined optimal length of the time lag is applied, and calculating the future sea level height using the response function to which the determined weighting factors are applied.

The invention discloses a dynamic isobath generation method combining super-resolution water depth and real-time water level, and belongs to the technical field of marine surveying and mapping. Extracting sparse production water depth data from a standard electronic chart product, and converting the sparse production water depth data into a low-resolution water depth digital elevation model under a unified coordinate system; performing super-resolution reconstruction on the low-resolution water depth digital elevation model by using a deep learning super-resolution model to generate a high-resolution water depth digital elevation model; acquiring real-time water level data; carrying out fusion calculation on the high-resolution water depth digital elevation model and the real-time water level data to obtain an actual water depth digital elevation model; and extracting a dynamic isobath from the actual water depth digital elevation model. According to the method, the problem that the static isobath in the existing electronic chart cannot respond to the real-time water level change is solved, full-automatic generation from sparse water depth data to the high-precision dynamic isobath is realized, and the water depth information accuracy and the navigation safety guarantee capability of the electronic chart are remarkably improved.

A system for determining minimum and maximum water depth value at a location on a body of water is provided. The system utilizes various data sources, including historical and community-sourced data, environmental data, geographical data, and sensor data, to provide an accurate and dynamic estimation of the minimum and maximum water depth value. By considering multiple factors affecting water depth, such as tides, and weather conditions, the system enables safer navigation. Users can input a location and receive the minimum and maximum water depth value, which is continuously updated based on the latest available data. The system also facilitates route planning by determining the minimum water depth values along a route and providing alerts when necessary, allowing users to make informed decisions and navigate safely. By leveraging diverse data sources, the system provides a comprehensive and reliable solution for determining minimum and maximum water depth values compared to existing systems.

Method, system, and non-transitory computer readable storage medium are provided for creating a shelf bathymetric map. In some embodiments, a satellite image with a shelf area and related altimeter data for at least a number of points of the shelf area are obtained. The shelf area in the satellite image and depth values for the shelf area from said altimeter data are selected. The selected depth values are associated with points of the shelf area based on geo-coordinates. A training dataset and a testing dataset are created from the associated points. A neural network is trained on the training dataset. The neural network is tested on the testing dataset. Inference of the neural network is adjusted based on testing results. A depth value for each satellite image pixel of the shelf area is predicted by the neural network.

The invention discloses a seabed obstacle identification method based on multi-beam point cloud data and related equipment. The method comprises the following steps: acquiring the multi-beam point cloud data of a target area; performing statistics on the basis of the elevation difference between the adjacent sounding point clouds to obtain a frequency-based elevation difference histogram; fitting an attenuation model according to the elevation difference histogram, determining a noise threshold value based on the attenuation model, and dividing the multi-beam point cloud data into a real terrain point cloud and a noise point cloud by using the noise threshold value; a multi-beam real terrain point cloud is obtained through iterative denoising division; and based on the multi-beam real terrain point cloud, obstacle identification is carried out by using the elevation slope, and obstacle information of the target area is obtained. According to the method, through the automatic processes of determining the noise threshold value through the fitting attenuation model and iterative denoising, a traditional interactive filtering method depending on experience of technicians is replaced, the data processing efficiency is greatly improved, and the method can be widely applied to the technical field of data processing.

The invention belongs to the technical field of underwater measurement systems, and particularly relates to a novel unmanned aerial vehicle mounting type water depth measurement system which comprises an unmanned aerial vehicle platform, a GPS-RTK module, a photographing lens, a detection host, a data transmission line, a depth measurement probe, a data recording trigger device and a ground control station. The GPS-RTK module, the photographing lens and the detection host are all mounted on the unmanned aerial vehicle platform; the detection host is connected with the sounding probe through a data transmission line. Through real-time differential positioning of the GPS-RTK module, centimeter-level positioning precision can be provided, the position accuracy of sounding data is ensured, compared with traditional shipborne GPS positioning, the precision is improved by one order of magnitude, the unmanned aerial vehicle platform is matched to reach water areas where traditional ships cannot reach, such as shoals, narrow riverways and upstream of reservoirs, and the unmanned aerial vehicle platform is matched with the unmanned aerial vehicle platform to reach the water areas where the traditional ships cannot reach. The application range of sounding is greatly expanded, and meanwhile, the hovering capability and the accurate controllability of the unmanned aerial vehicle enable the sounding operation to be more flexible and efficient.

An oval-scanning airborne light detection and ranging (LiDAR) bathymetry system with a controllable scanning direction includes a position and orientation system, an airborne bathymetric LiDAR unit and a rotatable mounting frame. The rotatable mounting frame includes a connection mechanism, a hollow load-bearing rotary platform and a bolt assembly. Through setting a rotation angle of a stepping motor of the hollow load-bearing rotary platform, the airborne bathymetric LiDAR unit is driven to rotate, so that long and short axes of a scanning trajectory can be flexibly adjusted according to actual needs. A positioning method based on the oval-scanning airborne LiDAR bathymetry system is also provided to calculate a spatial position of a target laser point.

The invention relates to an underwater topographic feature quantitative monitoring method based on satellite-borne active and passive fusion sounding. The method comprises the following steps of performing preprocessing such as atmospheric correction, flare correction and water-land separation on a passive optical remote sensing image data set; the method comprises the following steps: extracting an active laser point sounding value from a satellite-borne single-photon laser radar point cloud data set, and carrying out water depth correction including refraction correction, tide correction and the like on the sounding value; geospatial matching is carried out on the preprocessed remote sensing image and the depth sounding sample points, and a spectrum-water depth data set is constructed; performing machine learning and model prediction on the active and passive fusion sounding sample set by using an MLP model to obtain a three-dimensional DBM of the research area; and 12 types of underwater topographic feature factors derived from the DBM are calculated by combining a geographic information system technology and a landform operator, so that an underwater topographic feature quantitative monitoring data set is constructed. According to the invention, through fusion of active and passive optical remote sensing sounding data, large-area, low-cost and high-precision quantitative monitoring of underwater topographic features is realized.

The invention discloses a river water level inversion method taking altimeter footprint heterogeneity into consideration. The method comprises the following steps: acquiring an observation waveform of an SAR altimeter; space geometric parameters are calculated through footprint gridding and observation geometric modeling; constructing a water distribution scene based on the water mask and the river network, and classifying the water into a main river channel, a flood area and an adjacent isolated water body; electromagnetic scattering numerical integration is carried out based on the differentiated surface roughness parameters, and a simulated echo waveform is generated; waveform retracking and parameter inversion are realized through coarse grid search and local optimization solution; calculating an absolute water level and carrying out geophysical correction; performing multi-index quality control based on the interpretation rate of the analog waveform and the residual whitening degree; and finally outputting a water level product. According to the method, the defects of insufficient inversion precision and robustness of an existing method in a complex earth surface mixed scene are overcome, and the accuracy, reliability and physical interpretability of inland river water level monitoring are remarkably improved.

The invention discloses a wading rigid bridge cofferdam stability real-time monitoring method based on multi-source sensing, and belongs to the technical field of bridge construction safety monitoring. According to the method, a structure-hydrological multi-source sensor is arranged, and displacement, strain, scouring and water flow data are collected in real time through a cofferdam top receiver, a main rib fiber grating sensor, a base osmometer, a multi-beam depth finder and a current meter; and reversely correcting cofferdam material parameters based on a digital twinborn model, dynamically calculating an anti-sliding coefficient and an anti-overturning coefficient, predicting a deformation trend in combination with an LSTM neural network, and setting first-level early warning and second-level early warning. According to the method, the problems of lagging of traditional monitoring data, limitation of single-dimensional analysis and high false alarm rate of an empirical threshold are solved, short-time instability risk identification is realized, and the false alarm rate is reduced at the flow velocity gt; accurate monitoring is kept in a 3m / s torrent environment, and the safety of deepwater construction is remarkably improved.

The invention discloses a method for measuring plane coordinates and elevation of a deepwater leveling frame, and belongs to the technical field of underwater acoustic positioning. The method comprises the following steps: arranging a plurality of transponders on the seabed at the periphery of a leveling operation area, and acquiring coordinates of the transponders; a plurality of underwater sound transmitting and receiving units are mounted on the underwater leveling frame; calculating a plane coordinate of each unit based on the signal transmission time so as to obtain a plane coordinate and a horizontal direction angle of the leveling frame; the attitude of the water surface working platform is compensated, and an absolute elevation reference is obtained in combination with a GNSS; measuring the depth of the leveling frame relative to the platform by using a pipeline filled with degassing water and a pressure sensor, and further determining the real-time elevation of the leveling frame; and finally, carrying out space reference unification on the plane coordinates, the real-time elevation and the horizontal direction angle and then outputting. Through plane and elevation split measurement, multi-sensor fusion and benchmark unification, centimeter-level precision measurement is achieved, and the device is suitable for leveling operation in the deepwater complex environment.

An apparatus and method for predicting sea level fluctuations are disclosed. The method for predicting sea level fluctuations includes: acquiring past time-series data of past wind stress and past sea level height, determining an optimal length of a time lag of a response function representing a convolution relationship between the past wind stress and the past sea level height and a future sea level height, determining weighting factors of the past wind stress and the past sea level height in the response function to which the determined optimal length of the time lag is applied, and calculating the future sea level height using the response function to which the determined weighting factors are applied.

The application discloses a kind of multi-beam outlier automatic filtering methods combined with uncertainty and density clustering algorithm, belong to multi-beam sounding data processing technical field.The application constructs grid node absorbable water depth point selection model according to CUBE filtering algorithm, and gridding is carried out to sounding data;The one-dimensional clustering of node absorbable water depth value is carried out using DBSCAN clustering algorithm, a plurality of water depth hypotheses are constructed according to the difference between water depth values, then the water depth hypothesis and uncertainty of node are updated using Kalman filter;Finally, the water depth hypothesis with higher reliability is selected from a plurality of water depth hypotheses as the real water depth value of node.The application can provide a kind of multi-beam sounding data automatic cleaning algorithm selection for domestic multi-beam sounding data processing software.

During a boat launch operation: receiving image data from at least one camera supported by the vehicle as the tow vehicle and trailer move in a reverse direction towards a body of water; determining a hull-pitch angle, an overlap ratio between a lower half of a hull of the boat and the water, and a submersion depth ratio measured from a hull keel of the boat; and transmitting an instruction to a user interface of the vehicle or a drive system thereof to cease movement of the tow vehicle and trailer in the reverse direction based upon the hull-pitch angle, the overlap ratio, and the submersion depth ratio all exceeding respective predetermined thresholds for at least a predetermined number of consecutive image frames.

The application discloses a kind of water environment monitoring methods based on image vision, it is related to water environment technical field, by underwater camera, with preset interval, the image of water body of different depth is continuously photographed along vertical direction;The color difference of adjacent two photos is calculated, to determine water quality mutation layer;When detecting that turbidity in water quality mutation layer interval exceeds preset threshold, switch to infrared spectrum imaging and ultrasonic ranging collaborative work, in combination with the penetration characteristics of infrared image and ultrasonic depth calibration data, correct stratification positioning error, the present application is photographed by vertical interval, color difference analysis, infrared and ultrasonic collaborative correction and dynamic sampling strategy, it is favorable to improve the precision and efficiency of water quality stratification monitoring.

Disclosed is a doppler-based navigation assistance system (22) for ascertaining navigation data for an underwater craft (20) using sonar. The doppler-based navigation assistance system has the following features: - a plurality of underwater transducers which are located on a plane and are each configured to convert waterborne sound into an electric signal corresponding to the sound pressure and convert an applied voltage into waterborne sound; - a sound transmission unit (26) configured to apply a transmit signal (34) to the underwater transducers (24) of the plurality of underwater transducers such that the transmit signal (36) is emitted substantially vertically; - a sound reception unit configured to sample the electric signals of the underwater transducers (24) of the plurality of underwater transducers in order to obtain reflections (48) of the transmit signal (36); - a signal processing unit (30) configured to continually ascertain depth data on the underwater craft on the basis of the reflections (48) of the transmit signal (36) and graphically output a plot of the depth data on a display unit.

The application discloses a water laser echo signal processing model training method and a water depth measuring method, and belongs to the field of laser radar water depth detection. The method comprises the following steps: obtaining multiple groups of underwater laser echo signals and preprocessing to obtain an underwater laser echo signal dataset; the preprocessing comprises the following steps: after normalizing each group of underwater laser echo signals, labeling the data points located on the rising edge of the water surface waveform as water surface points, labeling the data located on the falling edge of the water bottom waveform as water bottom points, and labeling the remaining data points as noise points; building a classification model for predicting the types of the data points in the underwater laser echo signal and training the classification model by using the underwater laser echo signal dataset to obtain an underwater laser echo signal processing model. The application can accurately identify the data points located on the rising edge of the water surface waveform and the falling edge of the water bottom waveform in a complex environment, and provides a reliable basis for calculating the time difference between the water bottom points and the water surface points, thereby improving the measuring accuracy of the water depth.

The application provides a kind of based on quasi-cone scanning's airborne depth laser radar system structure error's calibration method and device, comprising: establishing structure error calibration field;Global control coordinate system is established, and the coordinates of global control point, survey station, local control point and airborne depth laser radar mirror center are obtained using total station;Based on laser radar, the slant range from mirror center to laser reflection is obtained, and the laser foot point is pasted, and the laser foot point coordinates are obtained using total station;Based on the displacement and rotation geometric relationship between laser scanning reference coordinate system and global control coordinate system, error equation is constructed according to slant range, drive motor rotation angle and laser foot point coordinates;Based on the least square indirect adjustment principle, error equation is solved iteratively, and the structure error value of airborne depth laser radar system is obtained.The application can accurately obtain the structure error value of quasi-cone scanning airborne depth laser radar, and significantly improve the measurement quality and reliability of the whole depth measurement system.

The application discloses a kind of pit pond water depth estimation and storage capacity calculation method of combined multi-source data, comprising the following steps: collecting measured water depth data, data preprocessing is carried out, and is divided into training sample point set and test sample point set;Obtain the multispectral remote sensing image of the estimation area, and execute image preprocessing;Unified to the same coordinate system;The fractal dimension of each band and combined band is calculated, and the water area is segmented;Establish the mapping relationship between the water depth value of training sample point and standardization multispectral apparent reflectance;Establish water depth inversion model, and use test sample point set to verify water depth inversion model;The discrete water depth point of pit pond is calculated using optimal water depth inversion model;Establish minimum energy surface, obtain single pit pond water storage capacity, and accumulate to generate total water storage capacity.The application fuses measured and remote sensing data, constructs energy minimization water depth inversion model, realizes pit pond water storage capacity accurate calculation, has the advantages of high precision, strong applicability.

The invention discloses a coral reef ecosystem community carbon sequestration evaluation method based on a Lagrange drift trajectory, and belongs to the field of marine ecological environment monitoring and carbon cycle research. The device comprises a drift tracking module, a CTD module, a hydrochemical parameter acquisition module, a depth instrument, a waterproof system and a buoyancy system, all the modules are integrated in the waterproof system, the buoyancy system is connected with the exterior of the waterproof system, and the modules are in signal connection to realize data transmission; according to the method, a Lagrange drift path and a time interval are recorded through the drift tracking module, the CTD module collects the temperature and salinity of a water body, the hydrochemical parameter collection module obtains total alkalinity and dissolved inorganic carbon and calculates the variable quantity of the total alkalinity and the dissolved inorganic carbon, and the depth instrument monitors the average water depth; the COexchange flux is calculated in combination with meteorological data, and then the net calcification rate and the net photosynthesis rate are obtained through a preset formula.

Device (1) for measuring an environment (2) by measuring the time of flight of a laser beam (3) reflected therefrom from a low-scattering first medium (4), comprising: a laser transmitter (5) for emitting the laser beam (3) at a target (8) in the environment (2), which is preceded by a higher-scattering second medium (9), a receiver (13) with a detection device (14) for receiving the laser beam (3) reflected from the environment (2), and an evaluation unit (16) connected to the laser transmitter (5) and the receiver (13) for determining the time of flight of the laser beam (3), wherein the receiver (5) separates a first beam part (19) reflected at the target (8) from a second beam part (23) reflected at the boundary (18) between the first and second medium (4, 9) and generates separate output signals (24i) from them, which the evaluation unit (16) evaluates separately.

The invention relates to the technical field of water flow parameter measurement, and discloses a water flow parameter measurement method, and provides a measurement frame, the upper part of the measurement frame is provided with an upper rod, the upper rod is provided with a flow velocity sensor, a depth sensor and a flow direction sensor, and the upper rod is internally provided with a data collector; the top of the upper rod is provided with a connector, the bottom of the upper rod extends downwards to form two lower pieces, swing pieces are hinged to the outer sides of the two lower pieces respectively to form hinge positions, and torsional springs are arranged at the hinge positions. The data collector is connected to the connector through a rope and is electrically connected with an external controller through a cable; the measuring frame is put down into water flow, after the measuring frame stands in the water flow and is adjusted for set time, the flow velocity sensor measures flow velocity data of the water flow, the depth sensor measures depth data of the water flow, the flow direction sensor measures flow direction data of the water flow, the data collector collects the flow velocity data, the depth data and the flow direction data, and water flow parameters are formed. Water flow parameters are transmitted to the controller through the cable.

The invention relates to the technical field of ship navigation safety, in particular to a ship collision risk early warning and avoidance decision-making system which comprises a data acquisition module, a risk assessment module, a path planning module and an execution control module. According to the system, through multi-source data real-time acquisition and a deep learning algorithm, a collision risk index is quantitatively evaluated, an optimal collision avoidance path is generated, and a ship control device is accurately controlled to complete collision avoidance operation. Meanwhile, a communication module is introduced into the system to achieve information interaction between ships and a shore base, a collision avoidance path is optimized, and remote monitoring is supported. The dynamic adaptability and safety of the ship in a complex water area environment can be improved, the collision risk is effectively reduced, and navigation safety is guaranteed.

Depth of a top (24) and bottom (28) of an under water mud layer (26) are measured as a function of position from acoustical scattering measurement. The measurement involves transmitting sound from a transmitter (12) in a body of water (22) above the mud layer (26), using a higher and lower frequency range, above 100 kHz and below 20 kHz respectively. A higher frequency signal due to scattering of the sound in the higher frequency range from scatter positions along a selected horizontal direction is detected as a function of time from said transmitting, and a first depth, of a top surface (24) of the under water mud layer (26), is computed using this signal. A plurality of received lower frequency signals due to scattering of the sound in the lower frequency range is detected at different height in the body of water (22). A time shift as a function of time between temporal parts of the plurality of received lower frequency signals is determined in the plurality of received lower frequency signals, and a second depth of a bottom surface (28) of the under water mud layer is computed based on the time shifts.