A three-dimensional attitude-based intelligent lead fish current measurement method and its circuit

Abstract

The invention relates to an intelligent fish lead flow measuring method based on a three-dimensional posture and a circuit thereof and belongs to the technical field of hydrological information. The circuit provided by the invention comprises a switch power supply circuit, a CPU circuit, a switch circuit, a current meter flow-rate counting circuit, a posture measuring circuit and a ZIGBEE circuit. The method provided by the invention comprises the following steps: firstly, acquiring the position before the fish lead enters water; after CPU enters a normal working mode, collecting the three-dimensional dynamic posture data and calculating a three-dimensional dynamic posture angle of the fish lead through a data fusion algorithm; judging the stability of the fish lead through the pitch angle and the rolling angle; measuring the flow rate after stabilizing; packaging the flow rate of the fish lead, the pitch angle and the magnetic bias angle into a data packet with a short package structure and sending to a ZIGBEE coordinator of a hydrometric station. The invention provides a high-efficient reliable realizing scheme for acquiring accurate flow rate and water flow direction information under the complex hydrological environment.

Description

technical field [0001] The invention relates to a three-dimensional gesture-based intelligent lead fish current measurement method and a circuit thereof, belonging to the technical field of hydrological information. Background technique [0002] At present, the flow measurement accuracy of underwater flow velocity devices is of great significance for accurate water regime monitoring at hydrological stations. The traditional current measuring device only directly measures the flow velocity by mounting the current meter on the lead fish, and cannot directly measure the azimuth of the lead fish online, which will cause actual measurement errors. The traditional measurement is to measure the flow rate after the lead fish enters the water for a period of time. There is a measurement error caused by manual estimation delay. When the flow rate is low, it may cause a large delay and prolong the flow measurement time. When the flow rate is high, the lead fish is not stable. resultin...

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is: the technical solution of the present invention is: an intelligent lead fish flow measurement method and its circuit based on three-dimensional attitude, which are used to solve the measurement error caused by manual estimation delay of traditional lead fish flow measurement, low The flow measurement time is long when the flow rate is high and the lead fish is not stable when the flow rate is high. The problem of large flow measurement errors; There is a certain deviation angle in the flow direction, and the current flow measurement cannot measure the orientation of the lead fish online in real time, which causes measurement errors. At the same time, it aims at the problem of the attitude stabilization time of the lead fish in the case of large flow rates.

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