Method for measuring velocity and direction of ship to water by directional ultrasonic waves

Abstract

The invention discloses a method for measuring the velocity and direction of a ship to water by directional ultrasonic waves. The method comprises a step of installing two pairs of directional ultrasonic wave transceivers at the bottom of the ship such that the installation positions of the two pairs of ultrasonic transceivers are in a vertical state, a step of carrying out multiple times of measurement to obtain an average time of the ultrasonic waves spread back and forth in each group of ultrasonic wave transceivers in a ship driving process, a step of calculating a water flow velocity which is parallel to a ship driving direction and a water flow velocity which is perpendicular to the ship driving direction, and a step of calculating an angle between a resultant velocity of water flow and the ship driving direction. Through the above measurement method, the real-time measurement of a ship velocity to water and a water flow direction can be realized. In the measurement process, the size of the ship is not limited, the anti-interference ability is high, the measurement accuracy is high, the real-time performance is good, and the method can be adapted to various occasions such as river water and sea water.

Description

technical field [0001] The invention belongs to the technical field of ship application, in particular to a method for measuring the speed and direction of a ship facing water. Background technique [0002] During the ship's navigation, the speed and direction of the water are very important reference quantities for the control and navigation of the ship. The existing ship speed measurement uses Doppler speedometer, GNSS integrated navigation system, etc. to measure the ground Speed, and mostly suitable for large ships. With the development of market demand, more and more small unmanned boats (less than 3m in length) are beginning to appear. The above measurement method is not suitable for small unmanned boats. Navigation satellites such as GPS / Beidou are used to measure the water speed. For small boats with large errors, the use of high-precision equipment such as differential GPS can meet the measurement requirements of small unmanned boats, but it greatly limits the use ...

AI Technical Summary

Problems solved by technology

With the development of market demand, more and more small unmanned boats (less than 3m in length) are beginning to appear. The above measurement method is not suitable for small unmanned boats. Navigation satellites such as GPS / Beidou are used to measure the water speed. For small boats with large errors, the use of high-precision equipment such as differential GPS can meet the measurement requirements of small unmanned boats, but it greatly limits the use environment of small unmanned boats and raises the cost of small unmanned boats. Manufacturing cost is not conducive to the popularization and application of small unmanned boats

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