Real-time dynamic water depth measuring system

Abstract

The invention discloses a real-time dynamic water depth measuring system. The system comprises a shore server and an overwater mobile water depth measurement platform. A depth sounding rod, a depth sounder, a GNSS receiver and a Beidou short message and mobile internet double-channel communication module are carried on the platform. Real-time dynamic centimeter-level GNSS positioning based on a Beidou foundation / satellite-based augmentation system is used. Beidou foundation / satellite-based enhancement, multi-constellation positioning, IMU attitude and other data are fused; the accurate spatialposition of the bottom center of the transducer of the depth finder is calculated in real time after differential correction and inclination compensation; water depth data measured by the transducerare adopted for synchronous superposition correction; the underwater geodetic height is obtained; telemetry data are broadcasted to an ashore server in a two-way mode through Beidou global short message communication and the mobile internet; and the telemetry data are converted to obtain a water depth value on a local depth reference plane. According to the invention, real-time dynamic acquisitionof water depth measurement is realized, water level correction is not needed, and the precision and efficiency of water depth measurement are obviously improved.

Description

technical field [0001] The invention relates to a water depth measurement system, in particular to a real-time dynamic water depth measurement system. Background technique [0002] Bathymetry is the basic method of underwater terrain survey. It is to determine the plane position of each point on the bottom of the water and its depth below the water surface. It is the central link of hydrographic survey and seabed topographic survey. Its purpose is to provide channel depth for ship navigation and determine the position, depth and nature of navigation obstacles. The conventional bathymetry method is to use the combined measurement of GPS beacon machine and single-beam echo sounder. The measured instantaneous depth under the water surface is corrected by the depth sounder and the water level, and then calculated to the depth calculated from the depth datum. [0003] With the vigorous construction of the marine economy, higher requirements are put forward for bathymetry, espec...

AI Technical Summary

Problems solved by technology

In conventional bathymetry methods, sounding, positioning, and water level observation are usually carried out separately. After the field work is completed, the three types of data need to be post-processed and superimposed and corrected to obtain the chart height, which cannot be obtained remotely in real time, and the efficiency is low.

Although the measurement accuracy of the depth sounder is very high, the conventional water depth measurement method is limited by the operation method. There are many sources of depth errors, and the accuracy is difficult to improve. It mainly includes the general error of sounding point and position, the error of water level observation, and the comprehensive correction number of the depth sounder. Error, measurement error of transducer static draft and dynamic draft correction number, rounding error of measuring water depth on sounding paper or automatic collection of sounding depth computer, rounding error of sounding depth after various corrections, and depth error caused by wind and waves, etc.

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