A method, device, medium and terminal for synchronous observation of waves, tides and currents in the entire ocean area

Abstract

The present invention belongs to the field of marine engineering technology and discloses a method, equipment, medium, and terminal for synchronous observation of waves, tides, and currents over the entire ocean area. The method comprises collecting GNSS phase, pseudorange, Doppler shift observations, and broadcast ephemeris using a GNSS receiver or board and antenna carried by a wave buoy on the ocean surface. The three-dimensional velocity of the buoy is obtained by epoch-by-epoch differential analysis of the phase observations, thereby obtaining the directional spectrum and frequency spectrum of the waves, as well as information on wave height, period, and direction. The sampling elements recorded by a shore-based station are sent to a GNSS receiver on the ocean surface via the Beidou short message service (BDS). Low-frequency sea surface height fluctuations are calculated in real time using the PPP method. Combined with the low-frequency velocity obtained by filtering, high-frequency tidal fluctuations are interpolated. The present invention expands the operating range of GNSS-based ocean wave and tide measurements and has practical application value.

Description

Technical Field

[0001] The present invention belongs to the field of marine engineering technology, and in particular relates to a method, equipment, medium and terminal for synchronous observation of waves, tides and currents in the entire sea area. Background Art

[0002] Although waves, tides, and currents constitute the primary motion of ocean surface waters, there is currently a lack of instruments capable of simultaneously observing all three. In practical applications, multiple instruments are often deployed to measure these various motion elements. However, this approach requires additional consideration to eliminate interference between instruments. Not only does misaligned deployment prevent single-point observations, increasing observation errors, but it also increases the workload and the probability of instrument malfunctions at sea. Existing wave buoys either use IMU modules to calculate sea surface acceleration and inversely calculate wave surface fluctuations, thereby inferring wave statistical parameters. For example, the Waverider MKIII buoy cannot measure waves with shorter wavelengths due to the large size of its accelerometer and compass. Alternatively, they utilize acoustic current measurement principles, such as the LPB1-2 acoustic wavemeter. This instrument, placed on the seafloor, transmits acoustic signals to the surface, observing wave height and period, but not wave direction.

[0003] GNSS buoys utilize the Global Navigation Satellite System (GNSS) to obtain the buoy's three-dimensional spatial position and time information. By miniaturizing the GNSS buoy, its wave- and current-following capabilities can be enhanced, effectively inverting wave information, tide height, and surface current information. For example, RTK (Real-Time Kinematic) and PPK (PostProcessing Kinematic) technologies can both achieve centimeter-level positioning results sufficient for simultaneous wave, tide, and current observations. However, due to the limitations of GNSS technology, these methods rely on base stations, limiting their effective range to within tens of kilometers offshore and making them inapplicable to offshore scenarios.

[0004] Through the above analysis, the problems and defects of the existing technologies are as follows: Due to the limitations of GNSS technology, the existing technologies all rely on base stations, and the effective range is limited to within tens of kilometers offshore, and cannot be applied to offshore scenarios. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a method, equipment, medium and terminal for synchronous observation of waves, tides and currents in the entire sea area.

[0006] The present invention is achieved by providing a method for synchronous observation of waves, tides and currents in the entire sea area, the method comprising:

[0007] Through the GNSS receiver or board and antenna carried by the wave buoy sea surface carrier, GNSS phase, pseudorange, Doppler frequency shift observations and broadcast ephemeris are collected, and the epoch difference of the phase observation value is used to obtain the three-dimensional velocity of the buoy carrier, and then the directional spectrum, frequency spectrum, and wave height, period, and wave direction element information of the waves are obtained; the sampling elements recorded by the shore-based station are sent to the GNSS receiver on the sea surface carrier through the Beidou short message service, and the low-frequency sea surface height fluctuations are calculated in real time through the PPP method. Combined with the low-frequency velocity obtained by previous filtering, the high-frequency tide level fluctuations are interpolated.

[0008] Furthermore, the method for synchronous observation of waves, tides and currents in the entire ocean area specifically includes:

[0009] Step 1: Deploy the GNSS buoy, record the original coordinates of the deployment point, and measure the speed via GNSS.

[0010] Step 2: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by tidal currents and other processes, and obtain the velocity in each direction caused by the wave.

[0011] Step 3: Use the wave velocity to perform frequency domain integration to obtain the wave fluctuation; according to the wave fluctuation and position, use the zero-crossing method to calculate the wave period and significant wave height;

[0012] Step 4: Use precise point positioning technology to locate the buoy position and PPP observation data to measure the ranging code and carrier phase; use the endpoint position and the low-frequency velocity obtained by filtering the velocity measurement results to interpolate the tide height; and use the tide height to calculate the tidal wave type.

[0013] Step 5: Use the low-frequency velocity obtained by filtering the end point position and velocity measurement results to interpolate the horizontal position to obtain the high-frequency buoy drift trajectory.

[0014] Furthermore, in step 1, the specific process of measuring speed by GNSS is as follows:

[0015] The epoch differential observation equation is established, and the epoch differential of GNSS broadcast ephemeris and phase observations is used to determine the three-dimensional velocity and obtain velocity and displacement information.

[0016] Furthermore, the specific process of establishing the epoch differential observation equation is as follows:

[0017] The three-dimensional velocity is determined by using the epoch difference of GNSS broadcast ephemeris and phase observation value. The linearized GNSS carrier phase observation equation is shown in formula (1):

[0018]

[0019] Where λ is the carrier frequency, L1 or L2, is the carrier phase observation value of the i-th epoch, is the unit vector from the satellite S to the receiver r, δξ r,i is the position correction number of the receiver, c is the speed of light, δt r,i , δt i S are the receiver clock bias and the satellite clock error calculated from the broadcast ephemeris, N is the integer ambiguity, It is a comprehensive error correction, including satellite orbit, ionosphere, troposphere, phase center change, phase entanglement, relativistic effect, and earth rotation effect, ε i are other residual error terms and noise;

[0020] When the carrier phase observations are of good quality and have no cycle slips, the difference between two consecutive epochs (i, i+1) is calculated using equation (1) to eliminate the common ambiguity N, as shown in equation (2):

[0021]

[0022] Where Δ is the single difference operator, and Approximately equal, X r 、 are the true position and approximate position of the receiver respectively;

[0023] According to the fact that the receiver has the same approximate position at epoch i+1 and epoch i, the epoch differential carrier phase observation equation established using broadcast ephemeris is obtained from equation (2);

[0024]

[0025] Among them, Δξ r,i is the displacement increment between adjacent epochs (i, i+1).

[0026] Furthermore, the specific process of obtaining speed and displacement information is as follows:

[0027] The average speed of formula (4) is obtained from formula (3):

[0028]

[0029]

[0030] Furthermore, in step 3, the wave period and significant wave height are calculated using the wave rise and fall and position using the zero crossing method. The specific process is:

[0031] Calculate power spectrum and directional spectrum using autospectrum and cross-spectrum;

[0032]

[0033] where Φ mn (f) is the cross spectrum of the mth and nth measurement values, I m (f,θ) is the transfer function, and S(f,θ) is the directional spectrum.

[0034] Furthermore, in step 4, the buoy position is located using the precise point positioning technology. The PPP observation data mainly includes the ranging code and the carrier phase. The specific process is as follows:

[0035] The ranging code observation equation is as follows:

[0036]

[0037] The phase observation equation is expressed as:

[0038]

[0039] Where, is the phase pseudorange observation value; λ is the wavelength; ε L Phase observation noise; where i and j represent the observation station and satellite respectively; f is the frequency; c is the speed of light; is the star station distance; is the pseudorange observation value; is the carrier phase observation value; δt i is the receiver clock error; δt j is the satellite clock error; δrtop j ,δdion j are tropospheric and ionospheric delay corrections respectively; N j is the carrier phase ambiguity; ε P 、 The noise corresponding to the pseudorange and carrier observations is obtained by solving the observation equation using the Kalman filter and least squares method to obtain the three-dimensional position information.

[0040] Another object of the present invention is to provide a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0041] Step 1: Deploy the GNSS buoy, record the original coordinates of the deployment point, and measure the speed via GNSS.

[0042] Step 2: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by tidal currents and other processes, and obtain the velocity in each direction caused by the wave.

[0043] Step 3: Use the wave velocity to perform frequency domain integration to obtain the wave fluctuation; use the wave fluctuation and position to calculate the wave period and significant wave height using the zero crossing method;

[0044] Step 4: Use precise point positioning technology to locate the buoy. The PPP observation data mainly includes ranging code and carrier phase. The low-frequency velocity obtained by filtering the endpoint position and velocity measurement results is used to interpolate the tidal height. At the same time, the tidal wave type is calculated using the tidal height.

[0045] Step 5: Use the low-frequency velocity obtained by filtering the end point position and velocity measurement results to interpolate the horizontal position to obtain the high-frequency buoy drift trajectory.

[0046] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor performs the following steps:

[0047] Step 1: Deploy the GNSS buoy, record the original coordinates of the deployment point, and measure the speed via GNSS.

[0048] Step 2: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by tidal currents and other processes, and obtain the velocity in each direction caused by the wave.

[0049] Step 3: Use the wave velocity to perform frequency domain integration to obtain the wave fluctuation; use the wave fluctuation and position to calculate the wave period and significant wave height using the zero crossing method;

[0050] Step 4: Use precise point positioning technology to locate the buoy. The PPP observation data mainly includes ranging code and carrier phase. The low-frequency velocity obtained by filtering the endpoint position and velocity measurement results is used to interpolate the tidal height. At the same time, the tidal wave type is calculated using the tidal height.

[0051] Step 5: Use the low-frequency velocity obtained by filtering the end point position and velocity measurement results to interpolate the horizontal position to obtain the high-frequency buoy drift trajectory.

[0052] Another object of the present invention is to provide an information data processing terminal, which is used to implement the full-sea wave-tide-current synchronous observation method.

[0053] In combination with the above technical solutions and the technical problems solved, please analyze the advantages and positive effects of the technical solutions to be protected by the present invention from the following aspects:

[0054] First, in view of the technical problems existing in the above-mentioned prior art and the difficulty of solving these problems, this paper closely combines the technical solutions to be protected by the present invention and the results and data during the research and development process, and analyzes in detail and in depth how the technical solutions of the present invention solve the technical problems and some creative technical effects brought about by solving the problems. The specific description is as follows:

[0055] This invention can measure the characteristics of wave, tide, and current elements in any ocean area globally that can receive BeiDou-2 satellite electromagnetic wave signals. By reducing the number of IMU modules, it reduces cost and size, improves wave and current tracking, and increases measurement accuracy. It overcomes the shortcoming of existing tide gauge and GNSS wave measurement methods and devices, which are limited to nearshore operation, and expands the operating range of GNSS-based ocean wave and tide measurements, thus possessing high practical application value. The invention can achieve: minute-level wave information sampling intervals, centimeter-level SWH accuracy, observation of wave power spectrum and directional spectrum information, inversion of tidal fluctuations, and inversion of surface current velocity.

[0056] Second, considering the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by the present invention are described in detail as follows:

[0057] The present invention is applicable to nearshore and offshore scenarios, and can obtain high-precision wave and tide level element information in real time, which is stored locally on the buoy or transmitted back regularly via communication. This expands the working range of GNSS-based ocean wave and tide measurements and has practical application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a flow chart of the method for synchronous observation of waves, tides and currents over the entire ocean area provided by an embodiment of the present invention;

[0059] Figure 2 Schematic diagram of the full-sea-area wave-tide-current synchronous observation process provided by an embodiment of the present invention;

[0060] Figure 3 This is a comparison chart of the significant wave height inverted according to an embodiment of the present invention and the results of the Waverider-MKⅢ wave buoy and the Waverider-IMU wave buoy;

[0061] Figure 4 This is a comparison chart of the average period of the inversion provided by the embodiment of the present invention and the results of the Waverider-MKⅢ wave buoy and the Waverider-IMU wave buoy;

[0062] Figure 5 It is a schematic diagram of the directional spectrum result of the inversion provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0064] 1. Explanatory Examples In order to enable those skilled in the art to fully understand how to implement the present invention, this section provides an illustrative example that expands upon the technical solutions of the claims.

[0065] like Figure 1 As shown, the method for synchronous observation of waves, tides and currents in the entire sea area provided by the embodiment of the present invention includes:

[0066] S101: Deploy GNSS buoys, record the original coordinates of the deployment point, and measure speed via GNSS.

[0067] S102: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by the tide and other processes, and obtain the velocity in each direction caused by the wave.

[0068] S103: Perform frequency domain integration using the wave motion velocity to obtain the wave fluctuation; calculate the wave period and significant wave height using the zero crossing method based on the wave fluctuation and position.

[0069] S104: The buoy position is located using precise point positioning technology. The PPP observation data mainly include ranging code and carrier phase. The low-frequency velocity obtained by filtering the end point position and velocity measurement results is used to interpolate the tidal height. At the same time, the tidal wave type is calculated using the tidal height.

[0070] S105: The horizontal position is interpolated using the end point position and the low-frequency flow velocity obtained by filtering the velocity measurement result to obtain a high-frequency buoy drift trajectory.

[0071] In S101 provided in the embodiment of the present invention, the specific process of measuring speed through GNSS is as follows:

[0072] The epoch differential observation equation is established, and the epoch differential of GNSS broadcast ephemeris and phase observations is used to determine the three-dimensional velocity and obtain velocity and displacement information.

[0073] The specific process of establishing the epoch differential observation equation is as follows:

[0074] The three-dimensional velocity is determined by using the epoch difference of GNSS broadcast ephemeris and phase observation value. The linearized GNSS carrier phase observation equation is shown in formula (1):

[0075]

[0076] Where λ is the carrier frequency, L1 or L2, is the carrier phase observation value of the i-th epoch, is the unit vector from the satellite S to the receiver r, δξ r,i is the position correction number of the receiver, c is the speed of light, δt r,i , δt i S are the receiver clock bias and the satellite clock error calculated from the broadcast ephemeris, N is the integer ambiguity, It is a comprehensive error correction, including satellite orbit, ionosphere, troposphere, phase center change, phase entanglement, relativistic effect, earth rotation effect, etc. i are other residual error terms and noise.

[0077] When the carrier phase observations are of good quality and have no cycle slips, the common ambiguity N can be eliminated by using equation (1) to take the difference between two consecutive epochs (i, i+1), as shown in equation (2):

[0078]

[0079] Where Δ is the single difference operator, and Approximately equal, X r 、 are the true position and approximate position of the receiver respectively.

[0080] Considering that the receiver has the same approximate position at epoch i+1 and epoch i, the epoch differential carrier phase observation equation established using broadcast ephemeris can be obtained from equation (2);

[0081]

[0082] Among them, Δξ r,i is the displacement increment between adjacent epochs (i, i+1).

[0083] The specific process of obtaining speed and displacement information is as follows:

[0084] From formula (3), we can get the average speed as formula (4):

[0085]

[0086]

[0087] In S103 provided by the embodiment of the present invention, the specific process of calculating the wave period and significant wave height using the zero crossing method by using the wave undulation and position is as follows:

[0088] Calculate power spectrum and directional spectrum using autospectrum and cross-spectrum;

[0089]

[0090] where Φ mn (f) is the cross spectrum of the mth and nth measurement values, I m (f,θ) is the transfer function, and S(f,θ) is the directional spectrum.

[0091] In S104 provided by the embodiment of the present invention, the buoy position is located using the Precise Point Positioning (PPP) technology. The PPP observation data mainly includes ranging code and carrier phase. The specific process is as follows:

[0092] The ranging code observation equation is as follows:

[0093]

[0094] The phase observation equation can be expressed as:

[0095]

[0096] Where, is the phase pseudorange observation value; λ is the wavelength; ε L Phase observation noise. Where i and j represent the observation station and satellite respectively; f is the frequency; c is the speed of light; is the star station distance; is the pseudorange observation value; is the carrier phase observation value; δt i is the receiver clock error; δt j is the satellite clock error; δrtop j ,δdion j are tropospheric and ionospheric delay corrections respectively; N j is the carrier phase ambiguity; ε p 、 The noise corresponding to the pseudorange and carrier observations is obtained by solving the observation equation using the Kalman filter and least squares method to obtain the three-dimensional position information.

[0097] 2. Application Examples: In order to demonstrate the creativity and technical value of the technical solution of the present invention, this section provides application examples of the claimed technical solution on specific products or related technologies.

[0098] The present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0099] Step 1: Deploy the GNSS buoy, record the original coordinates of the deployment point, and measure the speed via GNSS.

[0100] Step 2: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by tidal currents and other processes, and obtain the velocity in each direction caused by the wave.

[0101] Step 3: Use the wave velocity to perform frequency domain integration to obtain the wave fluctuation; use the wave fluctuation and position to calculate the wave period and significant wave height using the zero crossing method;

[0102] Step 4: Use precise point positioning technology to locate the buoy. The PPP observation data mainly includes ranging code and carrier phase. The low-frequency velocity obtained by filtering the endpoint position and velocity measurement results is used to interpolate the tidal height. At the same time, the tidal wave type is calculated using the tidal height.

[0103] Step 5: Use the low-frequency velocity obtained by filtering the end point position and velocity measurement results to interpolate the horizontal position to obtain the high-frequency buoy drift trajectory.

[0104] The present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor performs the following steps:

[0105] Step 1: Deploy the GNSS buoy, record the original coordinates of the deployment point, and measure the speed via GNSS.

[0106] Step 2: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by tidal currents and other processes, and obtain the velocity in each direction caused by the wave.

[0107] Step 3: Use the wave velocity to perform frequency domain integration to obtain the wave fluctuation; use the wave fluctuation and position to calculate the wave period and significant wave height using the zero crossing method;

[0108] Step 4: Use precise point positioning technology to locate the buoy. The PPP observation data mainly includes ranging code and carrier phase. The low-frequency velocity obtained by filtering the endpoint position and velocity measurement results is used to interpolate the tidal height. At the same time, the tidal wave type is calculated using the tidal height.

[0109] Step 5: Use the low-frequency velocity obtained by filtering the end point position and velocity measurement results to interpolate the horizontal position to obtain the high-frequency buoy drift trajectory.

[0110] The present invention provides an information data processing terminal, which is used to implement the full-sea-area wave-tide-current synchronous observation method.

[0111] 3. Evidence of the effects of the embodiments: The embodiments of the present invention have achieved some positive effects during the development or use process, and indeed have great advantages over the existing technology. The following content describes them with reference to the data, charts, etc. of the experimental process.

[0112] The present invention proposes a wave-tide-current synchronous observation method applicable to the entire sea area. The measurement device using this method is suitable for all water environment scenarios such as lakes, rivers, nearshore and offshore, and is particularly suitable for offshore scenarios that lack precise differential correction services. It has high precision and real-time performance.

[0113] The specific process is: a buoy sea surface carrier equipped with GNSS is used to form a speed measuring device, which collects high-frequency GNSS positioning electromagnetic wave signals in real time, converts them into phase, pseudorange, Doppler frequency shift observations and broadcast ephemeris and sends them to the processor of the measuring device.

[0114] By using the broadcast ephemeris and the established phase epoch differential observation equation, taking into account the processing of error terms, the horizontal and vertical three-dimensional motion speeds of sea surface carriers such as buoys are solved in real time.

[0115] The measured velocity is band-pass filtered to obtain the high-frequency motion velocity signal caused by the wave. The present invention uses a high-pass filter to eliminate the low-frequency velocity signal with a period greater than 10s, and a low-pass filter to eliminate the high-frequency velocity signal with a period less than 1s. According to the method of the present invention and using formulas 6-8, wave elements such as wave height and period as well as power spectrum and directional spectrum information are calculated respectively, as shown in FIG. Figure 3 、 4 and 5.

[0116] like Figure 3 As shown in FIG, the wave height measurement accuracy of the present invention reaches the wave height measurement accuracy based on the precise ephemeris product. Figure 4 As shown in FIG, the wave average period measurement accuracy of the present invention reaches the wave average period measurement accuracy based on the precise ephemeris product. Figure 5 As shown, the wave directional spectrum measurement accuracy of the present invention reaches that of mainstream products on the market. The present invention uses Precision Point Positioning (PPP) technology to locate the buoy position and interpolates the vertical results using previous flow velocity data; it also uses Precision Point Positioning (PPP) technology to locate the buoy position and interpolates the horizontal results using previous flow velocity data.

[0117] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art will appreciate that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, or can be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0118] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A method for synchronous observation of waves, tides and currents in the entire ocean area, characterized by: The method for synchronous observation of waves, tides and currents in the entire ocean area includes: Through the GNSS receiver or board and antenna carried by the wave buoy sea surface carrier, GNSS phase, pseudorange, Doppler frequency shift observations and broadcast ephemeris are collected, and the epoch difference of the phase observation value is used to obtain the three-dimensional velocity of the buoy carrier, and then the directional spectrum, frequency spectrum, and wave height, period, and wave direction element information of the waves are obtained; the sampling elements recorded by the shore-based station are sent to the GNSS receiver on the sea surface carrier through the Beidou short message service, and the low-frequency sea surface height fluctuations are calculated in real time through the PPP method. Combined with the low-frequency velocity obtained by previous filtering, the high-frequency tide level fluctuations are interpolated.

2. The method for synchronous observation of waves, tides and currents in the entire ocean area according to claim 1, characterized in that: The method for synchronous observation of waves, tides and currents in the entire ocean area specifically includes: Step 1: Deploy the GNSS buoy, record the original coordinates of the deployment point, and measure the speed via GNSS. Step 2: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by tidal currents and other processes, and obtain the velocity in each direction caused by the wave. Step 3: Use the wave velocity to perform frequency domain integration to obtain the wave fluctuation; according to the wave fluctuation and position, use the zero-crossing method to calculate the wave period and significant wave height; Step 4: Use precise point positioning technology to locate the buoy position and PPP observation data to measure the ranging code and carrier phase; use the endpoint position and the low-frequency velocity obtained by filtering the velocity measurement results to interpolate the tide height; and use the tide height to calculate the tidal wave type. Step 5: Use the end point position and the low-frequency flow velocity obtained by filtering the velocity measurement results to interpolate the horizontal position to obtain the high-frequency buoy drift trajectory.

3. The method for synchronous observation of waves, tides and currents over the entire ocean area as claimed in claim 2, characterized in that: In step 1, the specific process of speed measurement by GNSS is as follows: The epoch differential observation equation is established, and the epoch differential of GNSS broadcast ephemeris and phase observations is used to determine the three-dimensional velocity and obtain velocity and displacement information.

4. The method for synchronous observation of waves, tides and currents over the entire ocean as claimed in claim 3, characterized in that: The specific process of establishing the epoch differential observation equation is as follows: The three-dimensional velocity is determined by using the epoch difference of GNSS broadcast ephemeris and phase observation value. The linearized GNSS carrier phase observation equation is shown in formula (1): Where λ is the carrier frequency, L1 or L2, is the carrier phase observation value of the i-th epoch, is the unit vector from the satellite S to the receiver r, δξ r,i is the position correction number of the receiver, c is the speed of light, δt r,i , δt i S are the receiver clock bias and the satellite clock error calculated from the broadcast ephemeris, N is the integer ambiguity, It is a comprehensive error correction, including satellite orbit, ionosphere, troposphere, phase center change, phase entanglement, relativistic effect, and earth rotation effect, ε i are other residual error terms and noise; When the carrier phase observations are of good quality and have no cycle slips, the difference between two consecutive epochs (i, i+1) is calculated using equation (1) to eliminate the common ambiguity N, as shown in equation (2): Where Δ is the single difference operator, and Approximately equal, X r 、 are the true position and approximate position of the receiver respectively; According to the fact that the receiver has the same approximate position at epoch i+1 and epoch i, the epoch differential carrier phase observation equation established using broadcast ephemeris is obtained from equation (2); Among them, Δξ r,i is the displacement increment between adjacent epochs (i, i+1).

5. The method for synchronous observation of waves, tides and currents in the entire ocean area according to claim 3, characterized in that: The specific process of obtaining speed and displacement information is as follows: The average speed of formula (4) is obtained from formula (3):

6. The method for synchronous observation of waves, tides and currents over the entire ocean area as claimed in claim 2, characterized in that: In step 3, the wave period and significant wave height are calculated using the wave rise and fall and position using the zero crossing method. The specific process is: Calculate power spectrum and directional spectrum using autospectrum and cross-spectrum; where Φ mn (f) is the cross spectrum of the mth and nth measurement values, I m (f,θ) is the transfer function, and S(f,θ) is the directional spectrum.

7. The method for synchronous observation of waves, tides and currents in the entire ocean area according to claim 2, characterized in that: In step 4, the buoy position is located using the precise point positioning technology. The PPP observation data mainly includes the ranging code and the carrier phase. The specific process is as follows: The ranging code observation equation is as follows: The phase observation equation is expressed as: Where, is the phase pseudorange observation value; λ is the wavelength; ε L Phase observation noise; where i and j represent the observation station and satellite respectively; f is the frequency; c is the speed of light; is the star station distance; is the pseudorange observation value; is the carrier phase observation value; δt i is the receiver clock error; δt j is the satellite clock error; δtrop j ,δdion j are tropospheric and ionospheric delay corrections respectively; N j is the carrier phase ambiguity; ε P 、 The noise corresponding to the pseudorange and carrier observations is obtained by solving the observation equation using the Kalman filter and least squares method to obtain the three-dimensional position information.

8. A computer device, characterized in that: The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps: Step 1: Deploy the GNSS buoy, record the original coordinates of the deployment point, and measure the speed via GNSS. Step 2: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by tidal currents and other processes, and obtain the velocity in each direction caused by the wave. Step 3: Use the wave velocity to perform frequency domain integration to obtain the wave fluctuations; The wave period and significant wave height are calculated using the wave rise and fall and position using the zero-crossing method; Step 4: Use precise point positioning technology to locate the buoy. The PPP observation data mainly includes ranging code and carrier phase. The low-frequency velocity obtained by filtering the endpoint position and velocity measurement results is used to interpolate the tidal height. At the same time, the tidal wave type is calculated using the tidal height. Step 5: Use the end point position and the low-frequency flow velocity obtained by filtering the velocity measurement results to interpolate the horizontal position to obtain the high-frequency buoy drift trajectory.

9. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor performs the following steps: Step 1: Deploy the GNSS buoy, record the original coordinates of the deployment point, and measure the speed via GNSS. Step 2: Perform high-pass and low-pass filtering on the velocity to remove the high-frequency velocity caused by the instrument's own swing and the low-frequency velocity caused by tidal currents and other processes, and obtain the velocity in each direction caused by the wave. Step 3: Use the wave velocity to perform frequency domain integration to obtain the wave fluctuations; The wave period and significant wave height are calculated using the wave rise and fall and position using the zero-crossing method; Step 4: Use precise point positioning technology to locate the buoy. The PPP observation data mainly includes ranging code and carrier phase. The low-frequency velocity obtained by filtering the endpoint position and velocity measurement results is used to interpolate the tidal height. At the same time, the tidal wave type is calculated using the tidal height. Step 5: Use the end point position and the low-frequency flow velocity obtained by filtering the velocity measurement results to interpolate the horizontal position to obtain the high-frequency buoy drift trajectory.

10. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the full-sea wave-tide-current synchronous observation method as described in any one of claims 1 to 7.

Images