Surface water depth ultrasonic measurement correction method

Abstract

The invention provides a surface water depth ultrasonic measurement correction method, and belongs to the technical field of water depth measurement. According to the method, surface water depth ultrasonic measurement correction is divided into two processes of correction before measurement and correction after measurement; corresponding correction methods are set according to different correction processes; specifically, the method simulates the propagation path condition of ultrasonic waves in a surface water environment to be measured by establishing a three-dimensional propagation path compensation model, and is used for eliminating the influence of temperature gradient distribution, suspended matter concentration distribution and flow velocity distribution on ultrasonic propagation, namely correction before surface water depth ultrasonic measurement; when correction is carried out after measurement, correction parameters are calculated through information of an ultrasonic wave transmitting beam angle and a reflection angle; correcting the ideal depth information through the correction parameters to obtain real depth information of the surface water; according to the method, a complete process from correction before measurement to correction after measurement is given, so that the corrected surface water depth information is more accurate and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of water depth measurement, and more particularly, to a method for correcting ultrasonic measurement of surface water depth. Background Art

[0002] Water depth measurement technology is a key tool in hydrological monitoring and environmental assessment, and is widely used in fields such as waterway maintenance, fishery resources investigation, marine scientific research, and water conservancy projects; traditional water depth measurement methods mainly rely on mechanical sounding instruments and buoy calibration, however, these methods are often limited by measurement accuracy and efficiency, and are difficult to operate in large water areas or deep water environments; with the development of technology, ultrasonic sounding technology has gradually become the mainstream; this technology emits sound waves into the water body and receives the echoes, and calculates the water depth using the propagation time of the echoes; ultrasonic sounding has high real-time performance and accuracy, can provide relatively accurate water depth data, and is not affected by environmental factors such as weather and light.

[0003] However, the existing ultrasonic water depth measurement technology still faces certain challenges; first, environmental factors such as water temperature and floating objects have a significant impact on the propagation speed of sound waves, so in practical applications, these parameters must be corrected to improve measurement accuracy; second, in shallow water areas or areas with relatively fast flowing water, ultrasonic signals are easily interfered with, and the reflection effect of the echo signals is poor, resulting in measurement data deviation; in addition, in the case of relatively large water depth or multi-layer water bodies, the ultrasonic sounding system has a relatively fast signal attenuation, and the measurement accuracy in deep water areas may be low; although modern technologies continuously optimize these problems, the real-time performance and accuracy of measurement are still restricted to a certain extent, especially in complex environments, there are still some errors and difficulties in data processing; for example: the existing correction process for ultrasonic water depth measurement mainly focuses on pre-measurement correction or post-measurement correction, and does not combine pre-measurement correction and post-measurement correction, or through what method to combine pre-measurement correction and post-measurement correction, resulting in inaccurate measurement results; therefore, how to further improve measurement accuracy, handle environmental interference, and simplify the operation process is still an urgent problem to be solved in water depth measurement technology. Summary of the Invention

[0004] The object of the present invention is to overcome the above problems existing in the prior art, and greatly improve its technical effect on the basis of the original technology; the present invention provides a method for correcting ultrasonic measurement of surface water depth, and the method includes:

[0005] Dividing the correction of ultrasonic measurement of surface water depth into: pre-measurement correction and post-measurement correction;

[0006] Among them, the pre-measurement correction includes: a1 collecting the temperature gradient distribution, suspended matter concentration distribution, and flow velocity distribution of the area to be monitored in real time through a multi-parameter environmental sensor array; a2 establishing a three-dimensional propagation path compensation model based on the ultrasonic refraction effect, conducting simulation experiments in the three-dimensional propagation path compensation model by adjusting the emission parameters of the ultrasonic sensor, and recording the acoustic wave reflection time corresponding to the emission parameters through the receiver of the simulated ultrasonic sensor; the three-dimensional propagation path compensation model is an algorithm model that restores the actual propagation path of ultrasonic waves through mathematical modeling based on the collected temperature gradient distribution, suspended matter concentration distribution, and flow velocity distribution; a3 extracting the reflection parameters corresponding to the shortest reflection time recorded by the receiver of the ultrasonic sensor as the adjustment parameters of the actual ultrasonic sensor; the reflection parameters include ultrasonic emission frequency, beam angle, and emission power.

[0007] Among them, the post-measurement correction includes: b1 using multi-beam interference signal processing technology to extract the angle information of the reflected wave; if the angle information of the reflected wave is not perpendicular to the horizontal plane, the measurement result needs to be corrected; b2 calculating the correction parameter according to the ultrasonic emission beam angle and the reflected angle information; b3 correcting the ideal depth information through the correction parameter to obtain the true depth information of the surface water; the ideal depth information refers to the depth of the surface water when the ultrasonic wave is emitted through the adjustment parameters of the ultrasonic sensor in the three-dimensional propagation path compensation model and the angle information of the received reflected wave is just perpendicular to the simulated horizontal plane; the formula for calculating the correction parameter according to the ultrasonic emission beam angle and the reflected angle information is:

[0008] Among them, β is the emission beam angle, α is the reflected beam angle, β is a positive value, α is a positive or negative value, the α and β angles are the angles between the beam reception and emission and the vertically downward direction. When α and β are on the same side, they are both positive values. When α and β are on different sides, β is a positive value and α is a negative value; σ is the correction parameter, and both β and α are the angles between the emission beam and the vertically downward direction.

[0009] The formula for correcting the ideal depth information through the correction parameter is: H1 = σH0, where H0 is the ideal depth of the surface water and H1 is the true depth information of the surface water after correction.

[0010] Specifically, the pre-measurement correction is to eliminate the influence of temperature gradient distribution, suspended matter concentration distribution, and flow velocity distribution on water depth measurement; the post-measurement correction is to obtain the true depth information through the conversion of the ideal depth information.

[0011] Specifically, the temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution include: The temperature distribution and flow velocity distribution of surface water are stratified. The stratified temperature distribution and flow velocity distribution of surface water are obtained through a multi-parameter environmental sensor array. By establishing an accurate three-dimensional propagation path compensation model, the actual situation of ultrasonic wave propagation in surface water is further simulated.

[0012] Specifically, the simulation experiment in the three-dimensional propagation path compensation model by adjusting the emission parameters of the ultrasonic sensor includes: Conducting a simulation experiment by adjusting the parameter of the beam angle of the ultrasonic sensor while keeping the emission frequency and emission power unchanged; facilitating the determination of the depth information of surface water through the ultrasonic reflection time.

[0013] Specifically, the extraction of the reflection parameters corresponding to the shortest reflection time recorded by the receiver of the ultrasonic sensor includes: In the simulation experiment of simulating the ultrasonic propagation path through the three-dimensional propagation path compensation model, when only the beam angle is adjusted while the emission frequency and emission power remain unchanged; then the propagation path corresponding to the shortest reflection time received by the receiver of the ultrasonic sensor can be used to obtain the ideal depth information of surface water; the formula for the ideal depth information is:

[0014] where v0 is the propagation speed of the ultrasonic wave, t0 is the shortest reflection time, and H0 is the ideal depth of surface water.

[0015] Specifically, the adoption of the multi-beam interference signal processing technology includes: The multi-beam interference signal processing technology receives reflection signals in different directions through multiple sensors or a sensor array, enabling spatial angle analysis of the signals; therefore, the multi-beam interference signal processing technology can collect reflection waves in different directions.

[0016] Specifically, if the angle information of the reflection wave is not perpendicular to the horizontal plane, it includes: It indicates that the actual depth information of the surface water is inconsistent with the ideal depth information of the surface water simulated by the three-dimensional propagation path compensation model, and then the measurement result needs to be corrected.

[0017] Specifically, the calculation of the correction parameter based on the ultrasonic emission beam angle and the reflection angle information includes: The propagation speed of the ultrasonic wave in surface water is extremely fast. Under the influence of various factors, the propagation path is regarded as an arc with a very small curvature; the deeper the depth of the surface water, the greater the deflection angle of the ultrasonic wave emitted from the ultrasonic sensor. Therefore, the correction parameter can be calculated through the ultrasonic emission beam angle and the reflection angle information, and further the actual depth information of the surface water can be calculated through the correction parameter.

[0018] The beneficial effects of the present invention are:

[0019] The present invention provides a method for correcting the ultrasonic measurement of the depth of surface water; it has the following advantages:

[0020] 1. This method divides the correction of surface water depth ultrasonic measurement into pre-measurement correction and post-measurement correction, making the correction of ultrasonic water depth measurement more comprehensive through pre-measurement and post-measurement corrections.

[0021] 2. This method simulates the propagation path of ultrasonic waves in the surface water environment to be measured by establishing a three-dimensional propagation path compensation model, which is used to eliminate the influence of temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution on ultrasonic wave propagation, that is, the pre-measurement correction for surface water depth ultrasonic measurement; when performing post-measurement correction, the correction parameters are calculated through ultrasonic wave emission beam angle and reflection angle information; and the ideal depth information is corrected through the correction parameters to obtain the true surface water depth information; the complete process from pre-measurement correction to post-measurement correction is given, making the corrected surface water depth information more accurate and reliable. Description of the Drawings

[0022] Figure 1 It is a flowchart of a method for correcting surface water depth ultrasonic measurement of the present invention. Detailed Embodiments

[0023] The following describes in detail the specific embodiments of the present invention with reference to the accompanying drawings; it should be understood that the specific embodiments given here are only for illustrating and explaining the present invention and cannot be used to limit the present invention.

[0024] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may have other embodiments and variations, and therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0025] Such as Figure 1As shown, a flowchart of a method for correcting ultrasonic measurement of surface water depth according to an embodiment of the present invention; the flowchart includes: Step S100, dividing the correction of ultrasonic measurement of surface water depth into pre-measurement correction and post-measurement correction; Step S200, wherein the pre-measurement correction includes: a1 collecting the temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution of the area to be monitored in real time through a multi-parameter environmental sensor array; a2 establishing a three-dimensional propagation path compensation model based on the ultrasonic refraction effect, conducting simulation experiments in the three-dimensional propagation path compensation model by adjusting the emission parameters of the ultrasonic sensor, and recording the acoustic wave reflection time corresponding to the emission parameters through the receiver of the simulated ultrasonic sensor; the three-dimensional propagation path compensation model is an algorithm model that restores the actual propagation path of ultrasonic waves through mathematical modeling based on the collected temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution; a3 extracting the reflection parameters corresponding to the shortest reflection time recorded by the receiver of the ultrasonic sensor as the adjustment parameters of the actual ultrasonic sensor; the reflection parameters include ultrasonic emission frequency, beam angle, and emission power; Step S300, wherein the post-measurement correction includes: b1 using multi-beam interference signal processing technology to extract the angle information of the reflected wave; if the angle information of the reflected wave is not perpendicular to the horizontal plane, the measurement result needs to be corrected; b2 calculating the correction parameters according to the ultrasonic emission beam angle and the reflected angle information; b3 correcting the ideal depth information through the correction parameters to obtain the true depth information of the surface water.

[0026] Among them, in Step S100, the reason for dividing the depth measurement correction of ultrasonic waves on surface water into pre-measurement correction and post-measurement correction is that the pre-measurement correction is to eliminate the influence of temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution on water depth measurement; the post-measurement correction is to obtain the true depth information through the conversion of ideal depth information.

[0027] Among them, in Step S200, the temperature distribution and flow velocity distribution of surface water are stratified. By obtaining the stratified temperature distribution and flow velocity distribution of surface water through a multi-parameter environmental sensor array, and establishing a three-dimensional propagation path compensation model to simulate the stratified distribution of the true temperature and flow velocity of surface water, it helps to simulate the actual situation of ultrasonic wave propagation in surface water.

[0028] Specifically, it further includes: a method for simulating experiments by adjusting the emission parameters of an ultrasonic sensor in a three-dimensional propagation path compensation model: simulating experiments by adjusting the parameters of the beam angle of the ultrasonic sensor while keeping the emission frequency and emission power unchanged; facilitating the determination of the depth information of surface water through the ultrasonic reflection time; it should be noted that the reason for keeping the emission frequency and emission power unchanged is to keep the refractive index of ultrasonic waves the same in different temperature layers and suspended substances. Since the ultrasonic wave velocity is the same, the longer the propagation path in different layers, the longer the propagation time; therefore, half of the propagation path corresponding to the shortest reflection time received by the receiver of the ultrasonic sensor can be regarded as the simulated depth of surface water.

[0029] In the above-mentioned embodiment, specifically, extracting the reflection parameters corresponding to the shortest reflection time recorded by the receiver of the ultrasonic sensor includes: in the simulation experiment of simulating the ultrasonic propagation path through the three-dimensional propagation path compensation model, by only adjusting the beam angle while keeping the emission frequency and emission power unchanged; then the propagation path corresponding to the shortest reflection time received by the receiver of the ultrasonic sensor can obtain the ideal depth information of surface water; the formula for the ideal depth information is: Wherein, v0 is the propagation speed of ultrasonic waves, t0 is the shortest reflection time, and H0 is the ideal depth of surface water.

[0030] Among them, in step S300, the multi-beam interference signal processing technology receives reflection signals in different directions through multiple sensors or a sensor array, so as to be able to analyze the signal in the spatial angle; therefore, the multi-beam interference signal processing technology can collect reflection waves in different directions.

[0031] Specifically, if the angle information of the reflection wave is not perpendicular to the horizontal plane, it indicates that the real depth information of surface water is inconsistent with the ideal depth information of surface water simulated by the three-dimensional propagation path compensation model, and then the measurement result needs to be corrected; the ideal depth information refers to the depth of surface water when the ultrasonic wave is emitted by adjusting the parameters of the ultrasonic sensor in the three-dimensional propagation path compensation model and the received angle information of the reflection wave is just perpendicular to the simulated horizontal plane.

[0032] In the above-mentioned embodiment, specifically, calculating the correction parameter according to the ultrasonic emission beam angle and the reflection angle information includes: the propagation speed of ultrasonic waves in surface water is extremely fast. Under the influence of various factors, the propagation path is regarded as an arc with a very small curvature; the deeper the depth of surface water, the greater the deflection angle of the ultrasonic wave emitted from the ultrasonic sensor. Therefore, the correction parameter can be calculated through the ultrasonic emission beam angle and the reflection angle information, and further the real depth information of surface water can be calculated through the correction parameter.

[0033] In the above embodiments, specifically, it further includes: The formula for calculating the correction parameter according to the ultrasonic emission beam angle and the reflection angle information is:

[0034] Wherein, β is the emission beam angle, α is the reflection beam angle, β is a positive value, α is a positive or negative value, the α and β angles are the angles between the beam reception and emission and the vertically downward direction. When α and β are on the same side, they are both positive values. When α and β are on different sides, β is a positive value and α is a negative value; σ is the correction parameter, and both β and α are the angles between the emission beam and the vertically downward direction.

[0035] Furthermore, the formula for correcting the ideal depth information by the correction parameter is: H1 = σH0, where H0 is the ideal depth of the surface water and H1 is the corrected true depth information of the surface water.

Claims

1. A method for correcting the depth ultrasonic measurement of surface water, characterized in that, The method includes: Dividing the correction of surface water depth ultrasonic measurement into pre-measurement correction and post-measurement correction; The pre-measurement correction includes: a1 Collecting the temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution of the area to be monitored in real time through a multi-parameter environmental sensor array; a2 Establishing a three-dimensional propagation path compensation model based on the ultrasonic refraction effect, conducting simulation experiments by adjusting the emission parameters of the ultrasonic sensor in the three-dimensional propagation path compensation model, and recording the acoustic wave reflection time corresponding to the emission parameters through the receiver of the simulated ultrasonic sensor; the three-dimensional propagation path compensation model is an algorithm model that restores the actual propagation path of ultrasonic waves through mathematical modeling based on the collected temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution; a3 Extracting the reflection parameters corresponding to the shortest reflection time recorded by the receiver of the ultrasonic sensor as the adjustment parameters of the actual ultrasonic sensor; the reflection parameters include ultrasonic emission frequency, beam angle, and emission power; The post-measurement correction includes: b1 Using multi-beam interference signal processing technology to extract the angle information of the reflected wave; if the angle information of the reflected wave is not perpendicular to the horizontal plane, the measurement result needs to be corrected; b2 Calculating the correction parameters based on the ultrasonic emission beam angle and the reflected angle information; b3 Correcting the ideal depth information through the correction parameters to obtain the true depth information of the surface water; the ideal depth information refers to the depth of the surface water when the ultrasonic wave is emitted through the adjustment parameters of the ultrasonic sensor in the three-dimensional propagation path compensation model and the received reflected wave angle information is just perpendicular to the simulated horizontal plane; the formula for calculating the correction parameters based on the ultrasonic emission beam angle and the reflected angle information is: Among them, β is the emission beam angle, α is the reflection beam angle, β is a positive value, α is a positive or negative value, the α and β angles are the angles between the beam reception and emission and the vertically downward direction. When α and β are on the same side, they are both positive values. When α and β are on different sides, β is a positive value and α is a negative value; σ is a correction parameter, and both β and α are the angles between the emission beam and the vertically downward direction; The formula for correcting the ideal depth information through the correction parameters is: H1 = σH0, where H0 is the ideal depth of the surface water and H1 is the true depth information of the surface water after correction.

2. A method for correcting the depth ultrasonic measurement of surface water according to claim 1, characterized in that The pre-measurement correction and post-measurement correction include: The pre-measurement correction is to eliminate the influence of temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution on water depth measurement; the post-measurement correction is to obtain the true depth information through the conversion of the ideal depth information.

3. A method for correcting the depth ultrasonic measurement of surface water according to claim 1, characterized in that, The temperature gradient distribution, suspended solid concentration distribution, and flow velocity distribution include: The temperature distribution and flow velocity distribution of the surface water are stratified. The stratified temperature distribution and flow velocity distribution of the surface water are obtained through a multi-parameter environmental sensor array, and the actual situation of ultrasonic wave propagation in the surface water is further simulated by establishing an accurate three-dimensional propagation path compensation model.

4. A method for correcting the depth ultrasonic measurement of surface water according to claim 1, characterized in that, The simulation experiment of adjusting the emission parameters of the ultrasonic sensor in the three-dimensional propagation path compensation model includes: Conducting simulation experiments by adjusting the parameter of the beam angle of the ultrasonic sensor while keeping the emission frequency and emission power unchanged; it is convenient to determine the depth information of the surface water through the ultrasonic reflection time.

5. A method for correcting the depth ultrasonic measurement of surface water according to claim 1, characterized in that The reflection parameters corresponding to the shortest reflection time recorded by the receiver of the extraction ultrasonic sensor include: in the simulation experiment of simulating the ultrasonic propagation path through the three-dimensional propagation path compensation model, when only adjusting the beam angle while keeping the transmission frequency and transmission power unchanged; then the propagation path corresponding to the shortest reflection time received by the receiver of the ultrasonic sensor can obtain the ideal depth information of the surface water; the formula for calculating the ideal depth information is: Among them, v0 is the propagation speed of ultrasonic waves, t0 is the shortest reflection time, and H0 is the ideal depth of surface water.

6. A method for correcting the depth ultrasonic measurement of surface water according to claim 1, characterized in that, The adoption of the multi-beam interference signal processing technology includes: the multi-beam interference signal processing technology receives the reflection signals in different directions through multiple sensors or a sensor array, so as to analyze the spatial angle of the signals; therefore, the multi-beam interference signal processing technology can collect the reflected waves in different directions.

7. A method for correcting ultrasonic measurement of surface water depth according to claim 1, characterized in that If the angle information of the reflected wave is not perpendicular to the horizontal plane, it includes: it indicates that the depth information of the real surface water is inconsistent with the ideal depth information of the surface water simulated by the three-dimensional propagation path compensation model, and then the measurement result needs to be corrected.

8. A method for correcting the depth ultrasonic measurement of surface water according to claim 1, characterized in that, Calculating the correction parameter according to the ultrasonic transmission beam angle and the reflection angle information includes: the propagation speed of ultrasonic waves in surface water is extremely fast. Under the influence of various factors, the propagation path is regarded as an arc with a very small curvature; the deeper the surface water, the greater the deflection angle of the ultrasonic waves emitted from the ultrasonic sensor. Therefore, the correction parameter can be calculated through the ultrasonic transmission beam angle and the reflection angle information, and further the real depth information of the surface water can be calculated through the correction parameter.

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