Water depth measurement method and device, electronic equipment and medium

Abstract

The invention provides a water depth measurement method and device, electronic equipment and a medium, and relates to the field of water depth measurement. The method comprises the following steps: dividing a water body into a plurality of depth layers along a gravity direction according to a division rule based on a preset interlayer spacing; obtaining the signal intensity of each echo signal determined after the ADCP transmits the sound wave signal to the water body; taking the depth layer corresponding to the echo signal with the maximum signal intensity as a target depth layer; and determining the total distance between the target depth layer and the sea level based on the preset interlayer spacing and the initial distance between the first depth layer closest to the sea level and the sea level. Since the reflection coefficient of the water bottom is greater than the reflection coefficients of other scatterers in the water body, the target depth layer is regarded as the water bottom, the total distance between the target depth layer and the sea level is the water depth, the water depth measurement result is not influenced by the water body density and interferents, and the accuracy of the measurement result is ensured. The ADCP is supported to measure the depth and the flow velocity of the water body at the same time, and the equipment weight and the economic cost are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of water depth measurement, and in particular to a water depth measurement method and device, electronic equipment and a medium. BACKGROUND

[0002] The common water depth measurement methods include water pressure measurement method and acoustic wave measurement method. The water pressure measurement method measures the water pressure of the water body first, and then converts the water pressure into water depth. However, this method is easily affected by the density of the water body, and the water depth measuring instrument needs to be calibrated regularly. The acoustic wave measurement method calculates the water depth based on the echo time of the acoustic wave signal. However, the wave or the suspended matter in the water body and other interference factors will affect the propagation speed of the acoustic wave signal, so the accuracy of the water depth measured by the acoustic wave measurement method will also be affected by the interference factors. It can be seen that the current water depth measurement methods have certain defects. SUMMARY

[0003] Therefore, one aspect of the present application provides a water depth measurement method, which comprises: dividing the water body into a plurality of depth layers along the gravity direction according to a division rule based on a preset layer interval; obtaining the signal intensity of each echo signal determined after the ADCP emits an acoustic wave signal to the water body; taking the depth layer corresponding to the echo signal with the maximum signal intensity as a target depth layer; determining the total distance between the target depth layer and the sea level based on the preset layer interval and the initial distance between the first depth layer and the sea level, and taking the total distance as the depth of the water body; the first depth layer is the depth layer closest to the sea level among the depth layers.

[0004] Optionally, the division rule based on the preset layer interval is a division rule of dividing the water body into a plurality of depth layers with the same layer interval. The determination of the total distance between the target depth layer and the sea level based on the preset layer interval and the initial distance between the first depth layer and the sea level comprises: taking the product of the layer interval and the total layer interval number as the total interval between the target depth layer and the first depth layer; the total layer interval number is the difference between the number of layers of the target depth layer and 1; taking the sum of the total interval and the initial distance as the total distance.

[0005] Optionally, the division rule based on the preset layer interval is a division rule of dividing the water body into a plurality of depth intervals, dividing each depth interval into a plurality of depth layers with the same layer interval, and the layer interval corresponding to the depth interval closer to the bottom is smaller.

[0006] Optionally, the determining the total distance between the target depth layer and the sea level based on the preset layer interval and an initial distance between the first depth layer and the sea level comprises: determining a first depth interval in which the target depth layer is located; determining a first distance between the target depth layer and an upper boundary depth layer based on a layer interval corresponding to the first depth interval and an effective depth layer number included in the first depth interval, wherein the upper boundary depth layer is a depth layer closest to the sea level in the first depth interval, and the effective depth layer number is a difference value obtained by subtracting a layer number value of the upper boundary depth layer from a layer number value of the target depth layer; determining each second depth interval between the sea level and the upper boundary depth layer; taking a sum of interval distances of each second depth interval as a second distance, wherein the interval distance is a distance between a depth layer closest to the sea level and a depth layer farthest from the sea level in the second depth interval; taking a sum of the first distance, the second distance and the initial distance as the total distance.

[0007] Optionally, after taking the total distance as the depth of the water body, the method further comprises: obtaining each historical depth of the water body determined in a specified time period, and grouping each historical depth into a historical depth sequence; obtaining a standard depth range for determining whether each historical depth is an abnormal depth value based on the historical depth sequence; taking a historical depth value not belonging to the standard depth range as the abnormal depth value, and removing the abnormal depth value.

[0008] Optionally, the determining the standard depth range based on the historical depth sequence comprises: determining a first quartile and a third quartile of the historical depth sequence, and determining a quartile distance according to the first quartile and the third quartile; determining a lower boundary value of the standard depth range based on the first quartile and the quartile distance; determining an upper boundary value of the standard depth range based on the third quartile and the quartile distance.

[0009] Optionally, after taking the total distance as the depth of the water body, the method further comprises: obtaining each historical depth of the water body determined at each measurement time point; generating a water body depth map based on each historical depth and a measurement time point corresponding to each historical depth, and outputting the water body depth map to a target device.

[0010] Another aspect of the present application provides a water depth measuring device, the device comprising: a depth layer division module configured to divide the water body into a plurality of depth layers along the gravity direction according to a division rule based on a preset layer interval; a signal strength acquisition module configured to acquire signal strengths of the echo signals determined after the ADCP emits the acoustic wave signals to the water body; a target layer determination module configured to determine a depth layer corresponding to the echo signal with the largest signal strength as a target depth layer; a depth determination module configured to determine a total distance between the target depth layer and the sea level based on the preset layer interval and an initial distance between a first depth layer closest to the sea level and the sea level, and determine the total distance as the depth of the water body.

[0011] Another aspect of the present application provides an electronic device, comprising: a memory configured to store a computer program; a processor configured to execute the computer program to implement the steps of any of the above water depth measuring methods.

[0012] Another aspect of the present application provides a storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of any of the above water depth measuring methods.

[0013] In summary, the present application provides a water depth measuring method, device, electronic device and medium, the method comprising dividing a water body into a plurality of depth layers along the gravity direction according to a division rule based on a preset layer interval; acquiring signal strengths of echo signals determined after an ADCP emits acoustic wave signals to the water body; determining a depth layer corresponding to the echo signal with the largest signal strength as a target depth layer; and determining a total distance between the target depth layer and the sea level based on the preset layer interval and an initial distance between a first depth layer closest to the sea level and the sea level.

[0014] Since the reflection coefficient of the water bottom is greater than that of other scatterers in the water body, when the acoustic wave signals reach the water bottom, the water bottom will reflect most of the energy, and the strength of the echo signal corresponding to the water bottom will be higher than that of the echo signal corresponding to other scatterers in the water body. Therefore, the present application determines the layer corresponding to the echo signal with the largest signal strength as the target depth layer, and regards the target depth layer as the water bottom. The determination of the target depth layer is not affected by the density of the water body and the scatterers in the water body, thereby ensuring that the measured water depth result is not affected by the density of the water body and the scatterers in the water body, and ensuring the accuracy of the water depth measurement result.

[0015] In addition, since the application realizes high-accuracy water depth measurement by using an ADCP (Acoustic Doppler Current Profiler), the user can measure the depth and flow rate of the water body at the same time, which can reduce the weight and economic cost of the equipment and expand the application range. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A first flowchart of a water depth measurement method provided by the application; Figure 2 A second flowchart of a water depth measurement method provided by the application; Figure 3 A depth layer division schematic diagram provided by the application; Figure 4 A water depth measurement result comparison diagram provided by the application; Figure 5 A water depth difference value frequency distribution diagram provided by the application; Figure 6 A water depth relative error frequency distribution diagram provided by the application; Figure 7 A structural schematic diagram of a water depth measurement device provided by the application. DETAILED DESCRIPTION

[0017] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application. The singular forms "a," "said," and "the" used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein means and includes any or all possible combinations of one or more associated listed items.

[0018] It should be understood that although the terms first, second, third, etc. can be used in this application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the application, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon determining" or "in response to determining".

[0019] Please refer to Figure 1 , Figure 1 A first flowchart of a water depth measurement method provided by the application, the method comprising: S101, according to the division rule based on the preset layer spacing, the water body is divided into a plurality of depth layers along the gravity direction.

[0020] The application considers that the water bottom is a relatively flat and dense plane, and the reflection coefficient of the water bottom is greater than that of the scatterers in the water body (such as bubbles and suspended particles in the water body). Therefore, when the acoustic signal reaches the water bottom, the water bottom will reflect most of the acoustic energy, so that the signal strength of the echo signal reflected by the water bottom is obviously higher than that of the echo signal reflected by the scatterers in the water body. Based on this, the water body is divided into multiple depth layers in advance, and the position of the water bottom can be determined by determining the depth layer corresponding to the echo signal with the maximum signal strength.

[0021] Specifically, the division rule based on the preset layer interval needs to be determined first. The above layer interval refers to the distance between two adjacent depth layers. The division rule based on the preset layer interval can refer to dividing the water body into multiple depth layers with the same layer interval, or refer to the rule of dividing the water body into multiple depth layers with different layer intervals. The above division rule based on the preset layer interval can be set based on actual needs. The subsequent embodiments will be described in detail, which will not be described here.

[0022] After determining the division rule based on the preset layer interval, the water body is divided into multiple depth layers along the gravity direction based on the above rule, which lays a foundation for subsequently determining the depth layer closest to the water bottom from the multiple depth layers.

[0023] It should be further pointed out that the total number of depth layers and the specific value of the layer interval are not particularly limited, and can be set according to actual needs. When measuring the depth of the same water body multiple times, the total number of depth layers, the division rule and the specific value of the layer interval can be adjusted according to the measurement results.

[0024] S102, the signal strength of each echo signal determined after the ADCP emits the acoustic signal to the water body is obtained.

[0025] After the water body is divided into multiple depth layers, the ADCP previously deployed in the water body can be controlled to emit acoustic signals to the water body. The acoustic signals emitted by the ADCP reach each depth layer in turn. For each depth layer, after the acoustic signal reaches the depth layer, the scatterers located in the depth layer scatter the acoustic signal in all directions, and a part of the signal is received by the ADCP as the echo signal corresponding to the depth layer. After receiving each echo signal, the ADCP determines the signal strength of each echo signal. The application does not particularly limit how the ADCP determines the signal strength of each echo signal. For example, the signal strength of the echo signal is determined by calculating the power or signal-to-noise ratio of the echo signal.

[0026] Then, the signal strength of each echo signal determined by the ADCP is obtained, which lays a foundation for subsequently determining the depth layer closest to the water bottom based on each echo signal.

[0027] In addition, the ADCP can be positioned below the sea level (e.g., installed at the bottom of a ship or a buoy) so that the transducer in the ADCP emits acoustic signals to the water body below the sea level and receives each echo signal, which is conducive to obtaining clear echo signals, reducing water surface interference, and ensuring the accuracy of the subsequent measurement of the depth of the water body.

[0028] S103, taking the depth layer corresponding to the echo signal with the maximum signal strength as the target depth layer.

[0029] As described above, when the acoustic signals contact the water bottom, the water bottom reflects most of the acoustic energy, so that the echo signal reflected by the water bottom has a higher signal strength than the echo signal reflected by the scattering body in the water body. Therefore, after receiving the signal strength of each echo signal, the signal strengths of the echo signals are compared to determine the echo signal with the maximum signal strength. Then, the depth layer corresponding to the echo signal with the maximum signal strength is determined, and the depth layer is taken as the target depth layer closest to the water bottom.

[0030] It can be seen that the present application determines the target depth layer based on the signal strength of the echo signal, i.e., determines the position of the water bottom based on the signal strength, which is not affected by the density of the water body, the waves, and the suspended matter in the water body, thereby ensuring the accuracy and reliability of the subsequent measurement of the depth of the water body.

[0031] For how to determine the depth layer corresponding to the echo signal with the maximum signal strength, the present application does not make special limitations. For example, after receiving the signal strength of each echo signal determined by the ADCP, the signal strengths form a signal strength sequence. The arrangement order of each signal strength in the signal strength sequence is consistent with the arrangement order of the depth layer corresponding to the signal strength in the water body. Based on this, after determining the signal strength with the maximum value in the signal strength sequence, the target depth layer corresponding to the echo signal with the maximum signal strength can be determined according to the order of the signal strength in the signal strength sequence.

[0032] S104, determining the total distance between the target depth layer and the sea level based on the preset layer spacing and the initial distance between the first depth layer and the sea level, and taking the total distance as the depth of the water body; the first depth layer is the depth layer closest to the sea level among the depth layers.

[0033] The target depth layer is regarded as the water bottom in the application, and the total distance between the target depth layer and the sea level is the depth of the water body. It is considered that the ADCP is usually installed below the sea level in practical application, and a certain distance is usually set between the installation position of the ADCP and the first depth layer, so that there is a certain initial distance between the first depth layer and the sea level. Based on this, the distance between the target depth layer and the sea level includes the distance between the target depth layer and the first depth layer, and the initial distance between the first depth layer and the sea level.

[0034] The distance between the target depth layer and the first depth layer is related to the division rule based on the preset layer interval when the depth layers are divided. Subsequent embodiments will describe the process of determining the distance between the target depth layer and the first depth layer for different division rules, which will not be described here. The value of the initial distance can be determined before the depth is divided.

[0035] In addition, after the total distance is taken as the depth of the water body, a water body depth map can be generated, so that the staff can intuitively understand the depth of the water body. Specifically, each historical depth of the water body determined at each measurement time point is obtained; then a water body depth map is generated based on each historical depth and the measurement time point corresponding to each historical depth, and the water body depth map is output to a target device.

[0036] It should be further pointed out that the execution subject of the water depth measurement method provided by the application can be a computer or other electronic device. With the functions of the ADCP for emitting acoustic signals to the water body, receiving each echo signal and determining the signal strength of each echo signal, the electronic device measures the depth of the water body. And with the same ADCP, the electronic device can also measure the flow rate of the water body, thereby reducing the weight and economic cost of the equipment.

[0037] In summary, the application provides a water depth measurement method, which includes dividing the water body into a plurality of depth layers along the gravity direction according to a division rule based on a preset layer interval; obtaining the signal strength of each echo signal determined after the ADCP emits acoustic signals to the water body; taking the depth layer corresponding to the echo signal with the maximum signal strength as the target depth layer; and determining the total distance between the target depth layer and the sea level based on the preset layer interval and the initial distance between the first depth layer closest to the sea level and the sea level. The determination of the target depth layer is not affected by the density of the water body and the scatterers in the water body, thereby ensuring that the measured water depth result is not affected by the density of the water body and the scatterers in the water body, and ensuring the accuracy of the water depth measurement result.

[0038] The water depth measurement method provided by the application is suitable for dynamic water area, complex hydrological environment water area, large-scale water area requiring rapid depth measurement, dangerous water area, and a scene requiring simultaneous measurement of water depth and flow rate. In particular, for the scene requiring simultaneous measurement of water depth and flow rate, a flow rate measuring instrument and a depth measuring instrument do not need to be respectively deployed in the water body, and one ADCP can be used to realize high-precision measurement of water depth and flow rate, thereby reducing the weight and economic cost of equipment.

[0039] The process of determining the depth of the water body is described below according to the division rule of dividing the water body into a plurality of depth layers with the same layer spacing.

[0040] As an optional embodiment, the division rule based on the preset layer spacing is that the water body is divided into a plurality of depth layers with the same layer spacing.

[0041] Based on the preset layer spacing and the initial distance between the first depth layer and the sea level, the total distance between the target depth layer and the sea level is determined, including: The product of the layer spacing and the total layer spacing number is taken as the total spacing between the target depth layer and the first depth layer; the total layer spacing number is the difference obtained by subtracting 1 from the number of layers of the target depth layer; and the sum of the total spacing and the initial distance is taken as the total distance.

[0042] In this embodiment, the division rule based on the preset layer spacing is specifically that the water body is divided into a plurality of depth layers with the same layer spacing. That is, the layer spacing between any two adjacent depth layers in the water body is the same. The smaller the value of the layer spacing, the higher the measurement accuracy of the water depth. The specific value of the layer spacing can be set according to actual needs.

[0043] On this basis, the total spacing between the target depth layer and the first depth layer is equal to the product of the layer spacing and the total layer spacing number. The layer spacing is a known quantity set in advance. The total layer spacing number is the difference obtained by subtracting 1 from the number of layers of the target depth layer. The total distance between the target depth layer and the sea level is equal to the sum of the total spacing and the initial distance, and thus the measurement of the water depth is completed.

[0044] Please refer to Figure 2 , Figure 2 The second flowchart of the water depth measurement method provided by the application is shown in FIG. 2. When the layer spacing is the same, the depth of the water body is determined based on the first formula. In this embodiment, the first formula is: ; wherein, is the depth of the water body, is the initial distance, is the number of layers of the target depth layer.

[0045] In summary, the water body can be divided according to the division rule of dividing the water body into multiple depth layers with the same layer interval, and multiple depth layers are obtained. This division method has the advantages of simple depth layer division and simple water depth calculation.

[0046] Next, another division rule and the process of determining the depth of the water body under the rule are described.

[0047] As an optional embodiment, the division rule based on the preset layer interval is that the water body is divided into multiple depth intervals, each depth interval is divided into multiple depth layers with the same layer interval, and the layer interval corresponding to the depth interval closer to the water bottom is smaller.

[0048] In this embodiment, the water body is first divided into multiple depth intervals, and the interval distance of each depth interval can be set according to actual needs. Then, for each depth interval, the depth interval is further divided into multiple depth layers with the same layer interval. The specific value of the layer interval corresponding to each depth interval can be adjusted according to actual needs, but the layer intervals corresponding to each depth interval need to meet the division rule that the layer interval corresponding to the depth interval closer to the water bottom is smaller. That is, the value of the layer interval corresponding to the depth interval far from the water bottom is relatively large, thereby reducing the overall number of depth layers; the value of the layer interval corresponding to the depth interval close to the water bottom is relatively small, thereby improving the accuracy of water depth measurement.

[0049] Please refer to Figure 3 , Figure 3 for a depth layer division schematic diagram provided by the present application.

[0050] In Figure 3 , (the first depth layer, the third depth layer) is a depth interval, and the layer interval between the adjacent two depth layers in this depth interval is ; (the third depth layer, the seventh depth layer) is another depth interval, and the layer interval between the adjacent two depth layers in this depth interval is ; (the seventh depth layer, the eleventh depth layer) is another depth interval, and the layer interval between the adjacent two depth layers in this depth interval is . And, , the accuracy of water depth measurement is improved.

[0051] As an optional embodiment, based on the preset layer interval and the initial distance between the first depth layer and the sea level, the total distance between the target depth layer and the sea level is determined, including: determining the first depth interval in which the target depth layer is located; determine a first distance between the target depth layer and an upper boundary depth layer based on the layer interval corresponding to the first depth interval and a number of effective depth layers included in the first depth interval, wherein the upper boundary depth layer is a depth layer closest to the sea level in the first depth interval, and the number of effective depth layers is a difference between a number of layers of the target depth layer and a number of layers of the upper boundary depth layer; determine each second depth interval between the sea level and the upper boundary depth layer; sum distances of the second depth intervals as a second distance, wherein the distance of the second depth interval is a distance between a depth layer closest to the sea level and a depth layer farthest to the sea level in the second depth interval; sum the first distance, the second distance and the initial distance as a total distance.

[0052] In the embodiment, the depth layer closest to the sea level in the first depth interval in which the target depth layer is located is taken as the upper boundary depth layer. The distance between the target depth layer and the first depth layer is further divided into two parts based on the upper boundary depth layer as a boundary: the first distance between the target depth layer and the upper boundary depth layer, and the second distance between the sea level and the upper boundary depth layer.

[0053] Considering each depth layer below the target depth layer in the first depth interval, the depth layer is invalid and irrelevant to the calculation of the water depth. Therefore, when calculating the first distance between the target depth layer and the upper boundary depth layer, the number of effective depth layers included in the first depth interval needs to be determined. In the embodiment, the difference between the number of layers of the target depth layer and the number of layers of the upper boundary depth layer is taken as the number of effective depth layers. The product of the number of effective depth layers and the layer interval corresponding to the first depth interval is the first distance.

[0054] Each second depth interval between the sea level and the upper boundary depth layer is an effective depth interval. Before the depth layers are divided, the interval distance corresponding to each second depth interval is known. In the embodiment, the sum of the interval distances of the second depth intervals is directly taken as the second distance.

[0055] Finally, the sum of the first distance, the second distance and the initial distance is taken as the total distance between the target depth layer and the sea level, that is, the depth of the water body.

[0056] Please refer to Figure 2 , Figure 2 a second flowchart of a water depth measurement method provided in the application. After the target depth layer is determined, whether the layer interval between each depth layer is the same is judged based on the division rule of the preset layer interval. In the embodiment, the water body is divided into depth layers with different layer intervals based on the division rule of the preset layer interval, and then the depth of the water body can be represented by the following second formula: ; wherein, is the water depth, is the initial distance, Y is the total number of second depth intervals, is the interval distance corresponding to the yth second depth interval, is the layer number value of the target depth layer, is the layer number value of the upper boundary depth layer of the first depth interval, is the layer interval corresponding to the first depth interval where the target depth layer is located.

[0057] Further, the interval distance of the second depth interval can also be expressed as the product of the layer interval corresponding to the second depth interval and the total layer interval distance number of the second depth interval. The total layer interval distance number of the second depth interval is equal to the layer number value of the lower boundary depth layer of the second depth interval minus the layer number value of the upper boundary depth layer of the second depth interval, and the difference is obtained. It can be understood that the lower boundary depth layer of the second depth interval is the depth layer farthest from the sea level in the second depth interval; the upper boundary depth layer of the second depth interval is the depth layer closest to the sea level in the second depth interval.

[0058] On this basis, the depth of the water body can be further expressed as the following third formula: ; wherein, is the water depth, is the initial distance, Y is the total number of second depth intervals, is the layer number value of the lower boundary depth layer of the yth second depth interval, is the layer number value of the upper boundary depth layer of the yth second depth interval, is the layer interval corresponding to the yth second depth interval, is the layer number value of the target depth layer, is the layer number value of the upper boundary depth layer of the first depth interval, is the layer interval corresponding to the first depth interval where the target depth layer is located.

[0059] Please refer to Figure 2 , Figure 2 is the second flowchart of a water depth measurement method provided by the present application. In particular, in the case of dividing the water body into different layer interval depth layers based on the preset layer interval division rule, if the target depth layer is the depth layer closest to the sea level among the depth layers, the first formula can be used to simplify the calculation.

[0060] The following is an example of Figure 3 to illustrate the process of calculating the water depth using the third formula.

[0061] If the fifth depth layer is determined as the target depth layer in the water depth measurement, the total number of the second depth intervals is 1, the number of the lower boundary depth layer of the second depth interval is 3, the number of the upper boundary depth layer of the second depth interval is 1, and the interval distance corresponding to the second depth interval is , the number of the target depth layer is 5, the number of the upper boundary depth layer of the first depth interval is 3, and the interval distance corresponding to the first depth interval is . The water depth is obtained by substituting the above parameters into the third formula: .

[0062] In particular, the water body can be divided into only two depth intervals, and each of the two depth intervals can be divided into a plurality of depth layers with the same interval distance, and the interval distance corresponding to the depth interval close to the water bottom is relatively small.

[0063] In this case, if the first depth interval in which the target depth layer is located is the depth interval close to the sea level, the third formula can be simplified as: ; wherein, is the water depth, is the initial distance, is the number of the target depth layer, is the number of the first depth layer, that is, the value of is 1, is the interval distance corresponding to the first depth interval.

[0064] If the first depth interval in which the target depth layer is located is the depth interval far from the sea level, the third formula can be simplified as: ; wherein, is the water depth, is the initial distance, is the number of the upper boundary depth layer of the first depth interval, is the number of the first depth layer, that is, the value of is 1, is the interval distance corresponding to the second depth interval, is the number of the target depth layer, is the interval distance corresponding to the first depth interval.

[0065] In summary, in the embodiment, the water body is divided into multiple depth intervals, each depth interval is divided into multiple depth layers with the same layer interval, and the layer interval of the depth interval closer to the water bottom is smaller. When measuring the depth of the water body based on the rule, the depth of the water body can be measured with high precision by using fewer depth layers.

[0066] In order to ensure the data quality of the measured water depth, the application detects the measured water depth for abnormality and removes the abnormal depth value. The process is described in detail below.

[0067] As an optional embodiment, after the total distance is taken as the depth of the water body, the following steps are further included: obtaining each historical depth of the water body determined in a specified time period, and grouping the historical depths into a historical depth sequence; obtaining a standard depth range for determining whether each historical depth is an abnormal depth value based on the historical depth sequence; taking the historical depth value not belonging to the standard depth range as an abnormal depth value, and removing the abnormal depth value.

[0068] In actual application, the depth of the water body can be measured according to a preset measurement frequency, and the depth can be measured multiple times in a specified time period to obtain multiple historical depths. Please refer to Figure 2 , Figure 2 A second flowchart of a water depth measurement method provided by the application. Figure 2 In the current measurement number is a, and the preset total number is A. If the current measurement number is less than the preset total number, the depth measurement is continued until the current measurement number reaches the preset total number. In theory, the values of each historical depth in the specified time period are close to each other. If there is a historical depth that is too large or too small, it can be taken as an abnormal depth value.

[0069] Based on this, the application groups each historical depth determined in a specified time period into a historical depth sequence. According to the historical depth sequence, a standard depth range is determined. For example, the median or average of the historical depth sequence is taken as a standard value. The sum of the standard value and the preset deviation, and the difference between the standard value and the preset deviation are used to determine the standard depth range. Then, the historical depth value not belonging to the standard depth range is taken as an abnormal depth value, and the abnormal depth value is removed to ensure the reliability of each historical depth in the specified time period.

[0070] As an optional embodiment, based on the historical depth sequence, the standard depth range is determined, including: determining the first quartile and the third quartile of the historical depth sequence, and determining the interquartile range according to the first quartile and the third quartile; determining the lower boundary value of the standard depth range based on the first quartile and the interquartile range; An upper boundary value of the standard depth range is determined based on the third quartile and the quartile range.

[0071] In this embodiment, the standard depth range is determined based on the first quartile, the third quartile and the quartile range of the historical depth sequence. The quartiles refer to three numerical points corresponding to the four equal parts of the historical depth sequence, wherein the first quartile refers to a numerical point less than or equal to about 25% of the historical depth sequence, and the third quartile refers to a numerical point less than or equal to about 75% of the historical depth sequence. Since the abnormal depth values are usually located at both ends of the historical depth sequence, the first quartile and the third quartile are not sensitive to the abnormal depth values.

[0072] On this basis, a lower boundary value of the standard depth range is determined based on the first quartile and the quartile range, and an upper boundary value of the standard depth range is determined based on the third quartile and the quartile range. For example, a product of the quartile range and a preset coefficient is determined as a deviation value. A difference value obtained by subtracting the deviation value from the first quartile is taken as the lower boundary value of the standard depth range, and a sum value obtained by adding the deviation value to the third quartile is taken as the upper boundary value of the standard depth range.

[0073] Specifically, the historical depths determined in the specified time period can be sorted in ascending order to obtain the historical depth sequence. The historical depth sequence can be represented as: , wherein, The first historical depth to the Nth historical depth in the specified time period are sequentially arranged.

[0074] The first quartile of the historical depth sequence can be represented as: ; The third quartile of the historical depth sequence can be represented as: ; , wherein, is a quantile function, which can be an inverse function of an empirical distribution function.

[0075] On this basis, the quartile range can be represented as: .

[0076] On this basis, the lower boundary value of the standard depth range can be represented as: = is a preset coefficient; and the upper boundary value of the standard depth range can be represented as: .

[0077] ; After that, the historical depth is processed by using the above standard depth range. For the historical depth in the standard depth range, the value of the historical depth can be retained. For the abnormal depth value outside the standard depth range, the abnormal depth value is removed or replaced by a non-number value as shown in the above formula, so as to facilitate the subsequent determination of the time point of the abnormal depth value and ignore the influence of the abnormal depth value when the water depth graph is drawn based on the historical depth.

[0078] In summary, in the embodiment, the standard depth range is determined based on the first quartile, the third quartile and the quartile range of the historical depth sequence. Since the first quartile and the third quartile are not sensitive to abnormal depth values, the standard depth range determined based on the first quartile and the third quartile can effectively exclude the influence of abnormal depth values, has strong robustness, and ensures the overall reliability of the water depth measurement result.

[0079] In addition, for a test water body with known water depth, the water depth of the test water body is measured by using the water depth measurement method provided in the application to verify the accuracy of the measurement. The test water body is divided into 75 depth layers in the application, wherein the layer spacing between the first depth layer and the tenth depth layer is 1 meter, and the layer spacing between the eleventh depth layer and the seventy-fifth depth layer is 0.1 meter. The initial distance between the first depth layer and the sea level is 2.5 meters.

[0080] Please refer to Figure 4 , Figure 4 is a water depth measurement result comparison graph provided by the application. It can be seen that the waveform corresponding to the water depth measurement method provided by the application has high consistency with the waveform of the depth measured by the depth gauge, which indicates that the water depth measurement method provided by the application has good reliability.

[0081] Please refer to Figure 5 and Figure 6 , Figure 5 is a water depth difference frequency distribution graph provided by the application, Figure 6 is a water depth relative error frequency distribution graph provided by the application. The water depth difference is equal to the water depth measured by the water depth measurement method provided by the application minus the water depth measured by the depth gauge; the water depth relative error is equal to the above water depth difference divided by the water depth measured by the depth gauge. Through Figure 5 It can be seen that the water depth difference is mainly concentrated in the range of ±1m, and the average water depth error is 0.19m. Through Figure 6 It can be seen that the relative error is mainly concentrated in the range of ±10%, and the average relative error is 1.28%. It can be seen that the water depth measurement method provided by the application can ensure relatively high measurement precision when measuring the water depth of the water body.

[0082] Please refer to Figure 7 , Figure 7A structural schematic diagram of a water depth measuring device provided in the application, the device comprising: The depth layer dividing module 701 is configured to divide the water body into a plurality of depth layers along the gravity direction according to a dividing rule based on a preset layer spacing. The signal strength acquisition module 702 is configured to acquire the signal strength of each echo signal determined after the ADCP emits the acoustic wave signal to the water body. The target layer determining module 703 is configured to take the depth layer corresponding to the echo signal with the maximum signal strength as the target depth layer. The depth determining module 704 is configured to determine the total distance between the target depth layer and the sea level based on the preset layer spacing and the initial distance between the first depth layer and the sea level, and take the total distance as the depth of the water body; the first depth layer is the depth layer closest to the sea level among the depth layers.

[0083] For detailed introduction of the water depth measuring device provided in the application, please refer to the embodiments of the water depth measuring method described above, which will not be repeated here.

[0084] On this basis, as an optional embodiment, the dividing rule based on the preset layer spacing is a dividing rule of dividing the water body into a plurality of depth layers with the same layer spacing. The depth determining module 704 is specifically configured to take the product of the layer spacing and the total layer spacing number as the total distance between the target depth layer and the first depth layer; the total layer spacing number is the difference obtained by subtracting 1 from the number of layers of the target depth layer; and take the sum of the total distance and the initial distance as the total distance.

[0085] As an optional embodiment, the dividing rule based on the preset layer spacing is a dividing rule of dividing the water body into a plurality of depth intervals, dividing each depth interval into a plurality of depth layers with the same layer spacing, and the layer spacing corresponding to the depth interval closer to the water bottom is smaller; the depth determining module 704 comprises: The first depth interval determining module is configured to determine the first depth interval in which the target depth layer is located. The first distance determining module is configured to determine the first distance between the target depth layer and the upper boundary depth layer based on the layer spacing corresponding to the first depth interval and the effective depth layer number included in the first depth interval; wherein the upper boundary depth layer is the depth layer closest to the sea level in the first depth interval; and the effective depth layer number is the difference obtained by subtracting the number of layers of the upper boundary depth layer from the number of layers of the target depth layer. The second depth interval determining module is configured to determine each second depth interval between the sea level and the upper boundary depth layer. a second distance determination module, configured to determine a second distance by summing interval distances of the second depth intervals; the interval distance is a distance between a depth layer closest to the sea level and a depth layer farthest from the sea level in the second depth interval; a total distance determination module, configured to determine a total distance by summing the first distance, the second distance and the initial distance.

[0086] As an optional embodiment, the water depth measuring apparatus further comprises: a depth sequence determination module, configured to, after determining the total distance as the depth of the water body, acquire historical depths of the water body determined in a specified time period, and form a historical depth sequence by using the historical depths; a standard range determination module, configured to obtain a standard depth range for determining whether each historical depth is an abnormal depth value based on the historical depth sequence; an abnormal value determination module, configured to determine, as an abnormal depth value, a historical depth value that is not within the standard depth range among the historical depths, and remove the abnormal depth value.

[0087] As an optional embodiment, the standard range determination module comprises: a parameter determination module, configured to determine a first quartile and a third quartile of the historical depth sequence, and determine a quartile distance according to the first quartile and the third quartile; a lower boundary determination module, configured to determine a lower boundary value of the standard depth range based on the first quartile and the quartile distance; an upper boundary determination module, configured to determine an upper boundary value of the standard depth range based on the third quartile and the quartile distance.

[0088] As an optional embodiment, the water depth measuring apparatus further comprises: a historical depth acquisition module, configured to, after determining the total distance as the depth of the water body, acquire historical depths of the water body determined at each measurement time point; a depth map generation module, configured to generate a water body depth map based on the historical depths and measurement time points corresponding to the historical depths, and output the water body depth map to a target device.

[0089] Another aspect of the present application provides an electronic device, comprising: a memory, configured to store a computer program; a processor, configured to implement steps of any of the water depth measuring methods above when executing the computer program.

[0090] For detailed introduction of the electronic device provided by the present application, please refer to the embodiments of the water depth measuring method above, which will not be repeated here.

[0091] Another aspect of the present application provides a storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the steps of any of the water depth measuring methods.

[0092] For detailed introduction of the storage medium provided by the present application, please refer to the above-mentioned embodiments of the water depth measuring method, which will not be repeated here.

[0093] The above-mentioned storage medium includes all forms of non-volatile memory, media and memory devices, such as semiconductor memory devices (e.g. EPROM, EEPROM and flash memory devices), magnetic disks (e.g. internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks.

[0094] Although the present specification contains many details, these should not be construed as limiting the scope of any invention or of the required claims in any way, but are presented for the purpose of describing the features of particular embodiments of the inventions. Some of the features described in the specification in the context of separate embodiments also can be implemented together in a single embodiment. Conversely, various features described in the context of a single embodiment also can be implemented separately or in any appropriate subcombination. Moreover, although features can be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination and the claimed combination can be directed to a subcombination or variation of a subcombination.

[0095] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring such order, nor that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

Claims

1. A water depth measurement method, characterized in that: The method comprises: According to the division rules based on the preset layer spacing, the water body is divided into multiple depth layers along the gravity direction; Obtaining the signal strength of each echo signal determined after the ADCP transmits the acoustic wave signal to the water body; The depth layer corresponding to the echo signal with the largest signal intensity is taken as the target depth layer; Based on the preset layer spacing and the initial distance between the first depth layer and the sea level, the total distance between the target depth layer and the sea level is determined, and the total distance is used as the depth of the water body; the first depth layer is the depth layer closest to the sea level among the depth layers.

2. The water depth measurement method according to claim 1, wherein: The division rule based on the preset inter-layer spacing is: a division rule for dividing the water body into multiple depth layers with the same inter-layer spacing; The determining the total distance between the target depth layer and the sea level based on the preset layer spacing and the initial distance between the first depth layer and the sea level includes: The product of the inter-layer spacing and the total number of inter-layer spacings is used as the total spacing between the target depth layer and the first depth layer; the total number of inter-layer spacings is the difference between the number of layers of the target depth layer and 1; The sum of the total distance and the initial distance is taken as the total distance.

3. The water depth measurement method according to claim 1, wherein: The division rule based on the preset interlayer spacing is: dividing the water body into multiple depth intervals, dividing each of the depth intervals into multiple depth layers with the same interlayer spacing, and the division rule that the depth interval closer to the bottom of the water corresponds to a smaller interlayer spacing.

4. The water depth measurement method according to claim 3, wherein: The determining the total distance between the target depth layer and the sea level based on the preset layer spacing and the initial distance between the first depth layer and the sea level includes: Determining a first depth interval in which the target depth layer is located; Determine a first distance between the target depth layer and the upper boundary depth layer based on the inter-layer spacing corresponding to the first depth interval and the number of effective depth layers included in the first depth interval; wherein the upper boundary depth layer is the depth layer closest to the sea level in the first depth interval; and the number of effective depth layers is the difference between the layer value of the target depth layer and the layer value of the upper boundary depth layer; determining each second depth interval between the sea level and the upper boundary depth layer; The sum of the interval distances of each of the second depth intervals is used as the second distance; the interval distance is the distance between the depth layer closest to the sea level and the depth layer farthest from the sea level in the second depth interval; The sum of the first distance, the second distance, and the initial distance is taken as the total distance.

5. The water depth measurement method according to claim 1, wherein: After taking the total distance as the depth of the water body, also include: Obtaining historical depths of a water body determined within a specified time period, and composing the historical depths into a historical depth sequence; Based on the historical depth sequence, a standard depth range is obtained for determining whether each historical depth is an abnormal depth value; The historical depth values ​​that do not fall within the standard depth range in the historical depths are regarded as the abnormal depth values, and the abnormal depth values ​​are removed.

6. The water depth measurement method according to claim 5, characterized in that: The determining of the standard depth range based on the historical depth sequence includes: Determining a first quartile and a third quartile of the historical depth series, and determining an interquartile range based on the first quartile and the third quartile; Determining a lower boundary value of the standard depth range based on the first quartile and the interquartile range; An upper boundary value of the standard depth range is determined based on the third quartile and the interquartile range.

7. The water depth measurement method according to claim 1, wherein: After taking the total distance as the depth of the water body, also include: Obtain the historical depths of the water body determined at each measurement time point; Based on the historical depths and the measurement time points corresponding to the historical depths, a water body depth map is generated, and the water body depth map is output to a target device.

8. A water depth measuring device, characterized in that: The device comprises: A depth layer division module is used to divide the water body into multiple depth layers along the gravity direction according to a division rule based on a preset layer spacing; a signal strength acquisition module, configured to acquire the signal strength of each echo signal determined after the ADCP transmits an acoustic wave signal to the water body; A target layer determination module is used to determine the depth layer corresponding to the echo signal with the largest signal strength as the target depth layer; A depth determination module is used to determine the total distance between the target depth layer and the sea level based on the preset layer spacing and the initial distance between the first depth layer and the sea level, and use the total distance as the depth of the water body; the first depth layer is the depth layer closest to the sea level among the depth layers.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the water depth measurement method according to any one of claims 1 to 7 when executing the computer program.

10. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the water depth measurement method according to any one of claims 1 to 7.

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