Ocean eddy temperature field reconstruction method, device, equipment, medium and program product

Abstract

The present application discloses a method, device, equipment, medium and program product for reconstructing the temperature field of an ocean vortex. The method for reconstructing the temperature field of an ocean vortex comprises: obtaining the coordinate information of each first vortex site of a mesoscale vortex collected by a glider during its travel in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information; calculating the interpolation function corresponding to the mesoscale vortex based on the temperature information of each first vortex site; calculating the temperature information corresponding to other vortex sites based on the interpolation function, the coordinate information of each first vortex site and the temperature information of each first vortex site; wherein the other vortex sites are vortex sites other than the first vortex site in the mesoscale vortex; constructing the temperature field of the mesoscale vortex based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site. The effect of accurately constructing the temperature field of an ocean vortex can be achieved.

Description

Technical Field

[0001] The present application relates to the field of marine technology, and in particular to a method, device, equipment, medium and program product for reconstructing an ocean vortex temperature field. Background Art

[0002] The diameter of the ocean's mesoscale vortex can be tens to hundreds of kilometers, and the depth of the ocean is hundreds to thousands of meters. Mesoscale vortices are the most significant form of seawater movement in the ocean. At present, studying the three-dimensional temperature structure of mesoscale vortices is an important scientific issue in marine science, and is of great significance to the study of the climate system and marine ecosystem.

[0003] At present, when constructing the three-dimensional temperature field of a mesoscale vortex, there has not been a better way to accurately construct the three-dimensional temperature field of a mesoscale vortex based on the temperature of each vortex site in the mesoscale vortex. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, electronic device, medium and program product for reconstructing the ocean vortex temperature field, so as to achieve the effect of accurately constructing the ocean vortex temperature field.

[0005] The technical solution of this application is as follows:

[0006] In a first aspect, a method for reconstructing an ocean eddy temperature field is provided, the method comprising:

[0007] Acquire coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves in the mesoscale vortex, and temperature information of the mesoscale vortex corresponding to each coordinate information;

[0008] Based on the temperature information of each of the first vortex sites, calculating the interpolation function corresponding to the mesoscale vortex;

[0009] Based on the interpolation function, the coordinate information of each of the first vortex sites and the temperature information of each of the first vortex sites, the temperature information corresponding to other vortex sites is calculated; wherein the other vortex sites are vortex sites in the mesoscale vortex except the first vortex site;

[0010] Based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site, the temperature field of the mesoscale vortex is constructed.

[0011] In a second aspect, a device for reconstructing an ocean eddy temperature field is provided, the device comprising:

[0012] An acquisition module, used for acquiring coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves in the mesoscale vortex, and temperature information of the mesoscale vortex corresponding to each coordinate information;

[0013] A first calculation module, used for calculating the interpolation function corresponding to the mesoscale vortex based on the temperature information of each of the first vortex sites;

[0014] A second calculation module is used to calculate the temperature information corresponding to other vortex sites based on the interpolation function, the coordinate information of each of the first vortex sites and the temperature information of each of the first vortex sites; wherein the other vortex sites are vortex sites in the mesoscale vortex except the first vortex site;

[0015] A construction module is used to construct the temperature field of the mesoscale vortex based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the ocean vortex temperature field reconstruction method described in any one of the embodiments of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method for reconstructing the ocean vortex temperature field described in any of the embodiments of the present application are implemented.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is able to perform the steps of the ocean vortex temperature field reconstruction method described in any of the embodiments of the present application.

[0019] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0020] The ocean vortex temperature field reconstruction method provided in the embodiment of the present application is to obtain the coordinate information of each first vortex site of the mesoscale vortex collected by the glider during its movement in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information; then, based on the temperature information of each first vortex site, calculate the interpolation function corresponding to the mesoscale vortex; and use the interpolation function, the coordinate information of each first vortex site and the temperature information of each first vortex site to calculate the temperature information corresponding to the vortex site in the mesoscale vortex except the first vortex site, so that the temperature field of the mesoscale vortex can be accurately constructed based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site. The effect of accurately constructing the ocean vortex temperature field is achieved.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0023] Figure 1 It is one of the flow charts of a method for reconstructing an ocean eddy temperature field provided in an embodiment of the first aspect of the present application;

[0024] Figure 2 is a schematic diagram of a glider involved in an embodiment of the first aspect of the present application traveling in a mesoscale vortex;

[0025] Figure 3 It is a schematic diagram of isotherms and error isotherms of a vortex along a Z=0m cross section involved in an embodiment of the first aspect of the present application;

[0026] Figure 4 This is the second flow chart of the ocean vortex temperature field reconstruction method provided by the first aspect of the embodiment of the present application;

[0027] Figure 5 is a schematic diagram of a simulated glider according to an embodiment of the first aspect of the present application undergoing repeated diving and buoyancy movements in seawater;

[0028] Figure 6 is a schematic diagram of the path planning result of the launched glider involved in the embodiment of the first aspect of the present application;

[0029] Figure 7 It is a structural schematic diagram of an ocean vortex temperature field reconstruction device provided by an embodiment of the second aspect of the present application;

[0030] Figure 8It is a structural schematic diagram of an electronic device provided in an embodiment of the third aspect of the present application. DETAILED DESCRIPTION

[0031] In order to make those of ordinary skill in the art better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples consistent with some aspects of the present application as detailed in the attached claims.

[0033] As described in the background technology section, no better way has been found so far to accurately construct the three-dimensional temperature field of the mesoscale vortex based on the temperature of each vortex site in the mesoscale vortex. In order to solve the above problems, the embodiment of the present application provides a method, device, equipment, medium and program product for reconstructing the temperature field of an ocean vortex, by obtaining the coordinate information of each first vortex site of the mesoscale vortex collected by the glider during its travel in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information; then based on the temperature information of each first vortex site, the interpolation function corresponding to the mesoscale vortex is calculated; using the interpolation function, the coordinate information of each first vortex site and the temperature information of each first vortex site, the temperature information corresponding to the vortex site in the mesoscale vortex except the first vortex site is calculated, so that the temperature field of the mesoscale vortex can be accurately constructed based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site. The effect of accurately constructing the temperature field of the ocean vortex is achieved.

[0034] The ocean vortex temperature field reconstruction method provided in the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0035] Figure 11 is a flow chart of a method for reconstructing a temperature field of an ocean vortex provided in an embodiment of the present application, and the execution subject of the method for reconstructing a temperature field of an ocean vortex may be a server. It should be noted that the above execution subject does not constitute a limitation on the present application.

[0036] like Figure 1 As shown, the ocean vortex temperature field reconstruction method provided in the embodiment of the present application may include steps 110 to 140.

[0037] Step 110: Acquire the coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information.

[0038] Step 120: Calculate the interpolation function corresponding to the mesoscale vortex based on the temperature information of each first vortex site.

[0039] Step 130: Calculate the temperature information corresponding to other vortex sites based on the interpolation function, the coordinate information of each first vortex site and the temperature information of each first vortex site.

[0040] Among them, other vortex sites may be vortex sites in the mesoscale vortex except the first vortex site.

[0041] Step 140: construct the temperature field of the mesoscale vortex based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site.

[0042] In an embodiment of the present application, the coordinate information of each first vortex site of the mesoscale vortex collected during the glider's movement in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information are obtained; then based on the temperature information of each first vortex site, the interpolation function corresponding to the mesoscale vortex is calculated; using the interpolation function, the coordinate information of each first vortex site and the temperature information of each first vortex site, the temperature information corresponding to the vortex site in the mesoscale vortex except the first vortex site is calculated, so that the temperature field of the mesoscale vortex can be accurately constructed based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site. The effect of accurately constructing the temperature field of the ocean vortex is achieved.

[0043] The following is a detailed introduction to the ocean vortex temperature field reconstruction method provided in the embodiments of the present application.

[0044] First, step 110 is introduced, which is to obtain the coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information.

[0045] Among them, the glider (specifically, an underwater glider) is a new type of underwater unmanned vehicle. It relies on adjusting buoyancy to achieve heave and sink, and uses fixed wings to glide in the water with the help of the hydrodynamics of ocean currents. It can continuously and with high resolution collect ocean data such as seawater temperature along a designed path. The underwater speed recorded by the sensor can be used to calculate the three-dimensional spatial coordinates of the glider, or the depth of the glider sinking in the seawater can be obtained through the sensor. Underwater gliders have the characteristics of low cost, large spatial coverage, long endurance and high sampling resolution.

[0046] The first vortex site may be a vortex site collected by a glider.

[0047] The coordinate information of each first vortex site may be the coordinate position of each first vortex site collected by the glider.

[0048] The temperature information of the mesoscale vortex corresponding to each coordinate information may be the temperature information of each first vortex site.

[0049] In some embodiments of the present application, the temperature information of the mesoscale vortex corresponding to each coordinate information may be obtained through actual measurement by a glider.

[0050] In some embodiments of the present application, the coordinate information of each first vortex position may not be accurately measured, because the current technology cannot obtain the position information of the glider underwater, so it can be obtained by glider navigation simulation calculation, or by using the flow velocity sensor carried by the glider. This is not limited here.

[0051] In some embodiments of the present application, the coordinate information can be converted into coordinates in kilometers. Specifically, the method for converting coordinates in longitude and latitude into coordinates in kilometers can be: take any point in the sea area where the vortex is located as the coordinate origin of the plane (taking the approximate center of the vortex estimated by human experience at a certain moment as an example), and measure its longitude and latitude coordinates (x0, y0); then for any longitude and latitude coordinates (x1, y1) near the vortex, its coordinates are approximately converted into coordinates in kilometers on the plane: (x1, y1)→(111*(x1-x0), 111*(y1-y0)), where 111 is the length approximately corresponding to the unit longitude / latitude, in km. For the depth coordinates in the coordinate information, the depth coordinate at sea level can be 0, and the unit can be converted to kilometers.

[0052] In one example, if Figure 2 As shown in the figure, ellipse A is a mesoscale vortex, and glider B passes through the mesoscale vortex to collect the coordinate information of each first vortex site of the mesoscale vortex, as well as the temperature information of the mesoscale vortex corresponding to each coordinate information.

[0053] Then, step 120 is introduced, in which the interpolation function corresponding to the mesoscale vortex is calculated based on the temperature information of each first vortex site.

[0054] In some embodiments of the present application, the interpolation function corresponding to the mesoscale vortex can be calculated based on the temperature information of each first vortex site. Specifically, the interpolation function here can be a three-dimensional thin plate smooth spline interpolation function. How to calculate the interpolation function corresponding to the mesoscale vortex based on the temperature information of each first vortex site belongs to the prior art and will not be repeated here.

[0055] In some embodiments of the present application, in order to improve the computational efficiency of the interpolation function, thereby improving the efficiency of constructing the temperature field of the mesoscale vortex and saving computing power, before step 120, the above-mentioned ocean vortex temperature field reconstruction method may also include: based on each coordinate information and each temperature information corresponding to each coordinate information, dividing the mesoscale vortex into a preset number of sub-region blocks.

[0056] Among them, the preset number can be a pre-set number, and the preset number can be set according to user needs, or it can be determined according to the amount of temperature information, or it can be determined according to the size of the mesoscale vortex, which is not limited here.

[0057] Correspondingly, step 120 may be:

[0058] For the target sub-region block, based on each temperature information corresponding to each coordinate information in the target sub-region block, an interpolation function corresponding to the target sub-region block is calculated.

[0059] The target sub-region block may be any sub-region block among the sub-region blocks.

[0060] In some embodiments of the present application, after the mesoscale vortex is divided into a preset number of sub-region blocks, for each sub-region block, an interpolation function of the sub-region block can be calculated based on the temperature information corresponding to each coordinate information in the sub-region block.

[0061] Correspondingly, step 130 may be:

[0062] Based on the interpolation function of each sub-region block, the temperature information corresponding to other vortex sites is calculated.

[0063] In some embodiments of the present application, the temperature information corresponding to other vortex sites in the mesoscale vortex can be calculated based on the interpolation function of each sub-region block.

[0064] In some embodiments of the present application, it can be that the mesoscale vortex is regarded as a cuboid, and the cuboid where the vortex is located is divided into blocks because a large amount of data (coordinate information and temperature information) will be generated in the glider during the vortex observation process, and the number of observation point data is approximately between 100,000 and 1,000,000, and the computational complexity of the interpolation function is the cubic level of the number of observation data, and the computational cost is too large. Therefore, a large area is divided into several sub-areas, each sub-area block is a small cuboid, and it is hoped that each sub-area contains about 1,000 observation data, and the interpolation function is calculated in each sub-area block as the three-dimensional temperature field reconstruction in the sub-area block, and then these areas are spliced, and the three-dimensional temperature field reconstruction in the entire cuboid sea area is obtained. In this way, the interpolation function of each sub-area block can be calculated when calculating the interpolation function, and the interpolation function of the entire vortex can be avoided from being too complicated, and the efficiency of calculating the interpolation function is improved, and then the construction efficiency of the temperature field of the mesoscale vortex is improved, and computing power is saved.

[0065] In an embodiment of the present application, based on each coordinate information and each temperature information corresponding to each coordinate information, the mesoscale vortex is divided into a preset number of sub-region blocks, so that when calculating the interpolation function, the interpolation function of each sub-region block can be calculated, which can avoid calculating the interpolation function of the entire vortex too complicatedly, improve the efficiency of calculating the interpolation function, and then improve the efficiency of constructing the temperature field of the mesoscale vortex, saving computing power.

[0066] In some embodiments of the present application, in order to further achieve the effect of accurately constructing the temperature field of the mesoscale vortex, the mesoscale vortex is divided into a preset number of sub-region blocks based on each coordinate information and each temperature information corresponding to each coordinate information, which may specifically include:

[0067] Determine a preset number of sub-region blocks into which the mesoscale vortex is divided based on the calculation performance of the interpolation function and the first number of each temperature information corresponding to each coordinate information;

[0068] Based on the preset number and the first number, calculating the quantile corresponding to each temperature information corresponding to each coordinate information;

[0069] Determine the boundary line coordinates of the mesoscale vortex division based on the quantiles corresponding to the temperature information corresponding to the coordinate information and the temperature information corresponding to the coordinate information;

[0070] Based on the boundary line coordinates, the mesoscale vortex is divided into a preset number of sub-region blocks.

[0071] The calculation performance of the interpolation function may be the amount of data that the interpolation function can calculate.

[0072] The first number may be the number of temperature information.

[0073] The quantile corresponding to each temperature information may be the number of each temperature information. For example, if the number of temperature information is 1000 and the quantile is 0.2, then 1000*0.2=500 is taken.

[0074] The boundary line coordinates of the mesoscale vortex division can be determined according to the quantiles corresponding to each temperature information.

[0075] In some embodiments of the present application, when the mesoscale vortex is divided into a preset number of sub-regional blocks, there may be a situation where multiple sub-regional blocks overlap. This is to make the three-dimensional temperature field after the sub-regional blocks are spliced ​​together continuous and smooth. If the overlap is not set, the adjacent surfaces of adjacent rectangular sub-regional blocks may have discontinuous and non-smooth temperatures; for example, the interpolation function value is calculated in the sea area of ​​the left and right two adjacent rectangular sub-regional blocks. The seawater temperature on the right side of the left rectangular block is 10°C, and the seawater temperature on the left side of the right rectangular block is 5°C. The seawater temperature on the adjacent surfaces of the two sub-regional blocks is discontinuous, so that the three-dimensional temperature field reconstruction is not smooth.

[0076] In some embodiments of the present application, the number of blocks Bx, By, Bz in the three dimensions (longitude, latitude, depth) of the cuboid, and the overlap ratio c of multiple sub-region blocks can be determined by human experience. According to formula (1), the approximate number of observation points contained in each sub-region can be estimated, preferably about 1000. For example, when 500,000 observation data are collected in the vortex sea area, when Bx=By=Bz=10 and c=0.2 are set, it can be estimated according to the above formula that the number of observation data in each block is about 907, which meets the needs of block interpolation.

[0077] n / (B x +cB x c)(B y +cB y c)(B z +cB z c) (1)

[0078] Where n is the preset number of vortex sites.

[0079] In some embodiments of the present application, the boundary coordinates of the sub-region block are calculated based on the quantiles of the temperature information. Specifically, the two boundary coordinates of each rectangular sub-region block in the three dimensions of longitude, latitude, and depth are calculated based on the quantiles of the longitude coordinate xi, latitude coordinate yi, and depth coordinate zi of the temperature information, i = 1, ..., n. The calculation formula for the quantiles in each dimension is as follows (2):

[0080]

[0081]

[0082]

[0083] Corresponding to the above quantile calculation formula, the boundary coordinates of the j-th rectangular sub-region block in the longitude direction, the k-th rectangular sub-region block in the latitude direction, and the l-th rectangular sub-region block in the depth direction are calculated as follows:

[0084] In the longitude direction, the western boundary coordinates are the temperature information longitude coordinate set I x,j.1 -Quantile The eastern boundary coordinates are the set of longitude coordinates of the observed data. I x,j.2 -Quantile

[0085] In the latitude direction, the southern boundary coordinates are the longitude coordinates of the observed data. I y,k.1 -Quantile The northern boundary coordinates are the set of longitude coordinates of the observation data. I y,k.2 -Quantile (It should be noted that the north-south direction here is based on the Northern Hemisphere. The farther north you go, the larger the latitude. If the vortex is located in the Southern Hemisphere, the north-south boundaries need to be swapped).

[0086] In the depth direction, the upper boundary coordinates are the longitude coordinates of the observation data. I z,l.1 -Quantile The lower boundary coordinates are the longitude coordinates of the observation data. I z,l.2 -Quantile

[0087] The rectangular sub-region block is formula (3):

[0088]

[0089] The whole mesoscale eddy sea area is divided into 3×3×3 rectangular sub-region blocks with Bx=By=Bz=3 and overlapping area ratio c=0.25. For the first block in longitude dimension, the second block in latitude dimension, and the third block in depth dimension, the quantile is calculated according to the above formula as I x,1,1 =0,I x,1,2 =0.4,I y,2,1 =0.3,I y,2,2 =0.7,I z,3,1 =0.6,I z,3,2 =1.

[0090] The collected temperature information is a set of coordinates in three dimensions: longitude, latitude, and depth. calculate 0-quantile 0.4-quantile calculate The 0.3-quantile 0.7-quantile calculate The 0.6-quantile 1-Quantile

[0091] According to the above determination method, the boundary coordinates of each rectangular sub-region block can be determined, and then according to the boundary coordinates, the mesoscale vortex can be divided into a preset number of sub-region blocks.

[0092] That is, the first block in the longitude dimension, the second block in the latitude dimension, and the third block in the depth dimension are represented by formula (4):

[0093]

[0094] The following is a relatively simple example to illustrate. Figure 2 ,by Figure 2 Taking the longitudinal direction as an example, according to the calculation performance of the interpolation function and the first number of each temperature information corresponding to each coordinate information, it is determined that the preset number of sub-region blocks into which the mesoscale vortex is divided is 2. Figure 2 The horizontal coordinate range from the left boundary A1 to the right boundary A2 of the mesoscale vortex is from 0° to 100°. Figure 2 The number of temperature information of the mesoscale vortex in is 1000, and the quantile is 0.2 (then take 1000*0.2=500), then it can be determined that the boundary line coordinates of the longitude of the mesoscale vortex division are the longitude coordinates of the straight line A3, where the straight line A3 divides the mesoscale vortex into two parts in the longitude direction (the straight line A1-A3 part, and the A3 to A2 part), where the A1-A3 part contains 500 temperature information, and A3 to A2 also contains 500 temperature information.

[0095] In an embodiment of the present application, a preset number of sub-region blocks into which the mesoscale vortex is divided is determined based on the calculation performance of an interpolation function and a first number of each temperature information corresponding to each coordinate information; based on the preset number and the first number, the quantile corresponding to each temperature information corresponding to each coordinate information is calculated; based on the quantile corresponding to each temperature information corresponding to each coordinate information and each temperature information corresponding to each coordinate information, the boundary line coordinates of the mesoscale vortex division are determined; based on the boundary line coordinates, the mesoscale vortex can be accurately divided into a preset number of sub-region blocks, thereby further achieving the effect of accurately constructing the temperature field of the mesoscale vortex.

[0096] In some embodiments of the present application, since at least two sub-region blocks may overlap when dividing the sub-region blocks, when calculating other vortex sites, the calculation can be divided into the following two cases:

[0097] (1) Other vortex sites are only located in a certain sub-region block

[0098] In this case, the interpolation function based on each sub-region block is used to calculate the temperature information corresponding to other vortex sites, which may include:

[0099] Based on the interpolation function corresponding to the target sub-region block, the temperature information of other vortex sites of the target is calculated.

[0100] Among them, the target other vortex site can be any one of the other vortex sites.

[0101] In some embodiments of the present application, if a certain other vortex site to be calculated (i.e., the target other vortex site) is only located in a certain sub-region block (i.e., the target sub-region block), if the temperature information of the target other vortex site is to be calculated, the temperature information of the target other vortex site can be calculated according to the interpolation function of the target sub-region block to obtain the temperature information of the target other vortex site.

[0102] In an embodiment of the present application, for each target other vortex site, when it is determined that the target other vortex site is only located in the target sub-region block, the temperature information of the target other vortex site can be calculated directly based on the interpolation function corresponding to the target sub-region block. This calculation is simple, and the temperature information of the target other vortex site can be directly obtained, which improves the calculation efficiency of the temperature information of the target other vortex site, and thus improves the construction efficiency of the temperature field of the mesoscale vortex.

[0103] (2) Other vortex sites are located in the overlapping area of ​​at least two sub-region blocks

[0104] In this case, the interpolation function based on each sub-region block is used to calculate the temperature information corresponding to other vortex sites, which may include:

[0105] Based on the interpolation functions corresponding to the at least two target sub-region blocks, the temperature information of the other target vortex sites in the at least two target sub-region blocks are calculated;

[0106] Based on the temperature information of the target other vortex sites in at least two target sub-region blocks respectively, and the weight information of the target other vortex sites in at least two target sub-region blocks respectively, the temperature information of the target other vortex sites is calculated.

[0107] The weight information may be the weights of other target vortex sites in at least two target sub-region blocks respectively.

[0108] In some embodiments of the present application, if a certain other vortex site to be calculated (i.e., the target other vortex site) is located in the overlapping area of ​​at least two sub-region blocks (for example, it may be located in sub-region block C and sub-region block D), if the temperature information of the target other vortex site is to be calculated, the temperature information of the target other vortex site in sub-region block C and the temperature information of sub-region block D can be calculated respectively based on the interpolation function of sub-region block C and the interpolation function of sub-region block D, and then the temperature information of the target other vortex site in sub-region block C and the temperature information of sub-region block D are weightedly calculated according to the weight information of the target other vortex site in sub-region block C and sub-region block D respectively, so as to obtain the final temperature information of the target other vortex site.

[0109] In an embodiment of the present application, for each target other vortex site, when it is determined that the target other vortex site is located in at least two target sub-regional blocks, the temperature information of the target other vortex site in the at least two target sub-regional blocks can be calculated based on the interpolation functions corresponding to the at least two target sub-regional blocks, and then the weight information of the target other vortex site in the at least two target sub-regional blocks is respectively calculated, and the temperature information of the target other vortex site in the at least two target sub-regional blocks is weightedly calculated to obtain the temperature information of the target other vortex site. This avoids the problem of inaccurate calculation results caused by calculating the temperature information of the target other vortex site based on only one sub-regional block. In addition, it can ensure that the temperature information of at least two target sub-regional blocks is continuously and smoothly connected according to the calculated final temperature information of the target other vortex site, thereby ensuring that the temperature field of the finally constructed mesoscale vortex is continuous and smooth.

[0110] In some embodiments of the present application, when the target other vortex site is located in the overlapping area of ​​at least two sub-region blocks, in order to further accurately obtain the temperature information of the target other vortex site, before calculating the temperature information of the target other vortex site based on the temperature information of the target other vortex site in the at least two target sub-region blocks respectively, and the weight information of the target other vortex site in the at least two target sub-region blocks respectively, the above-mentioned ocean vortex temperature field reconstruction method may also include:

[0111] Calculate the distance information of other target vortex sites from the boundaries of at least two target sub-region blocks respectively;

[0112] Based on the distance information and the corresponding relationship between the distance information and the weight information, the weight information of other target vortex sites in at least two target sub-region blocks is obtained.

[0113] The distance information may be the distance between other target vortex sites and the boundaries of at least two target sub-region blocks.

[0114] In some embodiments of the present application, the distances between the target other vortex sites and the boundaries of at least two target sub-region blocks can be calculated respectively, and then the weight information of the target other vortex sites in the at least two target sub-region blocks can be obtained based on the distances.

[0115] In some embodiments of the present application, the farther the target other vortex site is from a target sub-region block, the greater its corresponding weight.

[0116] In an embodiment of the present application, the distance information of the target other vortex sites from the boundaries of at least two target sub-region blocks can be calculated respectively, and then based on the distance information, and the correspondence between the distance information and the weight information, the weight information of the target other vortex sites in at least two target sub-region blocks can be obtained respectively. In this way, the weight information of the target other vortex sites in at least two target sub-region blocks can be accurately obtained, and then the temperature information of the target other vortex sites can be accurately obtained, and then the accurate temperature field of the mesoscale vortex can be obtained.

[0117] Finally, step 140 is introduced, which constructs the temperature field of the mesoscale vortex based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site.

[0118] In some embodiments of the present application, the temperature field of the mesoscale vortex can be directly and accurately constructed based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site. Figure 3 As shown, Figure 3 is the isotherm and error isotherm of the vortex along the Z=0m section. Figure 3 The left figure in the figure shows the isotherm of the vortex along the Z=0m section. Figure 3 The right figure in the figure shows the error isotherm along the Z=0m section.

[0119] In some embodiments of the present application, in order to ensure that the glider can move smoothly in the ocean vortex, so as to collect the coordinate information of each first vortex site of the mesoscale vortex and the temperature information of the mesoscale vortex corresponding to each coordinate information, the embodiments of the present application also provide another implementable method for reconstructing the ocean vortex temperature field.

[0120] Figure 4 FIG. 1 is a flow chart of another method for reconstructing the temperature field of an ocean vortex provided in an embodiment of the present application. Figure 4 As shown, the ocean vortex temperature field reconstruction method provided in the embodiment of the present application may include steps 410 to 470.

[0121] Step 410: Determine the number of gliders required based on the flow direction information of the mesoscale vortex and the size information of the mesoscale vortex.

[0122] Step 420: For each target glider, simulate the travel path of the target glider in the mesoscale vortex.

[0123] Step 430: For each target glider, based on a preset target function corresponding to the travel path of the target glider in the mesoscale vortex, determine the target travel path of the target glider in the mesoscale vortex.

[0124] Step 440: Acquire the coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves along the target travel path in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information.

[0125] Step 450: Calculate the interpolation function corresponding to the mesoscale vortex based on the temperature information of each first vortex site.

[0126] Step 460: Calculate the temperature information corresponding to other vortex sites based on the interpolation function, the coordinate information of each first vortex site and the temperature information of each first vortex site.

[0127] Among them, other vortex sites may be vortex sites in the mesoscale vortex except the first vortex site.

[0128] Step 470: construct the temperature field of the mesoscale vortex based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site.

[0129] In an embodiment of the present application, the number of gliders required is determined based on the flow direction information of the mesoscale vortex and the size information of the mesoscale vortex, and for each target glider, the path of the target glider in the mesoscale vortex is simulated, and then for each target glider, based on the pre-set target function corresponding to the path of the target glider in the mesoscale vortex, the target path of the target glider in the mesoscale vortex is determined, and then the glider is allowed to travel along the target path in the mesoscale vortex, and the coordinate information of each first vortex site of the mesoscale vortex and the temperature information of the mesoscale vortex corresponding to each coordinate information are collected during the travel process. In this way, the path of the glider in the mesoscale vortex is simulated in advance, so that the glider can travel smoothly in the mesoscale vortex, so as to collect the accurate coordinate information of each first vortex site and the temperature information of the mesoscale vortex corresponding to each coordinate information, and then construct an accurate ocean vortex temperature field.

[0130] Below Figure 4 Another method for reconstructing the ocean eddy temperature field is introduced in detail.

[0131] Step 410: Determine the number of gliders required based on the flow direction information of the mesoscale vortex and the size information of the mesoscale vortex.

[0132] The flow direction information may be the flow direction of a mesoscale vortex.

[0133] The size information may be the size of the mesoscale vortex.

[0134] In some embodiments of the present application, the flow direction of the mesoscale vortex is the overall flow direction of the ocean current in the sea area surrounding the vortex. For example, in the Kuroshio Sea area, the background ocean current flows approximately from west to east. When launching gliders, the network structure formed by multiple gliders should be consistent with the background ocean current flow direction. Figure 2 In the diagram, the network structure of the gliders is several parallel straight lines in the east-west direction.

[0135] In some embodiments of the present application, the glider network is in an approximately equidistant parallel straight line structure, and passes through the vortex downstream. The vortex appears as an elliptical shape in the ocean, and the ocean current rotates clockwise or counterclockwise at a strong speed in the vortex. In the embodiment of the present application, the glider passes through the vortex along several east-west straight lines, and it should be ensured that it is downstream of the vortex rotation direction to choose whether to pass through the vortex from west to east or from east to west. Figure 2 Target straight line path design for a glider network in an embodiment is shown.

[0136] In some embodiments of the present application, the number of gliders required may be determined based on the flow direction information of the mesoscale vortex and the size information of the mesoscale vortex.

[0137] In some embodiments of the present application, the plurality of gliders should be distributed as evenly as possible in the vortex. Figure 2 The parallel and equidistant straight lines are distributed as evenly as possible in the vortex, that is, they approximately bisect the elliptical shape of the vortex.

[0138] Step 420: For each target glider, simulate the travel path of the target glider in the mesoscale vortex.

[0139] The target glider may be any one of the multiple gliders.

[0140] In some embodiments of the present application, after the number of gliders is determined, each glider may be arranged to pass through the vortex downstream along the divided network structure, that is, to simulate the travel path of the target glider in the mesoscale vortex.

[0141] In one example, if Figure 5 It is shown that the glider can move forward in a certain direction in the sea water after repeated diving and surfacing movements.

[0142] In some embodiments of the present application, when simulating the travel path of the target glider in the mesoscale vortex is just started, an initial heading angle is provided for each glider in the network.

[0143] Step 430: For each target glider, based on a preset target function corresponding to the travel path of the target glider in the mesoscale vortex, determine the target travel path of the target glider in the mesoscale vortex.

[0144] In some embodiments of the present application, for each target glider, the target travel path of the target glider in the mesoscale vortex can be determined according to a preset target function corresponding to the travel path of the target glider in the mesoscale vortex. In some embodiments of the present application, in order to improve the accuracy of determining the target travel path, before step 430, the above-mentioned ocean vortex temperature field reconstruction method may also include:

[0145] constructing an objective function based on the distance that the target glider's travel path deviates from the straight path corresponding to the target travel path and the distance that the position of the target glider deviates from the terminal position;

[0146] Correspondingly, step 430 may include:

[0147] Based on the dive-surface travel path of the target glider each time the target glider surfaces to the sea surface, and the position of the target glider when it surfaces to the sea surface, according to the objective function, the heading angle increment between the previous navigation and the next navigation of the target glider in the objective function is calculated;

[0148] Calculate the heading angle increment corresponding to the minimum value of the objective function;

[0149] The travel path corresponding to the heading angle increment that minimizes the value of the objective function is taken as the target travel path.

[0150] The target path may be a planned path for the glider to travel. Specifically, it may be as follows: Figure 5 The straight line Q in is the target travel path.

[0151] The travel path of the target glider may be the actual travel path of the target glider. Figure 5 The broken line P formed by the glider's ascending and descending.

[0152] The position of the target glider may be the position of the target glider each time it surfaces.

[0153] The end position may be the end position of the vortex. Figure 5 Point R in is the end point.

[0154] In some embodiments of the present application, the objective function may be expressed as the following formula (5):

[0155] F(δ 1 , δ 2 , ..., δ D )=w 1 *MA+w 2 *DTD (5)

[0156] Among them, δ i is the heading angle increment adjusted by the glider after it surfaces for the i-th time, i = 1, 2, ..., D, i is the i-th dive-surface movement; w 1 is the weight corresponding to the distance that the target glider's travel path deviates from the straight path corresponding to the target travel path; w 2 is the weight corresponding to the distance that the target glider's position deviates from the terminal position; MA is the distance that the target glider's path deviates from the straight path corresponding to the target path; DTD is the distance that the target glider's position deviates from the terminal position.

[0157] In the above formula (5), DTD=D(p D ,p end ).

[0158] Among them, P i is the position where the glider surfaces after the i-th dive-surface, i.e., the position where it surfaces for the i-th time. L is the target path of the glider. end The end position.

[0159] The objective function calculates the weighted sum of the actual navigation trajectory of the glider and the area of ​​the target path enclosed by the figure, as well as the distance between the actual arrival position of the glider and the terminal position after the glider has undergone D heading angle adjustments and D dive-surface movements. D This is the position where the glider surfaced for the Dth time.

[0160] The smaller the objective function is, the more it indicates that the glider is sailing along the target path and the less it is deviated by the ocean current. The heading angle of the glider can be described as the clockwise angle between the glider's heading and the north direction from the sea level bird's-eye view, with a value of 0-360°. The glider heading angle increment is the difference between the glider's last dive-surface heading angle and this dive-surface heading angle. A positive value indicates that the glider's heading rotates clockwise, and a negative value indicates that the glider's heading rotates counterclockwise.

[0161] In the above formula It represents the area of ​​the figure enclosed by the actual flight track of the glider and the target travel path, DTD=D(p D ,p end) is the distance between the actual arrival position of the glider and the end position, and the units of the two are km2 and km respectively. When calculating the area and distance, for the convenience of calculation, the sea surface can be regarded as a plane, and the measured longitude and latitude coordinates of the glider position can be approximately converted into coordinates in kilometers. The specific conversion method can refer to the conversion method in the above embodiment, which will not be repeated here.

[0162] The objective function, i.e., formula (5), consists of two parts: the area of ​​the figure enclosed by the actual navigation trajectory of the glider and the target travel path, which describes the deviation of the glider from the target travel path; and the distance between the actual arrival position of the glider and the terminal position, which describes the situation in which the glider passes through the vortex and reaches the predetermined terminal at the other end.

[0163] In formula (5), the parameter w 1 With w 2 It is the weight parameter of the objective function, not a constant parameter. The specific update formula is introduced below. The initial value can be w1 = w2 = 1. The weight parameter is variable. If w1 increases relative to w2, it means that the glider is encouraged to sail accurately in a straight line, but it may be difficult to sail in a straight line due to interference from ocean currents; if w2 increases relative to w1, it means that the glider is encouraged to deviate from the straight path to sail through the vortex to reach the target end point, which may cause the glider's navigation trajectory to deviate far from the straight line.

[0164] formula In the equation (5), the value of n is the same as or less than D. D ,p end ), the initial value of parameter D is generally set to 10; D is not a constant parameter, and its update formula is introduced below.

[0165] After repeated dives and ascents, a glider can move forward in a certain direction in the seawater. After a glider dives underwater, its position cannot be known, and it can only be accurately located after surfacing. At this time, if it is found that the glider is yawed by the ocean current, the direction of the glider is adjusted. Therefore, after each round of dives and ascents and surfacing, the glider adjusts its heading and adjusts the algorithm parameters so that the glider has the ability to adaptively and automatically adjust its heading in unpredictable ocean currents.

[0166] In some embodiments of the present application, the heading angle increment corresponding to the minimum value of the objective function is calculated. Specifically, the calculation can be performed using a differential evolution algorithm. The differential evolution algorithm is an algorithm based on heuristic ideas and randomness for solving non-deterministic solutions to global optimization problems. Specifically, in the embodiment of the present application, it is used to solve a set of solutions (δ 1 , δ 2 , ..., δ D). The differential evolution algorithm selects the JDE differential evolution algorithm, which is an improved optimization form of the differential evolution algorithm. The specific calculation method of the JDE differential evolution algorithm belongs to the existing technology and will not be repeated here.

[0167] In some embodiments of the present application, the actual meaning of calculating the heading angle increment corresponding to the minimum value of the objective function is that the glider starts from the current position and in the next D rounds of diving and surfacing, the heading angle increment (δ 1 , δ 2 , ..., δ D ) Update the heading and then dive. With the help of the glider navigation simulation system, calculate the glider's arrival points P in this D round of diving and surfacing. 1 ,P 2 ,……,P D , the coordinates of these points can be used to calculate the value of the objective function (5).

[0168] Find a set of glider heading angle increments and heading steering angles that minimize the objective function value. A small objective function value indicates that the glider is sailing along the predetermined path and is controllable. Calculating the heading angle increment corresponding to the minimum objective function value needs to be performed once each time the glider surfaces, that is, after each round of diving-surfacing movement of the glider.

[0169] It should be noted that the results obtained based on the differential evolution algorithm (δ 1 , δ 2 , ..., δ D ), δ i The subscript i of does not represent the heading angle increment of the glider's i-th dive-surface since its departure, but the heading angle increment of the next i-th dive-surface after the glider has performed k (k ≥ 1) dive-surface movements. For example, after the glider performs the fifth dive-surface movement, the heading angle increment corresponding to the minimum value of the objective function is calculated. Then the solution (δ 1 , δ 2 , ..., δ D ), respectively representing the next 1 and next 2 heading angle increments after the 5th round. Since the heading angle increment corresponding to the minimum value of the objective function is calculated, it will be executed once before each dive-surface of the glider, although the sign of each solution is the same (δ 1 , δ 2 , ..., δ D ), but the actual quantities they represent are different, so the values ​​can also be different.

[0170] In addition, the solution in this step is not based on actual measurement data, but on glider navigation simulation. The optimal solution obtained in this step is also the optimal solution in the simulation scenario. It can be predicted that the glider will dive and float in the following rounds in turn (δ 1 , δ 2 , ..., δ D ) adjusts the heading, the accuracy becomes worse as time goes by, but the first heading angle adjustment δ 1 will be closer to the optimal solution.

[0171] In an embodiment of the present application, a target function is constructed based on a distance by which the target glider's travel path deviates from a straight path corresponding to the target travel path, and a distance by which the target glider's position deviates from the terminal position; based on the dive-and-surface travel path of the target glider each time the target glider surfaces to the sea surface, and the position of the target glider when it surfaces to the sea surface, according to the target function, a heading angle increment between the previous voyage and the next voyage of the target glider in the target function is calculated; the heading angle increment corresponding to the minimum value of the target function is calculated; and the travel path corresponding to the heading angle increment corresponding to the minimum value of the target function is used as the target travel path, thereby ensuring that the target travel path finally determined is the path closest to the planned target straight path, and similarly, the position where the glider surfaces to the surface is also the path closest to the terminal position, thereby improving the glider's gliding accuracy.

[0172] In some embodiments of the present application, the objective function has a first weight parameter corresponding to the distance that the target glider's travel path deviates from the straight path corresponding to the target travel path (i.e., w in the above formula (5)). 1 ), and the second weight parameter corresponding to the distance of the target glider's position from the end point position (i.e., w in the above formula (5) 2 ).

[0173] In some embodiments of the present application, in order to accurately determine the target travel path, after calculating the heading angle increment between the previous voyage and the next voyage of the target glider in the objective function, the above-mentioned ocean vortex temperature field reconstruction method may also include:

[0174] Calculate the heading angle of the next voyage based on the heading angle of the previous voyage and the heading angle increment between the previous voyage and the next voyage;

[0175] Based on the preset update rate of the first weight parameter and the update rate of the second weight parameter, as well as the first threshold of the first weight parameter and the second threshold of the second weight parameter, the first weight parameter and the second weight parameter are updated according to the differential evolution algorithm when the value of the objective function is calculated next time.

[0176] The first threshold may be a preset threshold of a first weight parameter.

[0177] The second threshold may be a preset threshold of the second weight parameter.

[0178] In some embodiments of the present application, after the kth round of diving-surfacing, the updating formula for the next round of heading angle is as follows:

[0179] φ k+1 =φ k +δ 1 (6)

[0180] Among them, φ k+1 is the heading angle of the k+1th dive-surface cycle; φ k is the heading angle of the kth dive-surface; δ 1 It is the heading angle increment of the k-th dive-surfacing heading angle and the k+1-th dive-surfacing heading angle.

[0181] The update formula of the weight parameters (first weight parameter and second weight parameter) in the objective function is as follows:

[0182]

[0183] Among them, r k-1 、r k , Δr k , C k There is an actual quantity corresponding to it, which is an intermediate variable; ε, Δ, C min , C max 、w 1,min 、w 2,min 、w 1,max 、w 2,max It is a hyperparameter of the algorithm and needs to be set manually. The specific recommended values ​​are as follows: ε is any small value, such as ε = 10 -4 ;p start The position where the glider starts to move.

[0184] The choice of △ is related to the time cost of the glider's navigation mission. For example, if you want the glider to complete the navigation mission within 100 dives and ascents, set △ = 1 / 100 = 0.01;

[0185] C min , C max Indicates the adaptive parameter update rate, which must satisfy C min <C max And C min *C max =1; if you want the adaptive algorithm to quickly make feedback adjustments to the environment, you can set C min =0.2, Cmax =5; if you want the algorithm to adjust slowly and steadily, you can set C min =0.5, C max =2;

[0186] w 1,min 、w 2,min 、w 1,max 、w 2,max is the adaptive adjustment threshold of the weight parameter, set to w 1,min =w 2,min =(C min ) 5 ;w 1,max =w 2,max =(C max ) 5 It is appropriate.

[0187] The power exponent 5 can be adjusted. If it is too small, it will affect the algorithm's adaptive adjustment ability. If it is too large, the algorithm may gradually adapt to extreme situations.

[0188] The differential evolution algorithm searches for the heading angle increment dimension D which can be adjusted. The significance of the update is that if it is difficult for the glider to sail in a straight line against the interference of ocean currents, then more rounds of diving and surfacing are simulated in the glider navigation simulation to find a curved path through the vortex and reach the target destination, so as to avoid the glider being swept away by the vortex and lost and unable to be recovered.

[0189] The update formula of dimension D after the kth dive-surfacing voyage is:

[0190] If 2,k =w 2,max , then the search vector dimension D k =D k-1 +10;

[0191] Otherwise, D k =max(D k-1 -10,10), that is, the minimum dimension is not less than 10.

[0192] Figure 6 The path planning results when launching 8 gliders are shown. Figure 6 Each broken line in represents a broken line obtained by connecting the measured positions of a glider each time it surfaces on the sea surface while passing through a vortex along the target travel path.

[0193] In the embodiment of the present application, by calculating the heading angle and updating the first weight parameter and the second weight parameter, the target travel path can be determined more accurately.

[0194] Step 440: Acquire the coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves along the target travel path in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information.

[0195] In some embodiments of the present application, after the target travel path of the glider is determined, the glider can be allowed to travel along the target travel path in the mesoscale vortex, and the coordinate information of each first vortex site of the mesoscale vortex collected during the glider's movement along the target travel path in the mesoscale vortex, as well as the temperature information of the mesoscale vortex corresponding to each coordinate information, are obtained.

[0196] Step 450: Calculate the interpolation function corresponding to the mesoscale vortex based on the temperature information of each first vortex site.

[0197] Step 460: Calculate the temperature information corresponding to other vortex sites based on the interpolation function, the coordinate information of each first vortex site and the temperature information of each first vortex site.

[0198] Among them, other vortex sites may be vortex sites in the mesoscale vortex except the first vortex site.

[0199] Step 470: construct the temperature field of the mesoscale vortex based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site.

[0200] In the embodiment of the present application, steps 450 to 470 are consistent with steps 120 to 140 in the above embodiment and are not described again here.

[0201] It should be noted that the ocean vortex temperature field reconstruction method provided in the embodiment of the present application may be executed by an ocean vortex temperature field reconstruction device, or a control module in the ocean vortex temperature field reconstruction device for executing the ocean vortex temperature field reconstruction method.

[0202] Based on the same inventive concept as the above-mentioned ocean vortex temperature field reconstruction method, the present application also provides an ocean vortex temperature field reconstruction device. Figure 7 The ocean vortex temperature field reconstruction device provided in the embodiment of the present application is described in detail.

[0203] Figure 7 It is a schematic structural diagram of an ocean eddy temperature field reconstruction device according to an exemplary embodiment.

[0204] like Figure 7 As shown, the ocean vortex temperature field reconstruction device 700 may include:

[0205] The acquisition module 710 is used to acquire the coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information;

[0206] A first calculation module 720, configured to calculate an interpolation function corresponding to the mesoscale vortex based on the temperature information of each of the first vortex sites;

[0207] A second calculation module 730 is used to calculate the temperature information corresponding to other vortex sites based on the interpolation function, the coordinate information of each of the first vortex sites and the temperature information of each of the first vortex sites; wherein the other vortex sites are vortex sites in the mesoscale vortex except the first vortex site;

[0208] The construction module 740 is used to construct the temperature field of the mesoscale vortex based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site.

[0209] In an embodiment of the present application, the acquisition module acquires the coordinate information of each first vortex site of the mesoscale vortex collected during the glider's movement in the mesoscale vortex, as well as the temperature information of the mesoscale vortex corresponding to each coordinate information; then, the first calculation module calculates the interpolation function corresponding to the mesoscale vortex based on the temperature information of each first vortex site; the second calculation module uses the interpolation function, the coordinate information of each first vortex site and the temperature information of each first vortex site to calculate the temperature information corresponding to the vortex site in the mesoscale vortex except the first vortex site, so that the temperature field of the mesoscale vortex can be accurately constructed based on the construction module according to the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site. The effect of accurately constructing the temperature field of the ocean vortex is achieved.

[0210] In some embodiments of the present application, in order to improve the calculation efficiency of the interpolation function, thereby improving the efficiency of constructing the temperature field of the mesoscale vortex and saving computing power, the above-mentioned ocean vortex temperature field reconstruction device may also include:

[0211] A division module, used for dividing the mesoscale vortex into a preset number of sub-region blocks based on each of the coordinate information and each of the temperature information corresponding to each of the coordinate information;

[0212] The first calculation module 720 can be specifically used for:

[0213] For a target sub-region block, based on each temperature information corresponding to each coordinate information in the target sub-region block, an interpolation function corresponding to the target sub-region block is calculated; wherein the target sub-region block is any one of the sub-region blocks;

[0214] The second calculation module 730 can be specifically used for:

[0215] Based on the interpolation function of each of the sub-region blocks, the temperature information corresponding to other vortex sites is calculated.

[0216] In some embodiments of the present application, in order to further achieve the effect of accurately constructing the temperature field of the mesoscale vortex, the division module can be specifically used to:

[0217] Determine a preset number of sub-region blocks into which the mesoscale vortex is divided based on the calculation performance of the interpolation function and the first number of each temperature information corresponding to each coordinate information;

[0218] Based on the preset number and the first number, calculating the quantile corresponding to each temperature information corresponding to each coordinate information;

[0219] Determine the boundary line coordinates of the mesoscale vortex division based on the quantiles corresponding to the temperature information corresponding to the coordinate information and the temperature information corresponding to the coordinate information;

[0220] Based on the boundary line coordinates, the mesoscale vortex is divided into a preset number of sub-region blocks.

[0221] In some embodiments of the present application, in order to accurately calculate the temperature information of other vortex sites, the second calculation module 730 can be specifically used to:

[0222] For each target other vortex site, when it is determined that the target other vortex site is only located in a target sub-region block, temperature information of the target other vortex site is calculated based on an interpolation function corresponding to the target sub-region block;

[0223] Wherein, the target other vortex site is any one of the other vortex sites.

[0224] In some embodiments of the present application, in order to accurately calculate the temperature information of other vortex sites, the second calculation module 730 may also be used to:

[0225] For each target other vortex site, when it is determined that the target other vortex site is located in at least two target sub-region blocks, based on the interpolation functions corresponding to the at least two target sub-region blocks, calculate the temperature information of the target other vortex site in the at least two target sub-region blocks respectively;

[0226] Based on the temperature information of the target other vortex sites in the at least two target sub-region blocks respectively, and the weight information of the target other vortex sites in the at least two target sub-region blocks respectively, the temperature information of the target other vortex sites is calculated.

[0227] In some embodiments of the present application, in order to further accurately obtain the temperature information of the target other vortex sites, before calculating the temperature information of the target other vortex sites based on the temperature information of the target other vortex sites in the at least two target sub-region blocks respectively, and the weight information of the target other vortex sites in the at least two target sub-region blocks respectively, the second calculation module 730 may also be used to:

[0228] Respectively calculating the distance information between the other target vortex sites and the boundaries of the at least two target sub-region blocks;

[0229] Based on the distance information and the corresponding relationship between the distance information and the weight information, the weight information of the other target vortex sites in the at least two target sub-region blocks is obtained.

[0230] In some embodiments of the present application, in order to ensure that the glider can travel smoothly in the ocean vortex, so as to collect the coordinate information of each first vortex site of the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information, the above-mentioned ocean vortex temperature field reconstruction device may also include:

[0231] A first determination module is used to determine the number of gliders required based on the flow direction information of the mesoscale vortex and the size information of the mesoscale vortex;

[0232] A simulation module, for simulating, for each target glider, a travel path of the target glider in the mesoscale vortex;

[0233] A second determination module is used to determine, for each target glider, a target travel path of the target glider in the mesoscale vortex based on a preset target function corresponding to the travel path of the target glider in the mesoscale vortex;

[0234] The corresponding acquisition module 710 can be specifically used for:

[0235] The coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves along the target travel path in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information are obtained.

[0236] In some embodiments of the present application, in order to improve the gliding accuracy of the glider, the above-mentioned ocean vortex temperature field reconstruction device may also include:

[0237] an objective function construction module, configured to construct an objective function based on a distance by which the travel path of the target glider deviates from a straight path corresponding to the target travel path, and a distance by which the position of the target glider deviates from a terminal position;

[0238] Correspondingly, the second determining module may be specifically used for:

[0239] Based on the diving-surfacing path of the target glider each time the target glider surfaces to the sea surface, and the position of the target glider when it surfaces to the sea surface, according to the objective function, calculating the heading angle increment between the previous voyage and the next voyage of the target glider in the objective function;

[0240] Calculating the heading angle increment corresponding to the minimum value of the objective function;

[0241] The travel path corresponding to the heading angle increment corresponding to when the value of the objective function is minimized is used as the target travel path.

[0242] In some embodiments of the present application, the objective function includes a first weight parameter corresponding to a distance that the travel path of the target glider deviates from a straight path corresponding to the target travel path, and a second weight parameter corresponding to a distance that the position of the target glider deviates from the terminal position.

[0243] In order to more accurately determine the target travel path, after calculating the heading angle increment between the previous voyage and the next voyage of the target glider in the objective function, the second determination module may be further configured to:

[0244] Calculating a heading angle of a next voyage based on the heading angle of the previous voyage and a heading angle increment between the previous voyage and the next voyage;

[0245] Based on the preset update rate of the first weight parameter and the update rate of the second weight parameter, as well as the first threshold of the first weight parameter and the second threshold of the second weight parameter, the first weight parameter and the second weight parameter are updated according to the differential evolution algorithm when the value of the objective function is calculated next time.

[0246] The ocean vortex temperature field reconstruction device provided in the embodiment of the present application can be used to execute the ocean vortex temperature field reconstruction method provided in the above-mentioned method embodiments. Its implementation principle and technical effect are similar, and for the sake of brief introduction, they will not be repeated here.

[0247] Based on the same inventive concept, an embodiment of the present application also provides an electronic device.

[0248] Figure 8Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device may include a processor 801 and a memory 802 storing computer programs or instructions.

[0249] Specifically, the processor 801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0250] The memory 802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 802 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 802 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory. The memory may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in the ocean eddy temperature field reconstruction method provided in the above-mentioned embodiments.

[0251] The processor 801 reads and executes the computer program instructions stored in the memory 802 to implement any one of the ocean vortex temperature field reconstruction methods in the above embodiments.

[0252] In one example, the electronic device may further include a communication interface 803 and a bus 810. Figure 8 As shown, the processor 801, the memory 802, and the communication interface 803 are connected via a bus 810 and communicate with each other.

[0253] The communication interface 803 is mainly used to implement the communication between the modules, devices, units and / or devices in the embodiment of the present invention.

[0254] Bus 810 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 810 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

[0255] The electronic device can execute the ocean vortex temperature field reconstruction method in the embodiment of the present invention, thereby achieving Figure 1 and Figure 4 The method described for reconstructing the ocean eddy temperature field.

[0256] In addition, in combination with the ocean vortex temperature field reconstruction method in the above embodiments, the embodiments of the present invention can provide a readable storage medium for implementation. The readable storage medium stores program instructions; when the program instructions are executed by the processor, any of the ocean vortex temperature field reconstruction methods in the above embodiments is implemented.

[0257] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0258] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0259] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0260] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0261] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A method for reconstructing ocean eddy temperature fields, It is characterized in that The method comprises: Acquire coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves in the mesoscale vortex, and temperature information of the mesoscale vortex corresponding to each coordinate information; Based on the temperature information of each of the first vortex sites, calculating the interpolation function corresponding to the mesoscale vortex; Based on the interpolation function, the coordinate information of each of the first vortex sites and the temperature information of each of the first vortex sites, the temperature information corresponding to other vortex sites is calculated; wherein the other vortex sites are vortex sites in the mesoscale vortex except the first vortex site; Based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site, the temperature field of the mesoscale vortex is constructed.

2. The method according to claim 1, It is characterized in that Before calculating the interpolation function corresponding to the mesoscale vortex based on the temperature information of each of the first vortex sites, the method further includes: Based on each of the coordinate information and each of the temperature information corresponding to each of the coordinate information, dividing the mesoscale vortex into a preset number of sub-region blocks; The step of calculating the interpolation function corresponding to the mesoscale vortex based on the temperature information of each of the first vortex sites comprises: For a target sub-region block, based on each temperature information corresponding to each coordinate information in the target sub-region block, an interpolation function corresponding to the target sub-region block is calculated; wherein the target sub-region block is any one of the sub-region blocks; The calculating the temperature information corresponding to other vortex sites based on the interpolation function, the coordinate information of each of the first vortex sites and the temperature information of each of the first vortex sites comprises: Based on the interpolation function of each of the sub-region blocks, the temperature information corresponding to other vortex sites is calculated.

3. The method according to claim 2, It is characterized in that The step of dividing the mesoscale vortex into a preset number of sub-region blocks based on the coordinate information and the temperature information corresponding to the coordinate information includes: Determine a preset number of sub-region blocks into which the mesoscale vortex is divided based on the calculation performance of the interpolation function and the first number of each temperature information corresponding to each coordinate information; Based on the preset number and the first number, calculating the quantile corresponding to each temperature information corresponding to each coordinate information; Determine the boundary line coordinates of the mesoscale vortex division based on the quantiles corresponding to the temperature information corresponding to the coordinate information and the temperature information corresponding to the coordinate information; Based on the boundary line coordinates, the mesoscale vortex is divided into a preset number of sub-region blocks.

4. The method according to claim 2, It is characterized in that The interpolation function based on each of the sub-region blocks is used to calculate the temperature information corresponding to other vortex sites, including: For each target other vortex site, when it is determined that the target other vortex site is only located in a target sub-region block, temperature information of the target other vortex site is calculated based on an interpolation function corresponding to the target sub-region block; Wherein, the target other vortex site is any one of the other vortex sites.

5. The method according to claim 2, It is characterized in that The interpolation function based on each of the sub-region blocks is used to calculate the temperature information corresponding to other vortex sites, including: For each target other vortex site, when it is determined that the target other vortex site is located in at least two target sub-region blocks, based on the interpolation functions corresponding to the at least two target sub-region blocks, calculate the temperature information of the target other vortex site in the at least two target sub-region blocks respectively; Based on the temperature information of the target other vortex sites in the at least two target sub-region blocks respectively, and the weight information of the target other vortex sites in the at least two target sub-region blocks respectively, the temperature information of the target other vortex sites is calculated.

6. The method according to claim 5, It is characterized in that Before calculating the temperature information of the target other vortex sites based on the temperature information of the target other vortex sites in the at least two target sub-region blocks respectively and the weight information of the target other vortex sites in the at least two target sub-region blocks respectively, the method further includes: Respectively calculating the distance information between the other target vortex sites and the boundaries of the at least two target sub-region blocks; Based on the distance information and the corresponding relationship between the distance information and the weight information, the weight information of the other target vortex sites in the at least two target sub-region blocks is obtained.

7. The method according to any one of claims 1 to 6, It is characterized in that Before acquiring the coordinate information of each first vortex position of the mesoscale vortex collected during the glider's movement in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information, the method further includes: Determining the number of gliders required based on the flow direction information of the mesoscale vortex and the size information of the mesoscale vortex; For each target glider, simulating a travel path of the target glider in the mesoscale vortex; For each target glider, based on a preset target function corresponding to the travel path of the target glider in the mesoscale vortex, determining a target travel path of the target glider in the mesoscale vortex; The obtaining of the coordinate information of each first vortex position of the mesoscale vortex collected during the glider's movement in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information, includes: The coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves along the target travel path in the mesoscale vortex, and the temperature information of the mesoscale vortex corresponding to each coordinate information are obtained.

8. The method according to claim 7, It is characterized in that Before determining the target travel path of the target glider in the mesoscale vortex based on a preset target function corresponding to the travel path of the target glider in the mesoscale vortex, the method further includes: constructing an objective function based on the distance that the target glider's travel path deviates from the straight path corresponding to the target travel path, and the distance that the position of the target glider deviates from the terminal position; The determining the target travel path of the target glider in the mesoscale vortex based on a preset objective function corresponding to the travel path of the target glider in the mesoscale vortex comprises: Based on the diving-surfacing path of the target glider each time the target glider surfaces to the sea surface, and the position of the target glider when it surfaces to the sea surface, according to the objective function, calculating the heading angle increment between the previous voyage and the next voyage of the target glider in the objective function; Calculating the heading angle increment corresponding to the minimum value of the objective function; The travel path corresponding to the heading angle increment corresponding to when the value of the objective function is minimized is used as the target travel path.

9. The method according to claim 8, It is characterized in that The objective function includes a first weight parameter corresponding to a distance that the travel path of the target glider deviates from a straight path corresponding to the target travel path, and a second weight parameter corresponding to a distance that the position of the target glider deviates from a terminal position; After calculating the heading angle increment between the previous voyage and the next voyage of the target glider in the objective function, the method further comprises: Calculating a heading angle of a next voyage based on the heading angle of the previous voyage and a heading angle increment between the previous voyage and the next voyage; Based on the preset update rate of the first weight parameter and the update rate of the second weight parameter, as well as the first threshold of the first weight parameter and the second threshold of the second weight parameter, the first weight parameter and the second weight parameter are updated according to the differential evolution algorithm when the value of the objective function is calculated next time.

10. A device for reconstructing ocean eddy temperature fields, It is characterized in that The device comprises: An acquisition module, used for acquiring coordinate information of each first vortex position of the mesoscale vortex collected when the glider moves in the mesoscale vortex, and temperature information of the mesoscale vortex corresponding to each coordinate information; A first calculation module, used for calculating the interpolation function corresponding to the mesoscale vortex based on the temperature information of each of the first vortex sites; A second calculation module is used to calculate the temperature information corresponding to other vortex sites based on the interpolation function, the coordinate information of each of the first vortex sites and the temperature information of each of the first vortex sites; wherein the other vortex sites are vortex sites in the mesoscale vortex except the first vortex site; A construction module is used to construct the temperature field of the mesoscale vortex based on the coordinate information of each vortex site in the mesoscale vortex and the temperature information corresponding to each vortex site.

11. An electronic device, It is characterized in that The electronic device comprises: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the method for reconstructing the ocean vortex temperature field as described in any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the method for reconstructing the ocean vortex temperature field according to any one of claims 1 to 9 is implemented.

13. A computer program product, It is characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the ocean vortex temperature field reconstruction method as described in any one of claims 1 to 9.

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