A method and device for online water depth monitoring based on adaptive navigational beacon attitude

Abstract

This invention provides a method and apparatus for online water depth monitoring based on navigational aid attitude adaptation. The method includes the following steps: automatically adjusting the measurement of real-time water depth data at key points in the waterway according to the attitude of the navigational aid and the depth sounder; wherein the depth sounder is movably positioned on the navigational aid; establishing the relationship between the key points and the water level in the waterway based on historical water depth data of the key points; and performing waterway data interpolation calculation using a preset interpolation method based on the real-time water depth data of the key points and the relationship between the key points and the water level in the waterway to obtain real-time dynamic water depth data of the waterway surface. By movably positioning the depth sounder on the navigational aid, the depth sounder can swing freely, and its monitoring range can be expanded by rotating it at a certain angle, enabling real-time dynamic waterway topographic water depth measurement. This method has advantages such as strong real-time performance, large monitoring range, and no need for manual intervention.

Description

Technical Field

[0001] This invention relates to the field of water depth monitoring technology, and in particular to a method and apparatus for online water depth monitoring based on adaptive navigational beacon attitude. Background Technology

[0002] Water transport is an important component of the comprehensive transportation system, and now higher demands are being placed on the perception of waterway elements and the safe and efficient navigation of vessels. Currently, there are many factors affecting the safe and efficient navigation of inland waterway vessels, and the elements for monitoring the operational status of waterways cover the water surface, underwater, and other areas. A complete and comprehensive waterway element monitoring system is crucial and necessary for waterway maintenance and management; and real-time automated online monitoring of water depth, which is a key component of the comprehensive waterway element monitoring system, has long been a key issue in the industry.

[0003] Current methods for measuring waterway depth generally employ shipborne equipment, utilizing shipborne sonar equipment (multibeam sonar, sweep sonar, etc.) for on-site observation and recording of raw data. This method requires the survey vessel to repeatedly measure the waterway to dynamically monitor changes in siltation and water depth. Typically, technicians attach the measuring device to a vessel to scan the target waterway, or unmanned surface vessels (USVs) carry the depth measuring device for automated patrol and scanning when needed. Current depth measurement systems mainly consist of three parts: the depth sounder main unit, the transducer, and the measuring rod and auxiliary cables. The depth sounder system primarily uses echo measurement: based on the speed and time of sound wave propagation in water, the water depth data at the current location can be obtained.

[0004] However, none of the above methods can achieve automatic online monitoring of water depth, and they can only measure the water depth data at the current location, failing to scan the channel topography. Although multibeam scanning equipment can obtain water depth data for the current cross-section, the equipment is expensive and not worth promoting. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes a method and device for online water depth monitoring based on beacon attitude adaptation.

[0006] In a first aspect, the present invention provides a method for online water depth monitoring based on beacon attitude adaptation, the method comprising the following steps:

[0007] Based on the attitude of the navigation mark and the depth sounder, the system automatically adjusts the measurement to obtain real-time water depth data for key points in the waterway; wherein, the depth sounder is movably positioned on the navigation mark;

[0008] Based on the historical water depth data of the key points of the waterway, the relationship between the changes of the key points of the waterway and the water level of the waterway is established.

[0009] Based on the real-time water depth data of the key points of the waterway and the changing relationship between the key points of the waterway and the water level of the waterway surface, the waterway data is interpolated using a preset interpolation method to obtain the real-time dynamic water depth data of the waterway surface.

[0010] Optionally, when the water depth points are uniformly distributed, the step of using a preset interpolation method to perform channel data interpolation calculation to obtain real-time dynamic water depth data of the channel surface includes:

[0011] By using the inverse distance weighted interpolation method, the approximation relationship between each key point and the selected control point pair, as well as the corresponding weight relationship, is obtained, and the corresponding change relationship of the water depth points is calculated to obtain real-time dynamic water depth data of the channel surface.

[0012] Optionally, the relationship between the corresponding water depth points is shown in the following formula:

[0013]

[0014] Where p is an arbitrary water depth point to be estimated, and f i (p) represents the distance from point p to the i-th known water depth point, w i (p) is the weight function from point p to the i-th known water depth point. It can be understood that the farther the distance, the smaller the weight. There are n known water depth points in total. f(p) is the influence function of the known water depth points as a whole on the interpolation of any unknown point p.

[0015] Optionally, when depth points are scarce and unevenly distributed, the method of interpolating channel data using a preset interpolation method to obtain real-time dynamic channel surface depth data includes:

[0016] By using ordinary kriging interpolation, the values ​​of variables are dynamically determined according to the optimization criterion function during the interpolation process, so that the interpolation function is in the optimal state, and real-time dynamic water depth data of the channel surface is obtained.

[0017] Optionally, the interpolation function in its optimal state is shown in the following equation:

[0018]

[0019] Where s0 is an arbitrary water depth point to be estimated, s i For the known i-th water depth point, there are n known water level data points, Z(s) i Let λ be the water depth data at the i-th water depth point. i Let i be the Kriging weight for the i-th known water depth point. The data is for estimating the water depth at any point.

[0020] Optionally, real-time water depth data for key points in the waterway can be calculated based on the following formula:

[0021] D A =h1+Δh

[0022] D B =lcosθ+Δh

[0023] Among them, D A For the real-time water depth of key point A in the channel, D B Let h1 be the real-time water depth of key point B in the channel, h1 be the distance between the key point A and the key point B as measured by the depth sounder, l be the distance between the key point B and the key point B as measured by the depth sounder, θ be the angle of rotation of the depth sounder, and Δh be the distance between the water surface and the depth sounder.

[0024] Optionally, before obtaining real-time water depth data for key points in the waterway, the method further includes:

[0025] The relevant interference echoes, debris echoes, and related clutter in the beam of the depth sounder are filtered, and the true bottom echo signal is obtained by tracking using time gate tracking technology, pulse width selection technology, signal threshold technology, or gain control technology. The real-time water depth data of the key points of the waterway is obtained using the true bottom echo signal.

[0026] Secondly, embodiments of the present invention provide an online water depth monitoring device based on beacon attitude adaptation, the device comprising:

[0027] A depth sounder is mounted on a navigation beacon. The depth sounder is used to automatically adjust its measurement based on the attitude of the navigation beacon and the depth sounder to obtain real-time water depth data at key points in the waterway.

[0028] A module is established to establish the relationship between the key points of the waterway and the water level of the waterway based on the historical water depth data of the key points of the waterway.

[0029] The processing module is used to perform channel data interpolation calculations based on the real-time water depth data of the key points of the channel and the changing relationship between the key points of the channel and the water level of the channel surface, using a preset interpolation method to obtain real-time dynamic water depth data of the channel surface.

[0030] Optionally, when the water depth points are uniformly distributed, the processing module is further configured to:

[0031] By using the inverse distance weighted interpolation method, the approximation relationship between each key point and the selected control point pair, as well as the corresponding weight relationship, is obtained, and the corresponding change relationship of the water depth points is calculated to obtain real-time dynamic water depth data of the channel surface.

[0032] Optionally, when water depth points are scarce and unevenly distributed, the processing module is further used for:

[0033] By using ordinary kriging interpolation, the values ​​of variables are dynamically determined according to the optimization criterion function during the interpolation process, so that the interpolation function is in the optimal state, and real-time dynamic water depth data of the channel surface is obtained.

[0034] The beneficial effects of this invention are as follows:

[0035] The present invention discloses an online depth monitoring method and apparatus based on adaptive navigational beacon attitude. By moving a depth sounder to the navigational beacon, the sounder can freely swing and expand its monitoring range by rotating at a certain angle. Combined with historical depth data of key channel points, a relationship between the key channel points and the channel surface water level is established. Finally, based on the real-time depth data of the key channel points and the relationship between the key channel points and the channel surface water level, a preset interpolation method is used to perform channel data interpolation calculations to obtain real-time dynamic channel surface depth data. This method enables real-time dynamic channel topographic depth measurement and has advantages such as high real-time performance, large monitoring range, and no need for manual intervention. Attached Figure Description

[0036] Figure 1 This is a flowchart of an online water depth monitoring method based on beacon attitude adaptation according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram illustrating the principle of water depth monitoring according to another embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of underwater topography reconstruction of the entire waterway according to another embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram illustrating the principle of water depth monitoring according to another embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the structure of an online water depth monitoring device based on beacon attitude adaptation, according to another embodiment of the present invention. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] like Figure 1 As shown, an embodiment of the present invention relates to an online water depth monitoring method S100 based on beacon attitude adaptation, the method S100 comprising the following steps:

[0045] Step S110: Based on the attitude of the navigation mark and the depth sounder, automatically adjust the measurement to obtain real-time water depth data of key points in the waterway; wherein, the depth sounder is movably set at the navigation mark.

[0046] Specifically, in this step, by intelligently modifying the monitoring equipment based on navigational aids, the depth sounder (generally a transducer) can be freely oscillated. By rotating it at a certain angle, its monitoring range is expanded. The water depth at the measuring point can be automatically adjusted and calculated based on the attitude of the navigational aid and the depth sounder, thereby expanding the coverage of waterway depth measurement. The specific monitoring principle is as follows: Figure 2 As shown:

[0047] Based on the following formula, the real-time water depth data of key points in the waterway are calculated:

[0048] D A =h1+Δh

[0049] D B =lcosθ+Δh

[0050] Among them, D A For the real-time water depth of key point A in the channel, D BLet h1 be the real-time water depth of key point B in the channel, h1 be the distance between the key point A and the key point B as measured by the depth sounder, l be the distance between the key point B and the key point B as measured by the depth sounder, θ be the angle of rotation of the depth sounder, and Δh be the distance between the water surface and the depth sounder.

[0051] Step S120: Based on the historical water depth data of the key points of the waterway, establish the relationship between the changes in the key points of the waterway and the water level of the waterway surface.

[0052] Specifically, in this step, the relationship between the changes in water levels at key points and in blank areas is monitored based on historical water level monitoring data of key points in the waterway.

[0053] Step S130: Based on the real-time water depth data of the key points of the waterway and the relationship between the key points of the waterway and the water level of the waterway surface, the waterway data is interpolated using a preset interpolation method to obtain the real-time dynamic water depth data of the waterway surface.

[0054] Specifically, in this step, we will combine... Figure 3 To support the reconstruction of underwater topography of the entire waterway, this embodiment uses waterway topography and water depth data and key point monitoring data collected by real-time water depth measurement equipment. It performs waterway data interpolation calculations using inverse distance weighted interpolation and ordinary kriging interpolation, which are applicable to situations where water depth monitoring data is evenly distributed and where water depth points are sparse and unevenly distributed, respectively. Combined with the accumulation of relevant historical measurement data, it realizes the key technology of assimilating discrete monitoring data into continuous underwater topography reconstruction, making up for the shortcomings of the waterway full-element monitoring system, and thus can better reflect the overall topographic characteristics of the region.

[0055] In some embodiments, when the water depth points are uniformly distributed, the step of using a preset interpolation method to perform channel data interpolation calculation to obtain real-time dynamic water depth data of the channel surface includes:

[0056] By employing the inverse distance weighted interpolation method, the approximation relationship between each key point and a selected control point pair, along with the corresponding weight relationship, is obtained to calculate the corresponding change relationship of the water depth points, thus generating real-time dynamic water depth data for the channel surface. In some embodiments, the corresponding change relationship of the water depth points is shown in the following formula:

[0057]

[0058] Where p is an arbitrary water depth point to be estimated, and f i (p) represents the distance from point p to the i-th known water depth point, w i (p) is the weight function from point p to the i-th known water depth point, which means that the greater the distance, the smaller the weight. There are n known water depth points in total. f(p) is the influence function of the known water depth points as a whole on the interpolation of any unknown point p.

[0059] In some embodiments, when depth points are scarce and unevenly distributed, the step of using a preset interpolation method to perform channel data interpolation calculation to obtain real-time dynamic channel surface depth data includes:

[0060] Using ordinary kriging interpolation, the values ​​of variables are dynamically determined according to an optimization criterion function during the interpolation process, ensuring the interpolation function is in its optimal state, thus obtaining real-time dynamic water depth data of the channel surface. In some embodiments, the optimal interpolation function is shown in the following equation:

[0061]

[0062] Where s0 is an arbitrary water depth point to be estimated, s i Let Z(s) be the known water depth point i, and there are n known water level points. i Let λ be the water depth data at the i-th water depth point. i Let i be the Kriging weight for the i-th known water depth point. The data is for estimating the water depth at any point.

[0063] Optionally, before obtaining real-time water depth data for key points in the waterway, the method further includes:

[0064] The relevant interference echoes, debris echoes, and related clutter in the beam of the depth sounder are filtered, and the true bottom echo signal is obtained by tracking using time gate tracking technology, pulse width selection technology, signal threshold technology, or gain control technology. The real-time water depth data of the key points of the waterway is obtained using the true bottom echo signal.

[0065] Specifically, in this step, to improve the accuracy of water depth measurement, the sensed water depth data needs to be processed in conjunction with the real-time navigation beacon attitude and rotation angle. Simultaneously, since the core component, the transducer, has a beam angle, when rotated at a certain tilt angle, the projected area of ​​the beam on the riverbed will be more diffused than when used vertically. Therefore, it is necessary to filter related interference echoes, debris echoes, and other clutter. Through techniques such as time-gating tracking, pulse width selection, signal thresholding, and gain control, the true bottom echo signal is tracked from the numerous clutter signals. Based on this true bottom echo signal, the real-time water depth data of the key points in the waterway can be obtained.

[0066] The online water depth monitoring method based on navigational aid attitude adaptation in this invention involves moving a depth sounder around the navigational aid, allowing it to swing freely and expand its monitoring range by rotating it at a certain angle. Combined with historical water depth data from key channel points, a relationship between these key points and the channel surface water level is established. Finally, based on the real-time water depth data from these key points and the relationship between them and the channel surface water level, a preset interpolation method is used to perform channel data interpolation calculations to obtain real-time dynamic water depth data for the channel surface. This method enables real-time dynamic measurement of channel topography and water depth, offering advantages such as high real-time performance, large monitoring range, and no need for manual intervention.

[0067] In some embodiments, such as Figure 2 and Figure 4 As shown in the figure, the overall technical route of the online water depth monitoring method based on beacon attitude adaptation in this invention is as follows:

[0068] By intelligently upgrading the single-beam echo sounder monitoring equipment based on navigational aids, the transducer is movably mounted on the aid via a rotating control lever, allowing it to swing freely and expand its monitoring range by rotating at a certain angle. Wireless communication equipment is added, enabling automatic real-time transmission of monitoring data back to the land-based monitoring center. Attitude sensors accurately determine the tilt angle of the current navigational aid vessel, used to correct the rotation angle of the single-beam echo sounder. Furthermore, differential GPS provides the precise location of the point. The specific monitoring principle is as follows: Figure 4 As shown.

[0069] Based on the same inventive concept, such as Figure 5 As shown, this embodiment of the invention also provides an online depth monitoring device 100 based on beacon attitude adaptation. This device can be applied to the monitoring methods described above, and details can be found in the relevant descriptions above, which will not be repeated here. The device 100 includes: a depth sounder 110, a data establishment module 120, and a processing module 130.

[0070] A depth sounder 110 is movably mounted on a navigation beacon. The depth sounder 110 automatically adjusts its measurement based on the attitude of the beacon and the depth sounder to obtain real-time water depth data for key points in the waterway. The establishment module 120 is used to establish the relationship between the key points and the water level in the waterway based on historical water depth data of these key points. The processing module 130 is used to perform waterway data interpolation calculations using a preset interpolation method based on the real-time water depth data of the key points and the relationship between the key points and the water level in the waterway, to obtain real-time dynamic water depth data of the waterway surface.

[0071] The online depth monitoring device based on navigational aid attitude adaptation in this invention, by moving the depth sounder to the navigational aid, allows the sounder to swing freely. By rotating it at a certain angle, its monitoring range is expanded. Combined with historical depth data of key channel points, a relationship between the changes in key channel points and the channel surface water level is established. Finally, based on the real-time depth data of the key channel points and the relationship between the key channel points and the channel surface water level, a preset interpolation method is used to perform channel data interpolation calculations to obtain real-time dynamic depth data of the channel surface. This device enables real-time dynamic measurement of channel topography and depth, offering advantages such as high real-time performance, large monitoring range, and no need for manual intervention.

[0072] Optionally, when the water depth points are evenly distributed, the processing module 130 is further configured to:

[0073] By using the inverse distance weighted interpolation method, the approximation relationship between each key point and the selected control point pair, as well as the corresponding weight relationship, is obtained, and the corresponding change relationship of the water depth points is calculated to obtain real-time dynamic water depth data of the channel surface.

[0074] Optionally, when water depth points are scarce and unevenly distributed, the processing module 130 is further used for:

[0075] By using ordinary kriging interpolation, the values ​​of variables are dynamically determined according to the optimization criterion function during the interpolation process, so that the interpolation function is in the optimal state, and real-time dynamic water depth data of the channel surface is obtained.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for online water depth monitoring based on adaptive navigational beacon attitude, characterized in that, The method includes the following steps: Based on the attitude of the navigation mark and the depth sounder, the system automatically adjusts the measurement to obtain real-time water depth data for key points in the waterway; wherein, the depth sounder is movably positioned on the navigation mark; Based on the historical water depth data of the key points of the waterway, the relationship between the changes of the key points of the waterway and the water level of the waterway is established. Based on the real-time water depth data of the key points of the waterway and the relationship between the key points of the waterway and the water level of the waterway surface, the waterway data is interpolated using a preset interpolation method to obtain the real-time dynamic water depth data of the waterway surface. When the water depth points are uniformly distributed, the method of interpolating the channel data using a preset interpolation method to obtain real-time dynamic water depth data of the channel surface includes: By using the inverse distance weighted interpolation method, the approximation relationship between each key point and the selected control point pair, as well as the corresponding weight relationship, is obtained, and the corresponding change relationship of the water depth points is calculated to obtain real-time dynamic water depth data of the channel surface.

2. The method according to claim 1, characterized in that, The corresponding changes in the water depth points are shown in the following formula: ， Where p is any water depth to be estimated. Let p be the distance from point p to the i-th known water depth point. Let p be the weight function from point p to the i-th known water depth point, given a total of n known water depth points. Let be the influence function of the known water depth point as a whole on the interpolation of any unknown point p.

3. The method according to claim 1, characterized in that, When depth points are scarce and unevenly distributed, the method of interpolating channel data using a preset interpolation method to obtain real-time dynamic channel surface depth data includes: By using ordinary kriging interpolation, the values ​​of variables are dynamically determined according to the optimization criterion function during the interpolation process, so that the interpolation function is in the optimal state, and real-time dynamic water depth data of the channel surface is obtained.

4. The method according to claim 3, characterized in that, The optimal interpolation function is shown in the following equation: ， in, Let be any water depth point to be estimated. Given the i-th known water depth point, there are n known water level data points. For the water depth data of the i-th water depth point, Let i be the Kriging weight for the i-th known water depth point. The data is for estimating the water depth at any point.

5. The method according to any one of claims 1 to 4, characterized in that, Based on the following formula, the real-time water depth data of key points in the waterway are calculated: ， ， Among them, D A For the real-time water depth of key point A in the channel, D B Let h1 be the real-time water depth of key point B in the channel, h1 be the distance between the key point A and the key point B as measured by the depth sounder, l be the distance between the key point B and the key point B as measured by the depth sounder, θ be the angle of rotation of the depth sounder, and Δh be the distance between the water surface and the depth sounder.

6. The method according to any one of claims 1 to 3, characterized in that, Before obtaining real-time water depth data for key points in the waterway, the method further includes: The relevant interference echoes, debris echoes, and related clutter in the beam of the depth sounder are filtered, and the true bottom echo signal is obtained by tracking using time gate tracking technology, pulse width selection technology, signal threshold technology, or gain control technology. The real-time water depth data of the key points of the waterway is obtained using the true bottom echo signal.

7. A water depth online monitoring device based on beacon attitude adaptive, characterized in that, The device includes: A depth sounder is mounted on a navigation beacon. The depth sounder is used to automatically adjust its measurement based on the attitude of the navigation beacon and the depth sounder to obtain real-time water depth data at key points in the waterway. A module is established to establish the relationship between the key points of the waterway and the water level of the waterway based on the historical water depth data of the key points of the waterway. The processing module is used to perform channel data interpolation calculations based on the real-time water depth data of the key points of the channel and the changing relationship between the key points of the channel and the water level of the channel surface, using a preset interpolation method to obtain real-time dynamic water depth data of the channel surface. When the water depth points are evenly distributed, the processing module is further specifically used for: By using the inverse distance weighted interpolation method, the approximation relationship between each key point and the selected control point pair, as well as the corresponding weight relationship, is obtained, and the corresponding change relationship of the water depth points is calculated to obtain real-time dynamic water depth data of the channel surface.

8. The apparatus according to claim 7, characterized in that, When water depth points are scarce and unevenly distributed, the processing module is further specifically used for: By using ordinary kriging interpolation, the values ​​of variables are dynamically determined according to the optimization criterion function during the interpolation process, so that the interpolation function is in the optimal state, and real-time dynamic water depth data of the channel surface is obtained.

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