A hydrological data collection method based on automatic tracking of surface salinity fronts by unmanned vessels

Abstract

The present invention discloses a hydrological data collection method based on automatic tracking of the surface salinity front of an unmanned ship, which belongs to the field of marine hydrological scientific research. A temperature, salinity and depth sensor is mounted on the unmanned ship, and the method includes: after the unmanned ship sails to a predetermined observation area, the unmanned ship is manually controlled to sail within the observation area, and the temperature, salinity and depth sensor collects salinity data in the navigation area; the collected salinity data is transmitted back to a host computer, and the host computer analyzes the collected salinity data; after the host computer analyzes the data, the host computer controls the unmanned ship to sail along the extension direction of the salinity front, and detects other hydrological data through the temperature, salinity and depth sensor. The unmanned ship of the present invention can conduct continuous observations in a large range, and is more efficient than traditional ship observations. Automatic identification of the salinity front can enable the unmanned ship to quickly lock the salinity change area in a wide sea area, perform precise measurements, and observe other hydrological characteristic parameters of the salinity front.

Description

Technical Field

[0001] The present invention relates to the field of marine hydrological scientific research, and in particular to a hydrological data collection method based on automatic tracking of surface salinity fronts by an unmanned ship. Background Art

[0002] At present, unmanned ships are an important means for marine scientific investigations, especially for near-shore waters. Unmanned ships have the advantages of small size, low cost, and strong maneuverability. At present, for marine hydrological scientific research, unmanned ships are mainly used to carry hydrological equipment to observe fixed routes in designated areas. They are unable to automatically identify surface characteristics of the sea area and conduct high-precision tracking and observation of these phenomena. The main reason is that the observation path of the unmanned ship is not effectively combined with the onboard equipment. The observation path is mainly set manually, and the unmanned ship conducts observations according to the designated routes.

[0003] At present, it is of great significance to study the surface salinity front of estuaries and make unmanned ships sail along the salinity front to observe other hydrological parameters. However, the observation of salinity front in estuaries requires manned ships carrying temperature, salinity and depth sensors to conduct navigation observations. This observation method can only be carried out over a large range, and it is impossible to accurately locate the front and determine its position, and the cost is relatively high. Summary of the invention

[0004] In view of the problem that the observation of the surface salinity front of the water in the existing estuary sea area can only be achieved through large-scale navigation, the present invention provides a hydrological data collection method based on automatic tracking of the surface salinity front by an unmanned vessel, which can enable the unmanned vessel to automatically identify the salinity front and navigate along the extension direction of the salinity front, thereby reducing the observation cost.

[0005] The present invention adopts the following technical solutions:

[0006] A hydrological data collection method based on automatic tracking of surface salinity fronts by an unmanned vessel, wherein a temperature-salinity-depth sensor, an ADV current meter, a turbidity meter, and a multi-parameter water quality meter are carried on the unmanned vessel, and the temperature-salinity-depth sensor can detect salinity data of the water surface, and comprises the following steps:

[0007] Step 1: After the unmanned ship sails to the predetermined observation area, it is controlled to navigate a small rectangular area in the observation sea area, and the temperature, salinity and depth sensors collect salinity data in the navigation area.

[0008] Step 2: The collected salinity data is transmitted back to the host computer, which analyzes the collected salinity data.

[0009] Step 3: After analysis by the host computer, the host computer controls the unmanned boat to navigate along the extension direction of the salinity front and detects hydrological data through temperature, salinity and depth sensors, ADV flow meters, turbidity meters and multi-parameter water quality meters.

[0010] Preferably, step 1 specifically includes: manually controlling the unmanned boat to navigate a small rectangular area within the observation area that can cross the salinity front, and collecting salinity values ​​within the navigation area.

[0011] Preferably, step 2 specifically includes: step 2.1: transmitting the collected salinity values ​​in the navigation area back to the host computer, and the host computer analyzes the salinity value T of the salinity front based on the uploaded salinity values ​​in the navigation area, and obtains the distribution direction of the low-salinity area and the distribution direction of the high-salinity area.

[0012] Step 2.2: Set the salinity value of the observation interval of the salinity front and the extension direction of the salinity front.

[0013] Preferably, the salinity value T of the salinity front in step 2.1 is the salinity value corresponding to the point where the gradient change of the salinity value in the navigation area is the largest, the distribution direction of the low-salinity area refers to the direction extending from the salinity value T of the salinity front to the area with a salinity value lower than T, and the distribution direction of the high-salinity area refers to the direction extending from the salinity value T of the salinity front to the area with a salinity value higher than T.

[0014] Preferably, the salinity value of the observation interval of the salinity front in step 2.2 is [T-1, T+1], and the extension direction of the salinity front is the direction in which the unmanned ship moves from the set initial position along the salinity front to the set end position.

[0015] Preferably, step 3 specifically includes: step 3.1: the host computer controls the unmanned boat to navigate along the extension direction of the salinity front. During the navigation, the temperature-salinity-depth sensor collects salinity values ​​in real time, and the temperature-salinity-depth sensor, ADV flowmeter, turbidity meter and multi-parameter water quality meter collect other hydrological data.

[0016] Step 3.2: Compare the collected salinity value with the salinity value of the observation interval of the set salinity front. If the collected salinity value falls within [T-1, T+1], the navigation direction of the unmanned boat remains unchanged, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data; if the collected salinity value is higher than T+1, the unmanned boat is controlled to move in the distribution direction of the low-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salinity front, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data; if the collected salinity value is lower than T-1, the unmanned boat is controlled to move in the distribution direction of the high-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salinity front, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data.

[0017] Preferably, the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data only when the collected salinity value falls within the salinity value of the observation interval of the salinity front.

[0018] The present invention has the following beneficial effects:

[0019] 1. High efficiency and wide coverage. Unmanned vessels can conduct continuous observations over a large area, which is more efficient than traditional ship observations. Automatic identification of salinity fronts allows unmanned vessels to quickly lock onto salinity change areas in a wide range of sea areas, conduct precise measurements, and observe other hydrological characteristic parameters of the salinity front.

[0020] 2. Safety: When observing salinity fronts in complex or dangerous marine environments, the use of unmanned vessels can avoid the risks of human operation. For example, salinity fronts often appear in sea areas with strong tidal currents, and unmanned vessels can measure and observe without involving the safety of personnel.

[0021] 3. Reduce costs. In the prior art, observations of salinity fronts are often conducted over a large area, which is very costly. The unmanned boats of the present invention can operate continuously and in clusters, reducing the costs of manpower and fuel. This advantage is even more significant when long-term monitoring is required.

[0022] 4. Improve research accuracy. Unmanned vessels can make observations with higher spatial and temporal resolution, which is particularly important for oceanographic research. Accurately identifying and measuring salinity fronts can help better understand the interaction between ocean dynamics and climate change. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure is an overall flow chart of a hydrological data collection method based on automatic tracking of surface salinity fronts by unmanned vessels.

[0024] Figure 2This is a flow chart of the host computer controlling the unmanned boat to navigate along the extension direction of the salinity front.

[0025] Figure 3 This is the salinity distribution map obtained after the unmanned boat is manually controlled in Example 1 to navigate in a small range across the salinity front in the observation area. DETAILED DESCRIPTION

[0026] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0027] Example 1: In this example, it is necessary to observe the hydrological data at the surface salinity front of a certain estuary sea area. The specific process is as follows:

[0028] Combination Figures 1 to 3 A hydrological data collection method based on automatic tracking of the surface salinity front of an unmanned vessel is provided. The unmanned vessel is equipped with a temperature-salinity-depth sensor, an ADV current meter, a turbidity meter, and a multi-parameter water quality meter. The temperature-salinity-depth sensor can detect the salinity data of the water surface, and includes the following steps:

[0029] Step 1: After the unmanned boat sails to the estuary, it is manually controlled to sail in a small rectangular area within the observation area that can cross the salinity front, and the temperature, salinity and depth sensors collect salinity data in the navigation area. Among them, the small rectangular area is relative to the large-scale navigation. Although it is a small rectangular area, the unmanned boat must cross the salinity front during the small-scale navigation. Although the exact position of the salinity front cannot be determined at the beginning, the operator can determine the approximate position of the salinity front. Therefore, it is completely possible to manually control the unmanned boat to sail across the salinity front in the estuary.

[0030] Step 2: The collected salinity data is transmitted back to the host computer, which analyzes the collected salinity data.

[0031] Specifically, it includes: Step 2.1: The collected salinity values ​​in the navigation area are transmitted back to the host computer, and the host computer analyzes the salinity value T of the salinity front based on the salinity values ​​in the navigation area transmitted back, and obtains the distribution direction of the low-salinity area and the distribution direction of the high-salinity area.

[0032] The salinity value T of the salinity front is the salinity value corresponding to the point where the gradient change of the salinity value in the navigation area is the largest. Figure 3 As shown, Figure 3 The horizontal axis is longitude, and the vertical axis is latitude. In this embodiment, the salinity value of the salinity front determined by the host computer is 29.

[0033] The distribution direction of low-salinity areas refers to the direction extending from the salinity value of 29 at the salinity front to the area with salinity values ​​lower than 29, that is, the direction extending from the salinity value of 29 at the salinity front to the high latitude direction is the distribution direction of low-salinity areas.

[0034] The distribution direction of high-salinity areas refers to the direction extending from the salinity value T of the salinity front to the area with salinity values ​​higher than T, that is, the direction extending from the salinity value 29 of the salinity front to the low latitude direction is the distribution direction of high-salinity areas.

[0035] Step 2.2: Set the salinity value of the observation interval of the salinity front and the extension direction of the salinity front.

[0036] In this embodiment, the salinity value of the observation interval of the salinity front is [28,30], and the extension direction of the salinity front is the direction in which the unmanned ship moves from the set initial position along the salinity front to the set end position. For example, in this embodiment, the initial position set by the unmanned ship is at a low longitude, and the set end position is at a high longitude, then the extension direction of the salinity front is the direction in which the unmanned ship moves from the low longitude along the salinity front to the high longitude.

[0037] Step 3: After analysis by the host computer, the host computer controls the unmanned boat to navigate along the extension direction of the salinity front and detects hydrological data through temperature, salinity and depth sensors, ADV flow meters, turbidity meters and multi-parameter water quality meters.

[0038] Specifically, it includes: Step 3.1: The host computer controls the unmanned boat to sail along the extension direction of the salinity front. During the navigation, the temperature-salinity-depth sensor collects salinity values ​​in real time, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data. The temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter only collect other hydrological data when the collected salinity value falls within the salinity value of the observation interval of the salinity front.

[0039] Step 3.2: Compare the collected salinity value with the salinity value of the observation interval of the set salinity front. If the collected salinity value falls within [28,30], the navigation direction of the unmanned boat remains unchanged, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data; if the collected salinity value is higher than 30, the unmanned boat is controlled to move in the distribution direction of the low-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salinity front, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data; if the collected salinity value is lower than 28, the unmanned boat is controlled to move in the distribution direction of the high-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salinity front, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data.

[0040] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A hydrological data collection method based on automatic tracking of surface salinity fronts by an unmanned vessel, wherein a temperature-salinity-depth sensor, an ADV current meter, a turbidity meter and a multi-parameter water quality meter are mounted on the unmanned vessel, and the temperature-salinity-depth sensor can detect salinity data of the water surface, and is characterized in that: The following steps are involved: Step 1: After the unmanned ship sails to the predetermined observation area, it is controlled to sail in a small rectangular area in the observation sea area, and the temperature, salinity and depth sensors collect salinity data in the navigation area; Step 2: The collected salinity data is transmitted back to the host computer, and the host computer analyzes the collected salinity data; Specifically, the method includes: Step 2.1: transmitting the collected salinity values ​​in the navigation area back to the host computer, and the host computer analyzes the salinity value T of the salinity front based on the salinity values ​​in the navigation area uploaded back, and obtains the distribution direction of the low-salinity area and the distribution direction of the high-salinity area; The salinity value T of the salinity front is the salinity value corresponding to the point where the gradient change of the salinity value in the navigation area is the largest. The distribution direction of the low-salinity area refers to the direction extending from the salinity value T of the salinity front to the area with a salinity value lower than T. The distribution direction of the high-salinity area refers to the direction extending from the salinity value T of the salinity front to the area with a salinity value higher than T. Step 2.2: Set the salinity value of the observation interval of the salinity front and the extension direction of the salinity front; The salinity value of the observation interval of the salinity front is [T-1, T+1], and the extension direction of the salinity front is the direction in which the unmanned ship moves from the set initial position along the salinity front to the set end position; Step 3: After analysis by the host computer, the host computer controls the unmanned boat to navigate along the extension direction of the salinity front and detects hydrological data through temperature, salinity and depth sensors, ADV current meters, turbidity meters and multi-parameter water quality meters; Specifically include: Step 3.1: The host computer controls the unmanned boat to sail along the extension direction of the salinity front. During the navigation, the temperature, salinity and depth sensors collect salinity values ​​in real time, and the temperature, salinity and depth sensors, ADV flowmeter, turbidity meter and multi-parameter water quality meter collect other hydrological data; Step 3.2: Compare the collected salinity value with the salinity value of the observation interval of the set salinity front. If the collected salinity value falls within [T-1, T+1], the navigation direction of the unmanned boat remains unchanged, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data; if the collected salinity value is higher than T+1, the unmanned boat is controlled to move in the distribution direction of the low-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salinity front, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data; if the collected salinity value is lower than T-1, the unmanned boat is controlled to move in the distribution direction of the high-salinity area until the collected salinity value falls within the salinity value of the observation interval of the salinity front, and the temperature-salinity-depth sensor, ADV current meter, turbidity meter and multi-parameter water quality meter collect other hydrological data.

2. The hydrological data collection method based on automatic tracking of surface salinity front by unmanned boat according to claim 1 is characterized in that: Step 1 specifically includes: manually controlling the unmanned boat to navigate a small rectangular area within the observation area that can cross the salinity front, and collecting the salinity value in the navigation area.

3. The hydrological data collection method based on automatic tracking of surface salinity front by unmanned boat according to claim 1 is characterized in that: Temperature-salinity-depth sensors, ADV current meters, turbidity meters, and multi-parameter water quality meters collect other hydrological data only when the collected salinity values ​​fall within the salinity value of the observation interval of the salinity front.

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