Data quality real-time control method for time synchronization of fish ultrasonic hydrophone

Abstract

The invention provides a data quality real-time control method for time synchronization of fish ultrasonic hydrophones, which comprises the following steps: acquiring observation time values of any two hydrophones for receiving ultrasonic signals, and calculating prediction information of the observation time difference of the ultrasonic signals according to the observation time values; determining a difference threshold value between the prediction information of the ultrasonic signal observation time difference value and an actual observation result; and determining the observed value of the problem hydrophone by using the difference threshold and a public projection algorithm. The real-time data quality control method is a basis for realizing high-precision time synchronization among hydrophone equipment, and is also a precondition for precisely positioning fish ultrasonic signal marks in a distance intersection manner subsequently; the method has a certain promotion effect on the development of fish behavioristics monitoring research in low-visibility rivers, lakes and seas.

Description

Technical Field

[0001] The invention relates to the technical field of hydrophones, and in particular to a real-time control method for data quality used for time synchronization of fish ultrasonic hydrophones. Background Art

[0002] With the increasing awareness of the protection of aquatic ecosystems, the study of fish habitats has become particularly important. Due to the particularity of the underwater environment, the main technical difficulty in the study of fish habitats is tracking the paths of fish activity. Early researchers analyzed fish migration behavior through fishery statistical data. However, fishery data are non-independent data, and the inferred habitat range is large, with spawning grounds of hundreds of meters or even kilometers. It is actually difficult to accurately locate suitable habitats. With the development of technology, emerging technologies such as eDNA, otolith microchemistry, and marker release technology have provided new ideas for the study of fish habitats, but eDNA technology and otolith identification technology are both indirect identification methods. Marker release technology can provide direct evidence for tracking the paths of fish activity and is an important technical means for locating fish.

[0003] Fish marking mainly includes fluorescent marking, ultrasonic marking, PIT electromagnetic marking, radio marking, T-shaped marking, etc. Among them, ultrasonic marking has good application value in studying the movement and migration of fish throughout their life cycle at the scale of large watersheds and microhabitat due to its long propagation distance and low propagation attenuation underwater. Fish ultrasonic marking technology is to place a sufficiently light acoustic marker inside or on the body of the fish, use a hydrophone to receive the ultrasonic pulse signal emitted by the marker, and use multiple hydrophones to synchronously observe the same set of ultrasonic pulse signals, and use the distance intersection method to determine the water area where the marked fish is located. The premise for the hydrophone equipment to be used to accurately determine the swimming trajectory of the marked fish is that high-precision time synchronization is required between different hydrophone devices, so that the observation results of different hydrophone devices are under a unified time reference. At present, no effective means have been adopted to control the data quality in real time for the time synchronization of fish ultrasonic hydrophone equipment. Summary of the invention

[0004] The invention provides a data quality real-time control method for time synchronization of fish ultrasonic hydrophones, so as to solve the defects in the prior art.

[0005] In a first aspect, the present invention provides a method for real-time control of data quality for time synchronization of fish ultrasonic hydrophones, comprising: Obtaining observation time values ​​of any two hydrophones receiving ultrasonic signals, and calculating prediction information of ultrasonic signal observation time difference from the observation time values; Determine a difference value threshold between the predicted information of ultrasonic signal observation time difference and the actual observation result; The difference value threshold is used to determine the problematic hydrophone observation value using a crowd-casting algorithm.

[0006] According to a data quality real-time control method for time synchronization of ultrasonic hydrophones for fish provided by the present invention, the observation time values ​​of any two hydrophones receiving ultrasonic signals are obtained, and prediction information of ultrasonic signal observation time difference is calculated from the observation time values, including: Determine any two hydrophones as a and b, and mark them at time synchronization The ultrasonic signal is at time and Capture the signal and obtain the ultrasonic signal observation time difference of the two hydrophones :

[0007] Calculate the time in sequence ~ The time difference corresponding to the broadcasting time of each time synchronization signal :

[0008] in, is the number of the specified time; Calculate time difference The mean of the time synchronization signal is used as the prediction information corresponding to the next time synchronization signal broadcast time. :

[0009] in, , Specifies an integer value, which is used to set the signal broadcasting interval of the time-synchronized ultrasonic marker.

[0010] According to a data quality real-time control method for fish ultrasonic hydrophone time synchronization provided by the present invention, determining a difference value threshold between prediction information of ultrasonic signal observation time difference and actual observation result includes: when When The square of the difference between the ultrasonic signal observation time difference of the two hydrophones and the ultrasonic signal observation time difference prediction information :

[0011] calculate The mean :

[0012] in, , To specify an integer value; Calculate the difference between the predicted value and the actual observation result :

[0013] in, A positive floating point number.

[0014] According to a data quality real-time control method for fish ultrasonic hydrophone time synchronization provided by the present invention, the difference value threshold is used to determine the problematic hydrophone observation value using a crowd-casting algorithm, including: Step 3.1: for each newly captured time synchronization signal, establish the statistical value of each hydrophone and the time synchronization signal ,initialization is 0, where Number the hydrophones; Step 3.2, calculate the absolute value of the difference between the observed time difference and the predicted information of the newly captured ultrasonic signal at the two hydrophones:

[0015] Step 3.3, if Less than threshold , then the two hydrophones and The corresponding statistical value Add 1 to each of them, that is, determine the two hydrophones and The observation information is voted as credible; Step 3.4, repeat steps 3.2 and 3.3 for the remaining groups of hydrophone observation pairs; Step 3.5, if the corresponding statistical value at each hydrophone Less than ,in If it is set to 0 or 1, it is determined that there is a problem with the observation data of the corresponding hydrophone, and it is eliminated during the hydrophone time synchronization data processing and does not participate in the stage of predicting information.

[0016] In a second aspect, the present invention further provides a data quality real-time control system for time synchronization of fish ultrasonic hydrophones, comprising: A first estimation module is used to obtain the observation time values ​​of any two hydrophones receiving ultrasonic signals, and calculate the prediction information of the ultrasonic signal observation time difference from the observation time values; The second estimation module is used to determine the difference value threshold between the predicted information of the ultrasonic signal observation time difference and the actual observation result; The control module is used to use the difference value threshold and a crowd-casting algorithm to determine the problematic hydrophone observation value.

[0017] According to a data quality real-time control system for time synchronization of fish ultrasonic hydrophones provided by the present invention, the first estimation module is specifically used to: Determine any two hydrophones as a and b, and mark them at time synchronization The ultrasonic signal is and Capture the signal and obtain the ultrasonic signal observation time difference of the two hydrophones :

[0018] Calculate the time in sequence ~ The time difference corresponding to the broadcasting time of each time synchronization signal :

[0019] in, is the number of the specified time; Calculate time difference The mean of the time synchronization signal is used as the prediction information corresponding to the next time synchronization signal broadcast time. :

[0020] in, , Specifies an integer value, which is used to set the signal broadcasting interval of the time-synchronized ultrasonic marker.

[0021] According to a data quality real-time control system for time synchronization of fish ultrasonic hydrophones provided by the present invention, the second estimation module is specifically used for: when When The square of the difference between the ultrasonic signal observation time difference of the two hydrophones and the ultrasonic signal observation time difference prediction information :

[0022] calculate The mean :

[0023] in, , To specify an integer value; Calculate the difference between the predicted value and the actual observation result :

[0024] in, A positive floating point number.

[0025] In a third aspect, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a real-time control method for data quality for time synchronization of fish ultrasonic hydrophones as described in any one of the above is implemented.

[0026] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a real-time data quality control method for time synchronization of fish ultrasonic hydrophones as described in any one of the above.

[0027] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described methods for real-time control of data quality for time synchronization of fish ultrasonic hydrophones.

[0028] The data quality real-time control method for the time synchronization of ultrasonic hydrophones for fish provided by the present invention firstly utilizes the observation results of the hydrophones in the previous period to recursively calculate the predicted value of the ultrasonic signal observation time difference between the two hydrophones by using the sequential mean method; secondly, according to the consistency of the ultrasonic signal observation time difference between the hydrophones at different moments before, the threshold of the difference between the predicted value at the current moment and the actual observation result is determined; finally, according to whether the difference between the observation time difference at any two hydrophones and the predicted information exceeds the threshold, the voting value for the observation results at the two hydrophones is set by using the crowd voting method. Each group of observation values ​​between hydrophones has 1 vote at each hydrophone, and the hydrophone observation information that may have problems is selected by voting. The present invention adopts a real-time data quality control method, which is the basis for realizing high-precision time synchronization between hydrophone devices, and is also the prerequisite for the subsequent precise positioning of the ultrasonic signal markers of fish by using the distance intersection method, which has a certain driving effect on the fish behavior monitoring research in rivers, lakes and seas with low visibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 This is one of the flow charts of the real-time control method for data quality of fish ultrasonic hydrophone time synchronization provided by the present invention; Figure 2 This is the second flow chart of the real-time control method for data quality of fish ultrasonic hydrophone time synchronization provided by the present invention; Figure 3 It is a structural schematic diagram of a data quality real-time control system for time synchronization of fish ultrasonic hydrophones provided by the present invention; Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Based on the deficiencies in the prior art, the present invention arranges hydrophones in a network and sets time synchronization. When the tagged fish enters the hydrophone network, the acoustic signal is received by multiple hydrophones simultaneously. According to the difference in reception time, the precise positioning of the acoustic beacon carried by the fish can be calculated. Theoretically, the accuracy can reach the meter level or even smaller. This is a cutting-edge technical means for research in the field of fish ecology.

[0033] Figure 1 FIG. 1 is one of the flow charts of the method for real-time control of data quality for time synchronization of ultrasonic hydrophones for fish provided in an embodiment of the present invention, such as Figure 1 As shown, including: Step 100: obtaining observation time values ​​of any two hydrophones receiving ultrasonic signals, and calculating prediction information of ultrasonic signal observation time difference values ​​from the observation time values; Step 200: Determine a difference value threshold between the predicted information of the ultrasonic signal observation time difference and the actual observation result; Step 300: using the difference value threshold, a crowd-casting algorithm is used to determine the problematic hydrophone observation value.

[0034] Before using ultrasonic marker signals to synchronize time between hydrophone devices, it is necessary to perform real-time data quality control on the ultrasonic signals obtained at the hydrophones to eliminate gross observation information that may have problems. Since only the observation data of the current and previous time periods can be used in the real-time data processing process, the ultrasonic signal observation data of the subsequent time periods cannot be used to assist in the detection of problematic data. Therefore, when evaluating the reliability of the quality of ultrasonic signal observation data in real time, the setting of the evaluation criteria and the determination method of problematic observation information are extremely critical. On the one hand, it is necessary to predict the difference in the observed value of the ultrasonic signal between different hydrophones at the current moment as accurately as possible for comparison with the actual observed value; on the other hand, it is also necessary to give a reasonable and effective difference threshold to determine whether the difference in the observed value of the ultrasonic signal at the current moment is valid; in addition, it is also necessary to determine the abnormal hydrophone observation value from the many alternative results of the problematic observation value difference so that it can be eliminated during the time synchronization calculation process.

[0035] Therefore, the present invention is described from three aspects: real-time estimation of prediction information of ultrasonic signal observation time difference, real-time determination of difference threshold between prediction value and actual observation result, and determination of problematic hydrophone observation value based on crowd-casting method. Figure 2 As shown, specifically including: Step 1: Real-time estimation of the prediction information of ultrasonic signal observation time difference Step 1.1: For any two hydrophone devices a and b, assume that the time synchronization is marked at The ultrasonic signal is broadcast at any time. The hydrophone records the value of the internal clock at the time of signal capture. , , then the ultrasonic signal observation time difference of the two hydrophones is It can be expressed as: (1) Step 1.2, similarly, can be calculated in real time ~ Wait for each time synchronization signal to be broadcasted at the corresponding time : (2) in, The number of the specified time.

[0036] Step 1.3, use the sequential mean method shown in formula (3) to calculate the ultrasonic signal observation time difference between the two hydrophones: and use it as the prediction information corresponding to the next time synchronization signal broadcasting moment.

[0037] (3) in, , Specifies an integer value, which is set according to the signal broadcasting interval of the time-synchronized ultrasonic marker. .

[0038] Step 2: Real-time determination of the difference threshold between the predicted value and the actual observation result Step 2.1, when When At time t, the square of the difference between the ultrasonic signal observation time difference of the two hydrophones shown in formula (2) and the ultrasonic signal observation time difference prediction information shown in formula (3) is calculated.

[0039] (4) Step 2.2, using the sequential mean method shown in formula (5), calculate The mean of .

[0040] (5) in, , To specify an integer value, generally .

[0041] In step 2.3, use formula (6) to calculate the difference threshold between the predicted value and the actual observation result.

[0042] (6) in, A positive floating point number, usually .

[0043] Step 3: Determine the problematic hydrophone observations based on crowd-voting Step 3.1: During real-time data processing, for each newly captured time-synchronized signal, establish the statistical value between each hydrophone and the signal. , and set it to 0, where Number the hydrophone.

[0044] Step 3.2, calculate the absolute value of the difference between the time difference of the newly captured ultrasonic signal observed at the two hydrophones and the aforementioned predicted information.

[0045] (7) Step 3.3, if Less than threshold ,but , The statistical values ​​corresponding to the two hydrophones Add 1 to each of them, which means that the observation information of these two hydrophones is voted to be credible.

[0046] Step 3.4: Repeat steps 3.2 and 3.3 for each other set of hydrophone observation pairs.

[0047] Step 3.5, the corresponding statistical value at each hydrophone If less than ,in Generally, it is set to 0 or 1, which means that the observation data of the hydrophone may have problems and will be eliminated during the processing of the hydrophone time synchronization data. At the same time, it does not participate in the solution of steps 1 and 2, that is, the predicted value and difference threshold calculated by formula (3) and formula (6) are not updated with the observation value of the hydrophone with problems.

[0048] The present invention proposes a real-time data quality control method suitable for time synchronization of fish ultrasonic marker signal hydrophone equipment. In the real-time data quality control process, the method first uses the observation results of the hydrophone in the previous period to recursively calculate the predicted value of the ultrasonic signal observation time difference between two hydrophones in a sequential mean manner; secondly, according to the consistency of the ultrasonic signal observation time difference between the hydrophones at different times before, the threshold of the difference between the predicted value at the current moment and the actual observation result is determined; finally, according to the crowd voting method, according to whether the difference between the observation time difference at any two hydrophones and the predicted information exceeds the threshold, the voting value of the observation results at the two hydrophones is set. Each group of observation values ​​between hydrophones has 1 vote at each hydrophone, and the hydrophone observation information that may have problems is selected by voting.

[0049] The real-time data quality control method described in the present invention is the basis for achieving high-precision time synchronization between hydrophone devices. It is also a prerequisite for the subsequent precise positioning of fish ultrasonic signal markers using a distance intersection method. This has a certain promoting effect on conducting fish behavior monitoring research in rivers, lakes and seas with low visibility.

[0050] The data quality real-time control system for time synchronization of fish ultrasonic hydrophones provided by the present invention is described below. The data quality real-time control system for time synchronization of fish ultrasonic hydrophones described below and the data quality real-time control method for time synchronization of fish ultrasonic hydrophones described above can be referenced to each other.

[0051] Figure 3 is a schematic diagram of the structure of a real-time control system for data quality synchronization of fish ultrasonic hydrophones provided by an embodiment of the present invention, such as Figure 3 As shown, it includes: a first estimation module 31, a second estimation module 32 and a control module 33, wherein: The first estimation module 31 is used to obtain the observation time value of any two hydrophones receiving ultrasonic signals, and calculate the prediction information of the ultrasonic signal observation time difference based on the observation time value; the second estimation module 32 is used to determine the difference value threshold between the prediction information of the ultrasonic signal observation time difference and the actual observation result; the control module 33 is used to use the difference value threshold and adopt the crowd-casting algorithm to determine the observation value of the problematic hydrophone.

[0052] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute a real-time control method for data quality for time synchronization of fish ultrasonic hydrophones, the method comprising: obtaining the observation time value of any two hydrophones receiving ultrasonic signals, calculating the prediction information of the ultrasonic signal observation time difference value from the observation time value; determining the difference value threshold between the prediction information of the ultrasonic signal observation time difference value and the actual observation result; using the difference value threshold value, adopting a crowd-casting algorithm to determine the observation value of the problematic hydrophone.

[0053] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0054] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the real-time control method of data quality for fish ultrasonic hydrophone time synchronization provided by the above methods. The method includes: obtaining the observation time value of any two hydrophones receiving ultrasonic signals, and calculating the prediction information of the ultrasonic signal observation time difference from the observation time value; determining the difference value threshold between the prediction information of the ultrasonic signal observation time difference and the actual observation result; using the difference value threshold, a crowd casting algorithm is used to determine the observation value of the problematic hydrophone.

[0055] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the real-time data quality control method for fish ultrasonic hydrophone time synchronization provided by the above-mentioned methods, the method comprising: obtaining the observation time value of any two hydrophones receiving ultrasonic signals, and calculating the predicted information of the ultrasonic signal observation time difference from the observation time value; determining the difference value threshold between the predicted information of the ultrasonic signal observation time difference and the actual observation result; and using the difference value threshold, adopting a crowd-casting algorithm to determine the observation value of the problematic hydrophone.

[0056] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0057] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A real-time control method for data quality of fish ultrasonic hydrophone time synchronization, characterized in that: include: Obtaining observation time values ​​of any two hydrophones receiving ultrasonic signals, and calculating prediction information of ultrasonic signal observation time difference from the observation time values; Determine a difference value threshold between the predicted information of ultrasonic signal observation time difference and the actual observation result; The difference value threshold is used to determine the problematic hydrophone observation value using a crowd-casting algorithm.

2. The real-time control method for data quality of fish ultrasonic hydrophone time synchronization according to claim 1, characterized in that: Obtaining observation time values ​​of any two hydrophones receiving ultrasonic signals, and calculating prediction information of ultrasonic signal observation time difference values ​​from the observation time values, including: Determine any two hydrophones as a and b, and mark them at time synchronization The ultrasonic signal is at time and Capture the signal and obtain the ultrasonic signal observation time difference of the two hydrophones : Calculate the time sequentially ~ The time difference corresponding to the broadcasting time of each time synchronization signal : in, is the number of the specified time; Calculate time difference The mean of the time synchronization signal is used as the prediction information corresponding to the next time synchronization signal broadcast time. : in, , Specifies an integer value, which is used to set the signal broadcasting interval of the time-synchronized ultrasonic marker.

3. The real-time control method for data quality of fish ultrasonic hydrophone time synchronization according to claim 2, characterized in that: Determine the difference value threshold between the predicted information of the ultrasonic signal observation time difference and the actual observation result, including: when When The square of the difference between the ultrasonic signal observation time difference of the two hydrophones and the ultrasonic signal observation time difference prediction information : calculate The mean : in, , To specify an integer value; Calculate the difference between the predicted value and the actual observation result : in, A positive floating point number.

4. The real-time control method for data quality of fish ultrasonic hydrophone time synchronization according to claim 1, characterized in that: Using the difference value threshold, a crowd-casting algorithm is used to determine the problematic hydrophone observation value, including: Step 3.1: for each newly captured time synchronization signal, establish the statistical value of each hydrophone and the time synchronization signal ,initialization is 0, where Number the hydrophones; Step 3.2, calculate the absolute value of the difference between the observed time difference and the predicted information of the newly captured ultrasonic signal at the two hydrophones: Step 3.3, if Less than threshold , then the two hydrophones and The corresponding statistical value Add 1 to each of them, that is, determine the two hydrophones and The observation information is voted as credible; Step 3.4, repeat steps 3.2 and 3.3 for the remaining groups of hydrophone observation pairs; Step 3.5, if the corresponding statistical value at each hydrophone Less than ,in If it is set to 0 or 1, it is determined that there is a problem with the observation data of the corresponding hydrophone, and it is eliminated during the hydrophone time synchronization data processing and does not participate in the stage of predicting information.

5. A real-time data quality control system for time synchronization of fish ultrasonic hydrophones, characterized in that: include: A first estimation module is used to obtain the observation time values ​​of any two hydrophones receiving ultrasonic signals, and calculate the prediction information of the ultrasonic signal observation time difference from the observation time values; The second estimation module is used to determine the difference value threshold between the predicted information of the ultrasonic signal observation time difference and the actual observation result; The control module is used to use the difference value threshold and a crowd-casting algorithm to determine the problematic hydrophone observation value.

6. The data quality real-time control system for time synchronization of fish ultrasonic hydrophones according to claim 5, characterized in that: The first estimation module is specifically used for: Determine any two hydrophones as a and b, and mark them at time synchronization The ultrasonic signal is at time and Capture the signal and obtain the ultrasonic signal observation time difference of the two hydrophones : Calculate the time sequentially ~ The time difference corresponding to the broadcasting time of each time synchronization signal : in, is the number of the specified time; Calculate time difference The mean of the time synchronization signal is used as the prediction information corresponding to the next time synchronization signal broadcast time. : in, , Specifies an integer value, which is used to set the signal broadcasting interval of the time-synchronized ultrasonic marker.

7. The data quality real-time control system for time synchronization of fish ultrasonic hydrophones according to claim 6, characterized in that: The second estimation module is specifically used for: when When The square of the difference between the ultrasonic signal observation time difference of the two hydrophones and the ultrasonic signal observation time difference prediction information : calculate The mean : in, , To specify an integer value; Calculate the difference between the predicted value and the actual observation result : in, A positive floating point number.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the real-time control method for data quality for time synchronization of fish ultrasonic hydrophones as described in any one of claims 1 to 4 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the real-time control method for data quality for time synchronization of fish ultrasonic hydrophones as claimed in any one of claims 1 to 4 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the real-time control method for data quality for time synchronization of fish ultrasonic hydrophones as claimed in any one of claims 1 to 4 is implemented.

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