Real-time data quality control method for time synchronization of fish ultrasonic hydrophones

Abstract

This invention provides a real-time data quality control method for time synchronization of ultrasonic hydrophones in fish. The method includes: acquiring the observation time values ​​of ultrasonic signals received by any two hydrophones; calculating predicted information about the time difference between ultrasonic signal observations from the observation time values; determining a threshold value for the difference between the predicted information and the actual observation results; and using the threshold value, employing a crowdsourcing algorithm to determine the observation value of the problematic hydrophone. This invention employs a real-time data quality control method, which is fundamental to achieving high-precision time synchronization between hydrophone devices. It is also a prerequisite for subsequent precise positioning of fish ultrasonic signal markers using distance intersection methods, and it plays a significant role in promoting fish behavioral monitoring research in low-visibility rivers, lakes, and seas.

Description

Technical Field

[0001] This invention relates to the field of hydrophone technology, and in particular to a real-time data quality control method for time synchronization of ultrasonic hydrophones for fish. Background Technology

[0002] With increasing awareness of aquatic ecosystem protection, research on fish habitats has become particularly important. Due to the unique nature of the underwater environment, the main technical challenge in fish habitat research is tracking fish movement paths. Early researchers analyzed fish migration behavior using fishery statistics; however, fishery data is not independent data, and the inferred habitat range is large, with spawning grounds extending hundreds of meters or even kilometers, making it difficult to accurately locate suitable habitats. With technological advancements, emerging technologies such as eDNA, otolith microchemistry, and tagging and release techniques have provided new approaches to fish habitat research. However, eDNA and otolith discrimination techniques are both indirect methods, while tagging and release techniques can provide direct evidence for tracking fish movement paths and are an important technical means for fish localization.

[0003] Fish tagging primarily includes fluorescent tags, ultrasonic tags, PIT electromagnetic tags, radio tags, and T-tags. Among these, ultrasonic tags, due to their long propagation distance and low attenuation underwater, have significant application value in studying the migration and movement of fish throughout their entire life cycle at large watershed scales, as well as at the micro-habitat scale. Fish ultrasonic tagging technology involves placing a sufficiently small and lightweight acoustic tag inside or on the fish's body. Hydrophones receive the ultrasonic pulse signals emitted by the tag. By synchronously observing the same set of ultrasonic pulse signals with multiple hydrophones, the location of the tagged fish in the water area is determined using distance convergence. The prerequisite for accurately determining the swimming trajectory of tagged fish is high-precision time synchronization between different hydrophone devices to ensure that the observation results from different devices are under a unified time reference. Currently, there are no effective methods for real-time data quality control of the time synchronization operation of fish ultrasonic hydrophone devices. Summary of the Invention

[0004] This invention provides a real-time data quality control method for time synchronization of ultrasonic hydrophones in fish, in order to overcome the deficiencies in the prior art.

[0005] In a first aspect, the present invention provides a real-time data quality control method for time synchronization of a fish ultrasonic hydrophone, comprising:

[0006] Obtain the observation time values ​​of ultrasonic signals received by any two hydrophones, and calculate the prediction information of the observation time difference of ultrasonic signals from the observation time values;

[0007] Determine the threshold value for the difference between the predicted information and the actual observation results of the ultrasonic signal observation time difference;

[0008] Using the aforementioned difference threshold, a crowdsourcing algorithm is employed to determine the observations of the problematic hydrophone.

[0009] According to the present invention, a real-time data quality control method for time synchronization of ultrasonic hydrophones in fish is provided, which acquires the observation time values ​​of ultrasonic signals received by any two hydrophones, and calculates predictive information of the observation time difference of ultrasonic signals from the observation time values, including:

[0010] Determine any two hydrophones, a and b, and mark their time synchronization at time 1. The ultrasonic signals, respectively at time and Signal acquisition was performed to obtain the time difference between the ultrasonic signals observed by the two hydrophones. :

[0011]

[0012] Calculate time sequentially ~ The time difference corresponding to the broadcast time of each time synchronization signal :

[0013]

[0014] in, The number for the specified time;

[0015] Calculate the time difference The average value is used as the prediction information for the next time synchronization signal broadcast time. :

[0016]

[0017] in, , This is a specified integer value, set according to the signal broadcast interval of the time-synchronized ultrasonic marker.

[0018] According to the present invention, a real-time data quality control method for time synchronization of a fish ultrasonic hydrophone determines a threshold value for the difference between the predicted information of the ultrasonic signal observation time difference and the actual observation result, including:

[0019] when At that time, calculate The square of the difference between the time difference between the ultrasonic signal observations of the two hydrophones and the predicted information of the ultrasonic signal observation time difference. :

[0020]

[0021] calculate mean :

[0022]

[0023] in, , Specify an integer value;

[0024] Calculate the threshold for the difference between predicted values ​​and actual observations. :

[0025]

[0026] in, It is a positive floating-point number.

[0027] According to the present invention, a real-time data quality control method for time synchronization of ultrasonic hydrophones in fish is provided, which utilizes the difference threshold and employs a crowdsourcing algorithm to determine the observations of problematic hydrophones, including:

[0028] Step 3.1: For each newly acquired time synchronization signal, establish statistical values ​​for each hydrophone and the time synchronization signal. ,initialization =0, where Number the hydrophones;

[0029] Step 3.2, calculate the absolute value of the difference between the observed time difference at the two hydrophones and the predicted information for the newly acquired ultrasonic signal:

[0030]

[0031] Step 3.3, if Less than the threshold Then two hydrophones and Corresponding statistical values Add 1 to each, thus determining the two hydrophones. and The observational information was voted as reliable;

[0032] Step 3.4: Repeat steps 3.2 and 3.3 for the remaining hydrophone observation pairs;

[0033] Step 3.5, if the statistical value corresponding to each hydrophone... Less than ,in If set to 0 or 1, it indicates that there is a problem with the observation data of the corresponding hydrophone, and it will be removed during the hydrophone time synchronization data processing and will not be included in the prediction information stage.

[0034] Secondly, the present invention also provides a real-time data quality control system for time synchronization of fish ultrasonic hydrophones, comprising:

[0035] The first estimation module is used to obtain the observation time values ​​of ultrasonic signals received by any two hydrophones, and to calculate the prediction information of the observation time difference of ultrasonic signals from the observation time values.

[0036] The second estimation module is used to determine the threshold difference between the predicted information of the ultrasonic signal observation time difference and the actual observation result.

[0037] The control module is used to determine the observation value of the problem hydrophone by employing the crowdsourcing algorithm based on the difference threshold.

[0038] According to the present invention, a real-time data quality control system for time synchronization of ultrasonic hydrophones in fish is provided, wherein the first estimation module is specifically used for:

[0039] Determine any two hydrophones, a and b, and mark their time synchronization at time 1. The ultrasonic signals, respectively at time and Signal acquisition was performed to obtain the time difference between the ultrasonic signals observed by the two hydrophones. :

[0040]

[0041] Calculate time sequentially ~ The time difference corresponding to the broadcast time of each time synchronization signal :

[0042]

[0043] in, The number for the specified time;

[0044] Calculate the time difference The average value is used as the prediction information for the next time synchronization signal broadcast time. :

[0045]

[0046] in, , This is a specified integer value, set according to the signal broadcast interval of the time-synchronized ultrasonic marker.

[0047] According to the present invention, a real-time data quality control system for time synchronization of fish ultrasonic hydrophones is provided, wherein the second estimation module is specifically used for:

[0048] when At that time, calculate The square of the difference between the time difference between the ultrasonic signal observations of the two hydrophones and the predicted information of the ultrasonic signal observation time difference. :

[0049]

[0050] calculate mean :

[0051]

[0052] in, , Specify an integer value;

[0053] Calculate the threshold for the difference between predicted values ​​and actual observations. :

[0054]

[0055] in, It is a positive floating-point number.

[0056] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the real-time data quality control method for time synchronization of a fish ultrasonic hydrophone as described above.

[0057] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the real-time data quality control method for time synchronization of a fish ultrasonic hydrophone as described above.

[0058] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the real-time data quality control method for time synchronization of a fish ultrasonic hydrophone as described above.

[0059] This invention provides a real-time data quality control method for time synchronization of ultrasonic hydrophones in fish. First, it uses observations from previous time periods to recursively calculate the predicted value of the ultrasonic signal observation time difference between two hydrophones using a sequential averaging approach. Second, based on the consistency of the ultrasonic signal observation time differences between hydrophones at different previous times, it determines a threshold for the difference between the predicted value and the actual observation result at the current time. Finally, it employs a voting method, setting a voting value for the observation results at two hydrophones based on whether the difference between the observation time difference at any two hydrophones and the predicted information exceeds the threshold. Each observation value between hydrophones receives one vote at each hydrophone, and potentially problematic hydrophone observation information is selected through voting. This real-time data quality control method is the foundation for achieving high-precision time synchronization between hydrophone devices and a prerequisite for subsequent precise positioning of fish ultrasonic signal markers using distance intersection. It has a certain promoting effect on conducting fish behavioral monitoring research in low-visibility rivers, lakes, and seas. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0061] Figure 1 This is one of the flowcharts illustrating the real-time data quality control method for time synchronization of ultrasonic hydrophones in fish provided by the present invention.

[0062] Figure 2 This is the second flowchart of the real-time data quality control method for time synchronization of ultrasonic hydrophones for fish provided by the present invention.

[0063] Figure 3 This is a schematic diagram of the data quality real-time control system for time synchronization of ultrasonic hydrophones in fish, provided by the present invention.

[0064] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0066] Based on the shortcomings of existing technologies, this invention arranges hydrophones in a network and sets time synchronization. When a tagged fish enters the hydrophone network, the acoustic signal is received by multiple hydrophones simultaneously. Based on the difference in reception time, the precise location of the acoustic beacon carried by the fish can be calculated. Theoretically, the accuracy can reach the meter level or even smaller, which is a cutting-edge technology in the field of fish ecology.

[0067] Figure 1 This is one of the flowcharts illustrating a real-time data quality control method for time synchronization of ultrasonic hydrophones in fish, provided in an embodiment of the present invention. Figure 1 As shown, it includes:

[0068] Step 100: Obtain the observation time values ​​of ultrasonic signals received by any two hydrophones, and calculate the prediction information of the ultrasonic signal observation time difference from the observation time values;

[0069] Step 200: Determine the threshold value for the difference between the predicted information of the ultrasonic signal observation time difference and the actual observation result;

[0070] Step 300: Using the aforementioned difference threshold, the crowdsourcing algorithm is employed to determine the observation values ​​of the problematic hydrophone.

[0071] Before using ultrasonic marker signals for time synchronization between hydrophones, real-time data quality control of the ultrasonic signals acquired at the hydrophones is necessary to eliminate potentially problematic gross observations. Since real-time data processing only utilizes observation data from the current and previous time periods, and cannot use ultrasonic signal observation data from subsequent time periods to assist in detecting problematic data, the setting of evaluation criteria and the method for identifying problematic observation information are crucial when assessing the reliability of ultrasonic signal observation data quality in real time. On the one hand, it is necessary to predict the observed difference of the ultrasonic signal between different hydrophones as accurately as possible at the current moment for comparison with the actual observed value; on the other hand, it is also necessary to provide a reasonable and effective difference threshold to determine whether the observed difference of the ultrasonic signal at the current moment is valid; in addition, it is necessary to identify abnormal hydrophone observations from numerous candidate results of problematic observation differences so that they can be eliminated during the time synchronization calculation.

[0072] Therefore, this invention is described from three aspects: real-time estimation of the predicted information of the ultrasonic signal observation time difference, real-time determination of the threshold of the difference between the predicted value and the actual observation result, and determination of the problem hydrophone observation value based on the crowdsourcing method. Figure 2 As shown, it specifically includes:

[0073] Step 1: Real-time estimation of the predicted information of the time difference of ultrasonic signal observation

[0074] Step 1.1, for any two hydrophone devices a and b, assume that the time synchronization marker is set to... The ultrasonic signal is broadcast continuously, and the hydrophone records the value of its internal clock at the moment of signal acquisition. , Then, at this time, the time difference between the ultrasonic signal observations of the two hydrophones is... It can be represented as:

[0075] (1)

[0076] Step 1.2 can be calculated sequentially in real time. ~ The corresponding time of broadcasting of various time synchronization signals :

[0077] (2)

[0078] in, The number for the specified time.

[0079] Step 1.3: Calculate the time difference of ultrasonic signal observation between the two hydrophones using the sequential mean method shown in formula (3). The average value is used as the prediction information for the next time synchronization signal broadcast time.

[0080] (3)

[0081] in, , This is a specified integer value, set according to the signal broadcast time interval of the time-synchronized ultrasonic markers, generally... .

[0082] Step 2: Real-time determination of the threshold for the difference between predicted and actual observation results

[0083] Step 2.1, when At that time, calculate At time, 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).

[0084] (4)

[0085] Step 2.2, calculate the sequential mean using the method shown in formula (5). The mean.

[0086] (5)

[0087] in, , To specify an integer value, generally .

[0088] Step 2.3: Use formula (6) to calculate the threshold of the difference between the predicted value and the actual observation result.

[0089] (6)

[0090] in, For positive floating-point numbers, generally .

[0091] Step 3: Determine the observation values ​​of the problematic hydrophone based on the crowdsourcing method.

[0092] Step 3.1: During real-time data processing, for each newly acquired time synchronization signal, establish statistical values ​​between each hydrophone and that signal. And set it to 0, where Number the hydrophone.

[0093] Step 3.2: Calculate the absolute value of the difference between the observation time difference at the two hydrophones and the aforementioned prediction information for the newly captured ultrasonic signal.

[0094] (7)

[0095] Step 3.3, if Less than the threshold ,but , Statistical values ​​corresponding to the two hydrophones Add 1 to each, meaning that the observation information from these two hydrophones is considered reliable.

[0096] Step 3.4: For the other hydrophone observation pairs, repeat steps 3.2 and 3.3.

[0097] Step 3.5, statistical values ​​corresponding to each hydrophone. If less than ,in If the value is set to 0 or 1, it is considered that the hydrophone observation data may have problems and will be removed during the hydrophone time synchronization data processing. It will also 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) will not be updated with hydrophone observation values ​​that may have problems.

[0098] This invention proposes a real-time data quality control method for time synchronization of hydrophones used for ultrasonic tagging signals in fish. In the real-time data quality control process, the method first uses the observation results of hydrophones from previous time periods to recursively calculate the predicted value of the ultrasonic signal observation time difference between two hydrophones using a sequential averaging approach. Secondly, based on the consistency of the ultrasonic signal observation time differences between hydrophones at different previous times, a threshold is determined for the difference between the predicted value and the actual observation result at the current time. Finally, a voting method is used, setting a voting value for the observation results at two hydrophones based on whether the difference between the observation time difference at any two hydrophones and the predicted information exceeds the threshold. Each group of hydrophone observations has one vote at each hydrophone, and potentially problematic hydrophone observation information is selected through voting.

[0099] The real-time data quality control method described in this invention is the foundation for achieving high-precision time synchronization between hydrophone devices. It is also a prerequisite for subsequent precise positioning of fish ultrasonic signal markers using distance intersection. This has a certain promoting effect on carrying out fish behavioral monitoring research in low-visibility rivers, lakes and seas.

[0100] The following describes the real-time data quality control system for time synchronization of fish ultrasonic hydrophones provided by the present invention. The real-time data quality control system for time synchronization of fish ultrasonic hydrophones described below can be referred to in correspondence with the real-time data quality control method for time synchronization of fish ultrasonic hydrophones described above.

[0101] Figure 3 This is a schematic diagram of the data quality real-time control system for time synchronization of fish ultrasonic hydrophones provided in an embodiment of the present invention, as shown below. Figure 3 As shown, it includes: a first estimation module 31, a second estimation module 32, and a control module 33, wherein:

[0102] The first estimation module 31 is used to obtain the observation time values ​​of ultrasonic signals received by any two hydrophones, and calculate the prediction information of the ultrasonic signal observation time difference from the observation time values; the second estimation module 32 is used to determine the difference 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 threshold to determine the observation value of the problem hydrophone using a crowdsourcing algorithm.

[0103] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... 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 via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a real-time data quality control method for time synchronization of fish ultrasonic hydrophones. This method includes: acquiring the observation time values ​​of ultrasonic signals received by any two hydrophones; calculating predicted information of the ultrasonic signal observation time difference from the observation time values; determining a difference threshold between the predicted information of the ultrasonic signal observation time difference and the actual observation result; and using the difference threshold, employing a crowdsourcing algorithm to determine the observation value of the problematic hydrophone.

[0104] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] On the other hand, the present invention also provides a computer program product, which includes a computer program that 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 data quality control method for time synchronization of fish ultrasonic hydrophones provided by the above methods. The method includes: acquiring observation time values ​​of ultrasonic signals received by any two hydrophones; calculating predicted information of the ultrasonic signal observation time difference from the observation time values; determining a difference threshold between the predicted information of the ultrasonic signal observation time difference and the actual observation result; and using the difference threshold, employing a crowdsourcing algorithm to determine the observation value of the problematic hydrophone.

[0106] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements a real-time data quality control method for time synchronization of ultrasonic hydrophones for fish, as provided by the methods described above. The method includes: acquiring observation time values ​​of ultrasonic signals received by any two hydrophones; calculating predicted information of the ultrasonic signal observation time difference from the observation time values; determining a difference threshold between the predicted information of the ultrasonic signal observation time difference and the actual observation result; and using the difference threshold, employing a crowdsourcing algorithm to determine the observation value of the problematic hydrophone.

[0107] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0109] 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A real-time data quality control method for time synchronization of ultrasonic hydrophones in fish, characterized in that, include: Obtain the observation time values ​​of ultrasonic signals received by any two hydrophones, and calculate the prediction information of the observation time difference of ultrasonic signals from the observation time values; Determine the threshold value for the difference between the predicted information and the actual observation results of the ultrasonic signal observation time difference; Using the aforementioned difference threshold, a crowdsourcing algorithm is employed to determine the observations of the problematic hydrophone; Obtain the observation time values ​​of ultrasonic signals received by any two hydrophones, and calculate the prediction information of the observation time difference of the ultrasonic signals from the observation time values, including: Determine any two hydrophones, a and b, and mark their time synchronization at time 1. The ultrasonic signals, respectively at time and Signal acquisition was performed to obtain the time difference between the ultrasonic signals observed by the two hydrophones. : Calculate time sequentially ~ The time difference corresponding to the broadcast time of each time synchronization signal : in, The number for the specified time; Calculate the time difference The average value is used as the prediction information for the next time synchronization signal broadcast time. : in, , The specified integer value is set according to the signal broadcast interval of the time-synchronized ultrasonic marker; Using the aforementioned difference threshold, a crowdsourcing algorithm is employed to determine the observations of the problematic hydrophone, including: Step 3.1: For each newly acquired time synchronization signal, establish statistical values ​​for each hydrophone and the time synchronization signal. ,initialization =0, where Number the hydrophone; Step 3.2, calculate the absolute value of the difference between the observed time difference at the two hydrophones and the predicted information for the newly acquired ultrasonic signal: Step 3.3, if Less than the threshold Then two hydrophones and Corresponding statistical values Add 1 to each, thus determining the two hydrophones. and The observational information was voted as reliable; Step 3.4: Repeat steps 3.2 and 3.3 for the remaining hydrophone observation pairs; Step 3.5, if the statistical value corresponding to each hydrophone... Less than ,in If set to 0 or 1, it indicates that there is a problem with the observation data of the corresponding hydrophone, and it will be removed during the hydrophone time synchronization data processing and will not be included in the prediction information stage.

2. The real-time data quality control method for time synchronization of fish ultrasonic hydrophones according to claim 1, characterized in that, Determine the threshold value for the difference between the predicted information and the actual observation results of the ultrasonic signal observation time difference, including: when At that time, calculate The square of the difference between the time difference between the ultrasonic signal observations of the two hydrophones and the predicted information of the ultrasonic signal observation time difference. : calculate mean : in, , Specify an integer value; Calculate the threshold for the difference between predicted values ​​and actual observations. : in, It is a positive floating-point number.

3. A real-time data quality control system for time synchronization of ultrasonic hydrophones in fish, characterized in that, include: The first estimation module is used to obtain the observation time values ​​of ultrasonic signals received by any two hydrophones, and to calculate the prediction information of the observation time difference of ultrasonic signals from the observation time values. The second estimation module is used to determine the threshold difference between the predicted information of the ultrasonic signal observation time difference and the actual observation result. The control module is used to determine the observation value of the problem hydrophone by employing the crowdsourcing algorithm based on the difference threshold. The first estimation module is specifically used for: Determine any two hydrophones, a and b, and mark their time synchronization at time 1. The ultrasonic signals, respectively at time and Signal acquisition was performed to obtain the time difference between the ultrasonic signals observed by the two hydrophones. : Calculate time sequentially ~ The time difference corresponding to the broadcast time of each time synchronization signal : in, The number for the specified time; Calculate the time difference The average value is used as the prediction information for the next time synchronization signal broadcast time. : in, , The specified integer value is set according to the signal broadcast interval of the time-synchronized ultrasonic marker; The control module is specifically used for: Step 3.1: For each newly acquired time synchronization signal, establish statistical values ​​for each hydrophone and the time synchronization signal. ,initialization =0, where Number the hydrophone; Step 3.2, calculate the absolute value of the difference between the observed time difference at the two hydrophones and the predicted information for the newly acquired ultrasonic signal: Step 3.3, if Less than the threshold Then two hydrophones and Corresponding statistical values Add 1 to each, thus determining the two hydrophones. and The observational information was voted as reliable; Step 3.4: Repeat steps 3.2 and 3.3 for the remaining hydrophone observation pairs; Step 3.5, if the statistical value corresponding to each hydrophone... Less than ,in If set to 0 or 1, it indicates that there is a problem with the observation data of the corresponding hydrophone, and it will be removed during the hydrophone time synchronization data processing and will not be included in the prediction information stage.

4. The real-time data quality control system for time synchronization of fish ultrasonic hydrophones according to claim 3, characterized in that, The second estimation module is specifically used for: when At that time, calculate The square of the difference between the time difference between the ultrasonic signal observations of the two hydrophones and the predicted information of the ultrasonic signal observation time difference. : calculate mean : in, , Specify an integer value; Calculate the threshold for the difference between predicted values ​​and actual observations. : in, It is a positive floating-point number.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the real-time data quality control method for time synchronization of fish ultrasonic hydrophones as described in claim 1 or 2.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the real-time data quality control method for time synchronization of fish ultrasonic hydrophones as described in claim 1 or 2.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the real-time data quality control method for time synchronization of fish ultrasonic hydrophones as described in claim 1 or 2.

Images