Wave parameter data synchronous acquisition system and method for aircraft

Abstract

The invention belongs to the technical field of ocean wave vehicles, and discloses a wave parameter data synchronous acquisition system and method for a vehicle. The method comprises the following steps: acquiring measurement data by using a data acquisition module; a local time service and data analysis unit is used for carrying out data analysis on the collected measurement data to obtain corresponding local time service data; integrating the acquired corresponding local time service data to form complete local timestamp measurement data; the data transmission module sends the local timestamp measurement data to the router and then transmits the local timestamp measurement data to the server; the server combines the obtained local timestamp measurement data with the satellite time service, all-weather data synchronous acquisition under various weather conditions is realized, sea wave parameter acquisition of the wave vehicle is completed, and all-weather time service is realized by adopting a double time service mode combining the satellite time service and the local time service. According to the integrated solution of data acquisition, time service and data transmission, the efficiency and accuracy of data synchronous acquisition are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean wave vehicles, and in particular relates to a system and method for synchronously collecting wave parameter data of a vehicle. Background Art

[0002] Wave measurement is of great significance in marine scientific research, marine engineering, navigation safety and marine disaster monitoring and early warning. Accurate acquisition of wave data is crucial for understanding wave theory, verifying ocean numerical models and using wave energy to generate electricity. Wave measurement results are of great reference value in the fields of navigation safety, marine engineering design and construction, and marine disaster monitoring and early warning. As an important marine observation equipment, wave buoys can monitor ocean wave parameters in real time, including key data such as wave height, wave direction and wave period. These data are of great significance for understanding ocean dynamics, evaluating the impact of the marine environment on human activities, and predicting marine disasters.

[0003] Therefore, the measurement of wave-driven vehicle motion parameters and environmental variables such as wind, waves and currents is particularly important. The existing data acquisition system has certain difficulties in synchronous timing and signal acquisition and transmission.

[0004] Through the above analysis, the problems and defects of the existing technology are as follows: In the existing technology, the measurement of ship motion parameters and environmental parameters belongs to distributed measurement, and each measuring device or sensor is in a relatively scattered spatial position, and the synchronization timing and signal collection and transmission of the data acquisition system are difficult. In addition, the existing system is difficult to achieve accurate synchronization timing under climatic conditions where satellite signals cannot be obtained, which limits the ability of all-weather data synchronization collection. Summary of the invention

[0005] In order to overcome the problems existing in the related art, the disclosed embodiments of the present invention provide a system and method for synchronously collecting wave parameter data of a vehicle.

[0006] The technical solution is as follows: A method for synchronously collecting wave parameter data for a vessel comprises the following steps: S1, using a data acquisition module to collect measurement data; the data acquisition module includes: a three-axis acceleration sensor, a magnetometer, and a gyroscope; the collected measurement data includes: three-axis acceleration, three-axis magnetism, and angular velocity in a carrier coordinate system; S2, using the local timing and data analysis unit to analyze the collected three-axis acceleration, three-axis magnetic force, and angular velocity measurement data to obtain local timing data; S3, integrating the acquired local timing data to form complete local time-stamp measurement data, including: roll angle, heading angle and pitch angle values; S4, the data transmission module sends the local timestamp measurement data to the router and transmits it to the server; S5, the server combines the acquired local time-stamped measurement data with the satellite timing to achieve all-weather data synchronization collection under various climate conditions and complete the collection of marine wave parameters of the wave-driven vehicle.

[0007] In step S2, before the collected three-axis acceleration, three-axis magnetism, and angular velocity measurement data are analyzed using the local timing and data analysis unit, the earth coordinate system and the carrier coordinate system are converted, including: A vector in the carrier coordinate system , a vector in the geodetic coordinate system for ;vector With vector The transformation between them is decomposed into rotations around each axis; Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (1): (1); Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (2): (2); Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (3): (3); The rotation of a vector around any axis is expressed in the order of Z, Y, and X. The matrix C multiplication is shown in formula (4): (4).

[0008] Furthermore, the direction cosine matrix formula (5) of matrix C is: (5); From the above formula, we can see that the vector With vector The conversion formula between them is shown in formula (6): (6).

[0009] Further, obtain local timing data, including: The projection components of the three-axis acceleration in the carrier coordinate system on the three coordinate axes of the geodetic coordinate system are the values ​​to be measured and are recorded as Formula (7) shows: (7); In the formula, is the three-axis acceleration vector in the carrier coordinate system, is in the carrier coordinate system, along The acceleration component in the axial direction; is in the carrier coordinate system, along The acceleration component in the axial direction; is in the carrier coordinate system, along The acceleration component in the axial direction; is the transpose operator of a vector; In the geodetic coordinate system, the carrier is only affected by gravity acceleration, and the value measured by the three-axis acceleration sensor is As shown in formula (8): (8); In the formula, is the acceleration due to gravity, is the three-axis acceleration vector in the geodetic coordinate system; During the movement of the wave buoy, the heading angle of the wave buoy is zero, and the direction cosine matrix is ​​as follows: (9); The matrix Substituting into formula (6) we get formula (10): (10); By vector With vector The conversion relationship between them is used to obtain the pitch angle Roll Angle , the calculation formula is shown in formula (11) and formula (12): (11); (12).

[0010] Furthermore, obtaining local timing data also includes: The projection components of the three-axis magnetic force in the carrier coordinate system on the three coordinate axes of the geodetic coordinate system are the values ​​to be measured, denoted as As shown in formula (13): (13); In the formula, is the three-axis magnetic force vector in the carrier coordinate system; is in the carrier coordinate system, along Magnetic force component in the axial direction; is in the carrier coordinate system, along Magnetic force component in the axial direction; is in the carrier coordinate system, along Magnetic force component in the axial direction; In the geodetic coordinate system, the value measured by the three-axis magnetometer is , as shown in formula (14): (14); In the formula, is the three-axis magnetic force vector in the geodetic coordinate system, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction; According to the above formula (14), we can get: (15).

[0011] Furthermore, obtaining local timing data also includes: The angular velocity vector of the carrier coordinate system relative to the geographic coordinate system is expressed as , as shown in formula (16): (16); In the formula, is the angular velocity component about the X axis, is the angular velocity component around the Y axis, is the angular velocity component about the Z axis, is the angular velocity, which is the rotation speed of the carrier coordinate system relative to the geographic coordinate system.

[0012] In step S3, the acquired local timing data is integrated to form complete local timestamp measurement data, including: The angular velocity Projecting onto the X, Y, and Z axes yields the Euler angle differential equation, as shown in formula (17): (17); (18); In the formula, is the angular velocity vector of the integrated carrier coordinate system relative to the geographic coordinate system around the X-axis, is the angular velocity vector around the Y axis of the integrated carrier coordinate system relative to the geographic coordinate system; is the angular velocity vector of the integrated carrier coordinate system relative to the geographic coordinate system around the Z axis; according to this differential equation, the roll angle can be solved , heading angle And the pitch angle The numerical value of .

[0013] Another object of the present invention is to provide a system for synchronously collecting wave parameter data for a vessel, the system implementing the method for synchronously collecting wave parameter data for a vessel, the system comprising: The data acquisition module is used to collect three-axis acceleration, three-axis magnetism, and angular velocity through a three-axis accelerometer, a magnetometer, and a gyroscope; The local timing and data analysis unit is used to analyze the collected three-axis acceleration, three-axis magnetism, and angular velocity measurement data to obtain the corresponding local timing data; The local timing data integration module is used to integrate the corresponding local timing data to form complete local time stamp measurement data; A data transmission module, used to send local time stamp measurement data to the router and then to the server; The module combined with satellite timing is used for the server to combine the acquired local time-stamp measurement data with satellite timing, realize all-weather data synchronous collection under various climatic conditions, and complete the collection of marine wave parameters of wave-driven vehicles.

[0014] Furthermore, the wave parameter data synchronization acquisition system for a vehicle is carried on a wave glider to realize observation of wave characteristic parameters of the sea-air interface.

[0015] Furthermore, the wave parameter data synchronization collection system for a vehicle is carried on a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the functions of the wave parameter data synchronization collection system for a vehicle can be realized.

[0016] In combination with all the above technical solutions, the beneficial effects of the present invention are as follows: The present invention can achieve high-precision time synchronization, meet the accurate synchronous timing of data collection work under various climatic conditions, and realize all-weather data synchronous collection.

[0017] The present invention realizes high-precision time synchronization and improves the accuracy of data collection. The present invention adopts satellite timing combined with local timing synchronization unit to realize all-weather data synchronization collection. The present invention solves the problem of data synchronization timing under climatic conditions where satellite signals cannot be obtained. The present invention improves the efficiency and safety of wave-driven vehicles operating at sea.

[0018] The present invention adopts a dual time service mode combining satellite time service and local time service to achieve all-weather time service.

[0019] The design of local timing and multi-interface data acquisition and transmission device meets the needs of distributed measurement. The integrated solution of data acquisition, timing and data transmission improves the efficiency and accuracy of data synchronization acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the principles of the present disclosure; Figure 1 is a flow chart of a method for synchronously collecting wave parameter data of a vessel provided by an embodiment of the present invention; Figure 2 is a diagram showing the relationship between the earth coordinate system and the carrier coordinate system provided by an embodiment of the present invention; Figure 3 The coordinate rotation state provided by the embodiment of the present invention is rotated around the Z axis Schematic diagram; Figure 4 The coordinate rotation state provided by the embodiment of the present invention is rotated around the Y axis Schematic diagram; Figure 5 The coordinate rotation state provided by the embodiment of the present invention is rotated around the X axis Schematic diagram; Figure 6 is a schematic diagram of a simplified model of a wave glider provided by an embodiment of the present invention; Figure 7 is a collected wave height map provided by an embodiment of the present invention; Figure 8 It is a collected wave periodogram provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0022] The innovative point of the wave parameter data synchronization collection system and method for a vessel provided by the embodiments of the present invention is that the present invention provides a wave parameter data synchronization collection system for a wave-wave vessel, which realizes all-weather data synchronization collection under various climatic conditions by combining satellite timing with local timing, thereby improving the efficiency and safety of the wave-wave vessel's marine operations.

[0023] Embodiment 1: A system for synchronously collecting wave parameter data for a vessel provided by an embodiment of the present invention comprises: S1, using a data acquisition module to collect measurement data; the data acquisition module includes: a three-axis acceleration sensor, a magnetometer, and a gyroscope; the collected measurement data includes: three-axis acceleration, three-axis magnetism, and angular velocity in a carrier coordinate system; S2, using the local timing and data analysis unit to analyze the collected three-axis acceleration, three-axis magnetic force, and angular velocity measurement data to obtain local timing data; S3, integrating the acquired local timing data to form complete local time-stamp measurement data, including: roll angle, heading angle and pitch angle values; S4, the data transmission module sends the local timestamp measurement data to the router and transmits it to the server; S5, the server combines the acquired local time-stamped measurement data with the satellite timing to achieve all-weather data synchronization collection under various climate conditions and complete the collection of marine wave parameters of the wave-driven vehicle.

[0024] For example, in step S2, the coordinate conversion, the relationship between the earth coordinate system and the carrier coordinate system is as follows: Figure 2 shown.

[0025] Assume that a vector in the carrier coordinate system , a vector in the geodetic coordinate system for ;vector With vector The conversion between is decomposed into rotations around each axis; the process is as follows Figure 3 Rotate around the Z axis in the coordinate rotation state Schematic diagram, Figure 4 Rotation around the Y axis in the coordinate rotation state Schematic diagram, Figure 5 Rotation around the X axis in the coordinate rotation state As shown in the schematic diagram.

[0026] Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (1): (1); Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (2): (2); Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (3): (3); The rotation of a vector around any axis is expressed in the order of Z, Y, and X. The matrix C multiplication is shown in formula (4): (4); The direction cosine matrix formula (5) of matrix C is: (5); From the above formula, we can see that the vector With vector The conversion formula between them is shown in formula (6): (6); In the present invention, the attitude sensor is placed horizontally at the buoyancy center of the wave buoy, so the three sensitive axes of the accelerometer are parallel to the three coordinate axes of the carrier coordinate system. Therefore, the projection components of the three-axis acceleration in the carrier coordinate system on the three coordinate axes of the geodetic coordinate system are considered to be the values ​​to be measured and are recorded as As shown in formula (7): (7); In the formula, is the three-axis acceleration vector in the carrier coordinate system, is in the carrier coordinate system, along The acceleration component in the axial direction; is in the carrier coordinate system, along The acceleration component in the axial direction; is in the carrier coordinate system, along The acceleration component in the axial direction; is the transpose operator of a vector; In the geodetic coordinate system, the carrier is only affected by gravity acceleration, and the value measured by the three-axis acceleration sensor is As shown in formula (8): (8); In the formula, is the acceleration due to gravity, is the three-axis acceleration vector in the geodetic coordinate system; During the motion of the buoy, the heading angle of the buoy does not affect the projection components of the buoy's acceleration on the three coordinate axes of the geodetic coordinate system, nor does it affect the measured values ​​required for wave acceleration measurement. Therefore, it can be assumed that the heading angle of the buoy is is zero, then the direction angle cosine matrix is ​​as follows: (9); The matrix Substituting into formula (6) we get formula (10): (10); By vector With vector The conversion relationship between them is used to obtain the pitch angle Roll Angle , the calculation formula is shown in formula (11) and formula (12): (11); (12); Similarly, the three sensitive axes of the magnetometer are also parallel to the three coordinate axes of the carrier coordinate system. Therefore, the projection components of the three-axis magnetic force in the carrier coordinate system on the three coordinate axes of the geodetic coordinate system are the values ​​to be measured, which are recorded as As shown in formula (13): (13); In the formula, is the three-axis magnetic force vector in the carrier coordinate system; is in the carrier coordinate system, along Magnetic force component in the axial direction; is in the carrier coordinate system, along Magnetic force component in the axial direction; is in the carrier coordinate system, along Magnetic force component in the axial direction; In the geodetic coordinate system, the value measured by the three-axis magnetometer is , as shown in formula (14): (14); In the formula, is the three-axis magnetic force vector in the geodetic coordinate system, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction; According to the above formula (14), we can get: (15); in, is the angle calculated from the magnetometer measurement, specifically and The ratio of the angles is calculated using the inverse tangent function.

[0027] In addition, the three sensitive axes of the gyroscope are also parallel to the three coordinate axes of the carrier coordinate system, and the angular velocity vector of the carrier coordinate system relative to the geographic coordinate system can also be obtained, which is recorded as , as shown in formula (16): (16); In the formula, is the angular velocity component about the X axis, is the angular velocity component around the Y axis, is the angular velocity component about the Z axis, is the angular velocity, which is the rotation speed of the carrier coordinate system relative to the geographic coordinate system.

[0028] It can be understood that the geographic coordinate system refers to a coordinate system that uses longitude, latitude and altitude to describe the position of any point on the earth, with the earth as the center. It is a global coordinate system used for locations on the earth's surface.

[0029] A geodetic coordinate system is a coordinate system used for locations on the Earth's surface, usually based on a reference ellipsoid that approximates the Earth's shape. It also uses longitude, latitude, and altitude to describe the location of a point, but in some cases it may be optimized or adjusted for a specific area.

[0030] In practice, the two terms are sometimes used interchangeably, especially when it comes to position measurement and navigation on the Earth's surface, especially when it is necessary to relate the measurement data to the Earth's geographic location. There are subtle differences between the technical definitions, mainly in the reference frame and the specific application.

[0031] In step S3, the corresponding local timing data is integrated to form complete local time stamp measurement data, including: Projecting onto the X, Y, and Z axes gives the Euler angle differential equation, as shown in formula (17): (17); And the present invention innovatively proposes: (18); In the formula, is the angular velocity vector of the integrated carrier coordinate system relative to the geographic coordinate system around the X-axis, is the angular velocity vector around the Y axis of the integrated carrier coordinate system relative to the geographic coordinate system; is the angular velocity vector of the integrated carrier coordinate system relative to the geographic coordinate system around the Z axis; according to this differential equation, the roll angle can be solved , heading angle And the pitch angle The numerical value of .

[0032] Embodiment 2, illustratively, the present invention also provides a wave parameter data synchronization acquisition system for a vessel, wherein a local timing and multi-interface data acquisition and transmission device is configured at each device or sensor installation location to be measured. The system comprises: The data acquisition module is used to collect three-axis acceleration, three-axis magnetism, and angular velocity through a three-axis accelerometer, a magnetometer, and a gyroscope; The local timing and data analysis unit is used to analyze the collected three-axis acceleration, three-axis magnetism, and angular velocity measurement data to obtain the corresponding local timing data; The local timing data integration module is used to integrate the corresponding local timing data to form complete local timestamp measurement data, including: roll angle , heading angle And the pitch angle The value of A data transmission module, used to send local time stamp measurement data to the router and then to the server; The module combined with satellite timing is used for the server to combine the acquired local time-stamp measurement data with satellite timing, realize all-weather data synchronous collection under various climatic conditions, and complete the collection of marine wave parameters of wave-driven vehicles.

[0033] A local timing and multi-interface data acquisition and transmission device is configured at each device to be measured or sensor installation location.

[0034] It can be seen that the present invention adopts satellite timing combined with a local timing synchronization unit to meet the accurate synchronous timing of data collection work under climatic conditions where satellite signals cannot be obtained, thereby realizing all-weather data synchronous collection.

[0035] Example 3, illustratively, the wave glider and the wave buoy adopt the same wave measurement principle, both of which use internally installed sensors to collect motion parameters as the sea surface changes, and then calculate the wave characteristic parameters, thereby realizing large-scale observation of the sea-air interface.

[0036] Wave gliders and seaplanes have the same motion characteristics, and the motion of wave gliders on the sea surface is also affected by changes in fluid velocity and pressure. The geometric characteristics of the two on the sea surface are similar, so the wave glider will be used to verify the principle first, and relevant experiments will be conducted on seaplanes in the future.

[0037] like Figure 6 As shown in the simplified model of the wave glider, the wave glider causes heave motion through wave fluctuations, and establishes the corresponding coordinate system, the absolute coordinate system , relative coordinate system and The absolute coordinate system is connected to the earth, and the relative coordinate system origin It is the hinge point between the floating body and the cable. The wing at the wing axis is relative to the coordinate system The angle of rotation is .

[0038] The heaving motion caused by the waves causes the underwater tractor to rise and fall through the flexible cables. In the coordinate system, the rotating joint hydrofoil converts the lifting motion into the forward motion of the underwater tractor, which causes the surface rocking ship to move forward through the flexible cable. Therefore, on a non-stationary sea surface (a wavy sea surface), the underwater tractor is always under the surface rocking ship.

[0039] When the waves rise, In the coordinate system, the surface rocking ship swings vertically upward under the action of buoyancy, and produces forward motion due to the forward and downward pulling force of the flexible rope. When the wave is concave, the surface rocking ship also swings vertically upward, and produces forward motion due to the forward and upward pulling force of the flexible rope.

[0040] The comparative analysis of the present invention uses a wave sensor of the same type mounted on a wave glider and a wave buoy to compare wave elements at the same time and in the same sea area. The performance indicators of the wave sensor are shown in Table 1.

[0041] Table 1 Wave sensor parameters

[0042] The wave glider is divided into two parts, the upper part is the mother ship, and the lower part is the tractor. The main control system and most sensors are placed on the mother ship, and the wave sensor, as a more sensitive component, is placed in the center of the mother ship to minimize the error caused by the swinging of the hull. Its parameters are described in Table 2.

[0043] Table 2 Wave glider parameters

[0044] Table 3 shows the parameters of a certain type of wave buoy. The buoy measures waves by collecting the motion state of the buoy to calculate the wave height, wave period and wave direction.

[0045] Table 3 Wave buoy parameters

[0046] Since the main bodies of the wave glider and the seaplane are both cylindrical non-completely symmetrical structures and their movement modes are similar, it was decided to use the wave glider as an alternative to conduct the wave measurement experiment. The comparison test can be carried out with the wave buoy in the same sea area, as shown in Table 4, to ensure the accuracy and reliability of the data.

[0047] Table 4 Correlation coefficients of wave elements

[0048] By analyzing the statistical results of the data in Table 4, it can be seen that among the three main wave elements, the correlation coefficients of the significant wave height and the significant wave period reached 0.969 and 0.970 respectively, with a high correlation, indicating that the data of the two are quite consistent under this parameter. However, the correlation of the wave direction data is relatively weaker than that of the first two parameters, only 0.736, and the correlation coefficients of other wave elements such as one-tenth wave height, average wave height, one-tenth wave period, and average wave period are basically maintained above 0.9, and the consistency of the data is high, which proves the feasibility of the wave glider walking wave element measurement scheme.

[0049] To further illustrate the effects of the embodiments of the present invention, the following experiment was conducted.

[0050] 1. Basis for preparation.

[0051] According to the schedule specified in the project task book, the preparation of this report is mainly based on the following relevant specifications and standards: (1) GB / T 12763.1 Specification for Marine Surveys (2) GB / T 13972 General Technical Requirements for Marine Hydrological Observation Instruments (3) "Functional Specification Requirements for Marine Meteorological Drifting Observation Instrument" (4) "Regulations on the Management of Offshore Testing of Marine Instruments and Equipment" (5) Specifications for offshore testing of marine instruments (6) Standard System for Offshore Testing of Marine Instruments and Equipment Based on Mobile Platforms.

[0052] 2. Sea trial time.

[0053] November 08, 2024 - November 13, 2024.

[0054] 3. Sea trial location.

[0055] This sea trial is located in the southern coastal waters of a certain area, and the site is located at 36°18'8″N; 120°43'50″E.

[0056] The marine environmental conditions in this sea area are stable, with waves mainly of level 2 to 3. The annual average maximum wave height and average wave period are 0.89m and 4.4s respectively. The wave height changes are relatively consistent with the wind speed. Both the normal wave direction and the strong wave direction are southeast (SE), which provides a stable wave direction for the directional observation of the wave elves.

[0057] In summary, the southern coastal waters of a certain region are an ideal location for sea trials of wave buoys to compare wave measurement performance due to their superior marine environment, stable wave characteristics, scientific research foundation and clean water quality. They are also suitable for tests and research related to ocean wave observations.

[0058] 4. Sea trial environmental conditions. Water depth conditions: The low tide water depth at the operation location is about 7m; Bottom conditions: The underwater bottom is mainly muddy, suitable for anchoring.

[0059] 5. Deployment process. The deployment of the floating ball is carried out according to the standardized process of drifting buoy deployment. The buoy deployment process is divided into two parts: preliminary preparation work and formal deployment at sea.

[0060] 5.1, Preliminary work.

[0061] 5.1.1, Operation coordination. Before the sea trial and deployment of the buoy, the offshore operators and technical personnel were coordinated to participate in the operation coordination meeting, and the deployment task was discussed before the voyage according to the implementation plan. The deployment task process was simulated to understand the difficulties and possible problems in the deployment process. The plan was adjusted according to the meeting results, and the final deployment plan was confirmed. At the same time, it was emphasized to the offshore operators that during offshore operations, the deployment task should be carried out strictly in accordance with the deployment plan.

[0062] 5.1.2, Material preparation. Before deployment, the two sets of buoys have been tested several times in a certain sea area to test the signal reception and sensor operation of the buoys. According to the sea trial outline, the components, types, specifications and quantities of the deployed buoys were counted, the operation of the required instruments and equipment was comprehensively checked, and the product safety of the buoys and accessories was carefully checked to ensure that the products were in good condition before entering the sea.

[0063] 5.1.3, Product assembly and debugging. Offshore staff entered the site and pre-connected the sinker, anchor chain, shackle and other buoy accessories according to the equipment configuration and connection sequence diagram, confirmed the firmness of the structural connection, and ensured that the system connection points were reliably connected. The RX-D receiver of Wave Elf was deployed in the shore-based collection room, the antenna was set up on the roof or open ground, the collection computer was connected to the RX-D receiver, and the collection software was used for data collection. In addition, there is also a data storage function inside the buoy body, which can copy the data when it is recovered.

[0064] 5.1.4, Review of buoy status. Contact the shore-based staff and review the operation of each buoy based on the buoy factory inspection and bake-in record sheet to ensure that the buoy and its accessories are in good operating condition.

[0065] 5.2, Operation vessel inspection. Before going out to sea, a comprehensive inspection was conducted to confirm whether the vessel met the operation requirements and the safety of the vessel, and to confirm that the vessel met the operation requirements: 5.3, Deployment preparation. The deployment was mainly completed by single-vessel operation. After confirming that the equipment was operating normally, it was transported to the ship. After the offshore conditions met the operation requirements, the operators went out to sea with the ship to deploy it. Before setting sail, the operators connected and installed the accessories to the buoy, and simultaneously checked the connection between the accessories and the buoy to ensure that the shackles, ropes, etc. were tightened. At the same time, the operators sorted the anchor chains to ensure that they did not overlap or get knotted. After navigating to the predetermined deployment point using the ship and handheld positioning system, the buoy deployment work was carried out.

[0066] 5.4, ​​buoy deployment. When carrying out the mooring deployment of the surface floating buoy, the mooring system is composed of a surface float body, a nylon rope, an anchor chain and an anchor. The mooring point of the wave buoy is set on one side of the buoy body, and the mooring line connecting the wave buoy is always in a horizontal state. When the ship approaches the deployment point, stop the ship. The operators on board first throw the anchor into the water, and then put the surface float body and the buoy into the water in turn. After observing that there are no abnormalities in the buoy posture and data reception, go to the next deployment point. The data that can be obtained include: Figure 7 Wave height chart, Figure 8 It is a wave period diagram.

[0067] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for synchronously collecting wave parameter data of a spacecraft, characterized in that: The method comprises the following steps: S1, using a data acquisition module to collect measurement data; the data acquisition module includes: a three-axis acceleration sensor, a magnetometer, and a gyroscope; the collected measurement data includes: three-axis acceleration, three-axis magnetism, and angular velocity in a carrier coordinate system; S2, using the local timing and data analysis unit to analyze the collected three-axis acceleration, three-axis magnetic force, and angular velocity measurement data to obtain local timing data; S3, integrating the acquired local timing data to form complete local time-stamp measurement data, including: roll angle, heading angle and pitch angle values; S4, the data transmission module sends the local timestamp measurement data to the router and transmits it to the server; S5, the server combines the acquired local time-stamped measurement data with the satellite timing to achieve all-weather data synchronization collection under various climate conditions and complete the collection of marine wave parameters of the wave-driven vehicle.

2. The method for synchronously collecting wave parameter data for a vessel according to claim 1, characterized in that: In step S2, before the collected three-axis acceleration, three-axis magnetism, and angular velocity measurement data are analyzed using the local timing and data analysis unit, the earth coordinate system and the carrier coordinate system are converted, including: A vector in the carrier coordinate system , a vector in the geodetic coordinate system for ;vector With vector The transformation between them is decomposed into rotations around each axis; Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (1): （1）； Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (2): （2）； Vector around Axis rotation Angle, other axes remain unchanged, get a rotation matrix As shown in formula (3): （3）； The rotation of a vector around any axis is expressed in the order of Z, Y, and X. The matrix C multiplication is shown in formula (4): （4）。 3. The method for synchronously collecting wave parameter data for a vessel according to claim 2, characterized in that: The direction cosine matrix formula (5) of matrix C is: （5）； From the above formula, we can see that the vector With vector The conversion formula between is shown in formula (6): （6）。 4. The method for synchronously collecting wave parameter data for a vessel according to claim 3, characterized in that: Get local timing data, including: The projection components of the three-axis acceleration in the carrier coordinate system on the three coordinate axes of the geodetic coordinate system are the values ​​to be measured and are recorded as Formula (7) shows: （7）； In the formula, is the three-axis acceleration vector in the carrier coordinate system, is in the carrier coordinate system, along The acceleration component in the axial direction; is in the carrier coordinate system, along The acceleration component in the axial direction; is in the carrier coordinate system, along The acceleration component in the axial direction; is the transpose operator of a vector; In the geodetic coordinate system, the carrier is only affected by gravity acceleration, and the value measured by the three-axis acceleration sensor is As shown in formula (8): （8）； In the formula, is the acceleration due to gravity, is the three-axis acceleration vector in the geodetic coordinate system; During the movement of the wave buoy, the heading angle of the wave buoy is zero, and the direction cosine matrix is ​​as follows: （9） The matrix Substituting into formula (6) yields formula (10): （10） By vector With vector The conversion relationship between them is used to obtain the pitch angle Roll Angle , the calculation formula is shown in formula (11) and formula (12): （11）； （12）。 5. The method for synchronously collecting wave parameter data for a vessel according to claim 4, characterized in that: Obtaining local timing data also includes: The projection components of the three-axis magnetic force in the carrier coordinate system on the three coordinate axes of the geodetic coordinate system are the values ​​to be measured, denoted as As shown in formula (13): （13）； In the formula, is the three-axis magnetic force vector in the carrier coordinate system; is in the carrier coordinate system, along Magnetic force component in the axial direction; is in the carrier coordinate system, along Magnetic force component in the axial direction; is in the carrier coordinate system, along Magnetic force component in the axial direction; In the geodetic coordinate system, the value measured by the three-axis magnetometer is , as shown in formula (14): （14）； In the formula, is the three-axis magnetic force vector in the geodetic coordinate system, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction, is the edge of the geodetic coordinate system The axial magnetic force vector in the axial direction; According to the above formula (14), we can get: （15）。 6. The method for synchronously collecting wave parameter data for a vessel according to claim 5, characterized in that: Obtaining local timing data also includes: The angular velocity vector of the carrier coordinate system relative to the geographic coordinate system is expressed as , as shown in formula (16): （16）； In the formula, is the angular velocity component about the X axis, is the angular velocity component around the Y axis, is the angular velocity component about the Z axis, is the angular velocity, which is the rotation speed of the carrier coordinate system relative to the geographic coordinate system.

7. The method for synchronously collecting wave parameter data for a vessel according to claim 1, characterized in that: In step S3, the acquired local timing data is integrated to form complete local timestamp measurement data, including: The angular velocity Projecting onto the X, Y, and Z axes yields the Euler angle differential equation, as shown in formula (17): （17）； （18）； In the formula, is the angular velocity vector of the integrated carrier coordinate system relative to the geographic coordinate system around the X-axis, is the angular velocity vector around the Y axis of the integrated carrier coordinate system relative to the geographic coordinate system; is the angular velocity vector of the integrated carrier coordinate system relative to the geographic coordinate system around the Z axis; according to this differential equation, the roll angle can be solved , heading angle And the pitch angle The numerical value of .

8. A synchronous wave parameter data acquisition system for a vessel, characterized in that: The system implements the method for synchronously collecting wave parameter data for a vessel as claimed in any one of claims 1 to 7, and the system comprises: The data acquisition module is used to collect three-axis acceleration, three-axis magnetism, and angular velocity through a three-axis accelerometer, a magnetometer, and a gyroscope; The local timing and data analysis unit is used to analyze the collected three-axis acceleration, three-axis magnetism, and angular velocity measurement data to obtain the corresponding local timing data; The local timing data integration module is used to integrate the corresponding local timing data to form complete local time stamp measurement data; A data transmission module, used to send local time stamp measurement data to the router and then to the server; The module combined with satellite timing is used for the server to combine the acquired local time-stamp measurement data with satellite timing, realize all-weather data synchronous collection under various climatic conditions, and complete the collection of marine wave parameters of wave-driven vehicles.

9. The wave parameter data synchronous acquisition system for a vessel according to claim 8, characterized in that: The wave parameter data synchronous acquisition system for a vehicle is carried on a wave glider to realize observation of wave characteristic parameters of the sea-air interface.

10. The wave parameter data synchronous acquisition system for a vehicle according to claim 8, characterized in that: The wave parameter data synchronization collection system for a vehicle is carried on a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the functions of the wave parameter data synchronization collection system for a vehicle can be realized.

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