An unmanned ship-based ocean hydrological multi-parameter section observation system and method

Abstract

This invention discloses a multi-parameter transect observation system and method for marine hydrology based on an unmanned vessel, relating to the field of transect observation. It addresses the problem of poor observation results in existing marine transect observation systems. The system includes a transect temperature module: performing water depth and temperature analysis on sample marine observation transects and obtaining the corresponding transect temperature index observation coefficient based on the analysis results; a transect salinity module: performing water depth and salinity analysis on sample marine observation transects and obtaining the corresponding transect salinity index observation coefficient based on the analysis results; and an observation feedback module: assessing the water body stability of the sample marine observation transect based on the transect salinity index observation coefficient and the transect temperature index observation coefficient. This invention improves the accuracy and comprehensiveness of marine transect observation results.

Description

Technical Field

[0001] This invention belongs to the field of transect observation and relates to unmanned surface vessel (USV) technology. Specifically, it is a multi-parameter transect observation system and method for marine hydrology based on USV. Background Technology

[0002] Existing multi-parameter transect observation systems for marine hydrology have the following specific shortcomings when conducting transect observations:

[0003] 1. Existing marine hydrological multi-parameter transect observation systems cannot perform transect temperature coverage depth analysis on sample marine observation transects, and cannot obtain the transect temperature index observation coefficients corresponding to the sample marine observation transects based on the analysis results. As a result, the observation system has difficulty in observing the stratification and mixing state of the water body, thus resulting in a lack of comprehensiveness in the observation results.

[0004] 2. Existing marine hydrological multi-parameter cross-sectional observation systems cannot use the cross-sectional temperature index observation coefficient and the cross-sectional salinity index observation coefficient to assess the stability of the cross-sectional water body, resulting in a lack of accuracy in the cross-sectional water body stability assessment results.

[0005] To this end, we propose a multi-parameter transect observation system and method for marine hydrology based on unmanned vessels. Summary of the Invention

[0006] In view of the shortcomings of existing technologies, the purpose of this invention is to provide a multi-parameter transect observation system and method for marine hydrology based on unmanned vessels. This invention aims to improve the comprehensiveness and accuracy of marine transect observation results.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a multi-parameter transect observation system for marine hydrology based on an unmanned vessel, comprising:

[0008] Sectional Temperature Module: Performs water depth temperature analysis on the sample ocean observation section, and obtains the observation coefficient of the section temperature index corresponding to the sample ocean observation section based on the analysis results;

[0009] Sectional salinity module: Performs water depth and salinity analysis on sample marine observation sections, and obtains the observation coefficient of the section salinity index corresponding to the sample marine observation section based on the analysis results;

[0010] Observation feedback module: Based on the observation coefficients of cross-sectional salinity and temperature, the stability of the sample marine observation cross-section is assessed.

[0011] Furthermore, the observation coefficients for the cross-sectional temperature index are obtained, as follows:

[0012] Mark a target monitoring area in the current navigation area of ​​the unmanned vessel, set up several sea area cross-section straight lines perpendicular to the coastline on the sea surface of the target monitoring water area, draw the perpendicular plane between each sea area cross-section straight line and the horizontal plane to obtain multiple ocean observation sections, and select a sample ocean observation section from the multiple ocean observation sections obtained.

[0013] The corresponding sea area cross-section line in the sample ocean observation section is obtained, and several temperature marker points are selected in the sea area cross-section line;

[0014] In the sample ocean observation section, a straight line perpendicular to the coastline is drawn through each temperature marker point to obtain multiple cross-sectional temperature monitoring lines, and a sample temperature monitoring line is selected from the multiple cross-sectional temperature monitoring lines.

[0015] Temperature monitoring is performed on the sample temperature monitoring line, and the overlap of the cross-sectional temperature distribution corresponding to the sample temperature monitoring line is obtained based on the monitoring results.

[0016] The overlap of temperature distributions at each cross-section is obtained from the temperature monitoring line. The values ​​of the multiple overlap values ​​are compared, and the overlap value with the largest value is marked as the observation coefficient of the cross-section temperature index.

[0017] Furthermore, the overlap of the cross-sectional temperature distribution is obtained, as follows:

[0018] Among the multiple cross-sectional temperature monitoring lines, the cross-sectional temperature monitoring lines other than the sample temperature monitoring line are named as X1 cross-sectional temperature line to Xc cross-sectional temperature line, respectively.

[0019] A temperature index interval analysis was performed on the longitudinal sea area covered by the sample temperature monitoring line to obtain the T1 temperature coverage depth interval to the Ta temperature coverage depth interval corresponding to the sample temperature monitoring line.

[0020] The temperature interval overlap analysis was performed between the sample temperature monitoring line and the X1 section temperature line, and the temperature overlap of the X1 section was obtained based on the analysis results.

[0021] The temperature coincidence between the sample temperature monitoring line and the temperature line from section X2 to section Xc is obtained respectively, thus obtaining the temperature coincidence between section X2 and section Xc.

[0022] The average value of the temperature overlap from section X1 to section Xc is calculated to obtain the temperature distribution overlap of the section corresponding to the sample temperature monitoring line.

[0023] The overlap of temperature distributions at each cross-section is obtained from the temperature monitoring line. The values ​​of the multiple overlap values ​​are compared, and the overlap value with the largest value is marked as the observation coefficient of the cross-section temperature index.

[0024] Furthermore, the temperature coverage depth range from T1 to Ta is obtained, as detailed below:

[0025] Temperature values ​​are acquired in each cross-sectional area covered by the sample temperature monitoring line, resulting in multiple temperature values ​​for the line area. The values ​​of the multiple line area temperature values ​​are compared, and the range of values ​​formed by the maximum and minimum line area temperature values ​​is named the line area temperature range.

[0026] A characteristic temperature stratification value is set for the temperature range of the linear region. Within the temperature range of the linear region, the sum of the minimum linear region temperature value and the characteristic temperature stratification value is calculated to obtain the first temperature stratification preset value. The sum of the first temperature stratification preset value and the characteristic temperature stratification value is calculated to obtain the second temperature stratification preset value. And so on, the sum of the b-1th temperature sealing layer preset value and the characteristic temperature stratification value is calculated to obtain the ath temperature sealing layer preset value.

[0027] In the cross-sectional area covered by the sample temperature monitoring line, the cross-sectional area where the temperature value of the area is between the minimum temperature value of the straight line area and the first temperature layer preset value is marked as the T1 straight line temperature area, the cross-sectional area where the temperature value of the area is between the first temperature layer preset value and the second temperature layer preset value is marked as the T2 straight line temperature area, and so on. The cross-sectional area where the temperature value of the area is between the a-th temperature layer preset value and the maximum temperature value of the straight line area is marked as the Ta straight line temperature area.

[0028] In the sample temperature monitoring line, the sea depth range corresponding to the temperature area of ​​line T1 is obtained to obtain the temperature coverage depth interval of T1. The sea depth range corresponding to the temperature area of ​​line T2 is obtained to obtain the temperature coverage depth interval of T2. And so on, the sea depth range corresponding to the temperature area of ​​line Ta is obtained to obtain the temperature coverage depth interval of Ta.

[0029] Furthermore, the temperature overlap of section X1 was obtained, as follows:

[0030] The temperature line of section X1 is monitored, and the temperature coverage depth intervals from T1 to Ta corresponding to the temperature line of section X1 are obtained respectively, and then renamed to the temperature coverage depth intervals from XT1 to XTa.

[0031] The overlapping range of the temperature coverage depth ranges T1 and XT1 is obtained to obtain the overlapping value of the temperature range X1. The overlapping range of the temperature coverage depth ranges T2 and XT2 is obtained to obtain the overlapping value of the temperature range X2. Similarly, the overlapping range of the temperature coverage depth ranges Ta and XT1 is obtained to obtain the overlapping value of the temperature range Xa.

[0032] The range values ​​from the temperature coverage depth range of T1 to the temperature coverage depth range of Ta are obtained.

[0033] The temperature overlap of section X1 is obtained by calculating the temperature coverage depth range from T1 to Ta and the temperature overlap value from X1 to Xa.

[0034] The temperature overlap of section X1 is calculated.

[0035] Furthermore, the observation coefficients of the cross-sectional salinity index were obtained, as follows:

[0036] Obtain the corresponding sea area cross-section straight line in the sample ocean observation section, and select several salinity marker points in the sea area cross-section straight line;

[0037] In the sample marine observation section, a straight line perpendicular to the coastline is drawn through each salinity marker point to obtain multiple cross-sectional salinity monitoring lines, and a sample salinity monitoring line is selected from the multiple cross-sectional salinity monitoring lines.

[0038] Salinity is monitored on the sample salinity monitoring line, and the overlap of salinity distribution across the cross section corresponding to the sample salinity monitoring line is obtained based on the monitoring results;

[0039] The overlap of salinity distributions corresponding to the salinity monitoring line of each cross section is obtained, and the numerical values ​​of the obtained overlap of salinity distributions of multiple cross sections are compared. The cross section with the largest numerical value is marked as the observation coefficient of the salinity index.

[0040] Furthermore, the overlap of salinity distribution across the cross sections was obtained, as detailed below:

[0041] Among the multiple cross-sectional salinity monitoring lines, the cross-sectional salinity monitoring lines other than the sample salinity monitoring line are named as the S1 cross-sectional salinity line to the Sd cross-sectional salinity line, respectively.

[0042] A range analysis of salinity indices was performed on the longitudinal sea area covered by the sample temperature monitoring line to obtain the F1 salinity coverage depth range to the Fe salinity coverage depth range corresponding to the sample salinity monitoring line.

[0043] The salinity monitoring line of the sample was compared with the salinity line of section S1 to analyze the degree of overlap in salinity intervals. The degree of overlap of salinity in section S1 was obtained based on the analysis results.

[0044] Specifically as follows:

[0045] The salinity line of section S1 was monitored, and the salinity coverage depth intervals from F1 to Fe corresponding to the salinity line of section S1 were obtained respectively, and renamed to the salinity coverage depth intervals from SF1 to SFe.

[0046] The overlapping range of salinity coverage depth intervals F1 and SF1 is obtained to obtain the overlapping value of salinity range S1. The overlapping range of salinity coverage depth intervals F2 and SF2 is obtained to obtain the overlapping value of salinity range S2. Similarly, the overlapping range of salinity coverage depth intervals Fe and SFe is obtained to obtain the overlapping value of salinity range Se.

[0047] The range values ​​from the F1 salinity coverage depth range to the Fe salinity coverage depth range are obtained.

[0048] The salinity overlap of the S1 section is obtained by calculating the salinity coverage depth range from F1 to Fe and the salinity overlap range from S1 to Se.

[0049] Calculate the salinity overlap at section S1;

[0050] The overlap of sample salinity monitoring lines with the salinity lines from section S2 to section Sd is obtained, thus obtaining the overlap of salinity from section S2 to section Sd.

[0051] The average value of the salinity overlap from section S1 to section Sd is calculated to obtain the salinity distribution overlap of the section corresponding to the sample salinity monitoring line.

[0052] Furthermore, the salinity coverage depth range from F1 to Fe was obtained, as follows:

[0053] Salinity values ​​are acquired in each cross-sectional area covered by the sample salinity monitoring line, resulting in multiple salinity values ​​for the line area. The values ​​of the multiple line area salinity values ​​are compared, and the range of values ​​formed by the largest and smallest line area salinity values ​​is named the line area salinity range.

[0054] A characteristic salinity stratification value is set for the salinity range of the linear region. Within the salinity range of the linear region, the sum of the minimum salinity value of the linear region and the characteristic salinity stratification value is calculated to obtain the first salinity stratification preset value. The sum of the first salinity stratification preset value and the characteristic salinity stratification value is calculated to obtain the second salinity stratification preset value. And so on, the sum of the b-1th salinity sealing preset value and the characteristic salinity stratification value is calculated to obtain the eth salinity sealing preset value.

[0055] In the cross-sectional area covered by the sample salinity monitoring line, the cross-sectional area where the salinity value is between the minimum straight-line area salinity value and the first salinity stratification preset value is marked as F1 straight-line salinity area, the cross-sectional area where the salinity value is between the first salinity stratification preset value and the second salinity stratification preset value is marked as F2 straight-line salinity area, and so on, the cross-sectional area where the salinity value is between the e-th salinity stratification preset value and the maximum straight-line area salinity value is marked as Fe straight-line salinity area;

[0056] In the sample salinity monitoring line, the sea depth range corresponding to the salinity area of ​​line F1 is obtained to obtain the salinity coverage depth interval of line F1. Similarly, the sea depth range corresponding to the salinity area of ​​line F2 is obtained to obtain the salinity coverage depth interval of line F2. And so on, the sea depth range corresponding to the salinity area of ​​line Fe is obtained to obtain the salinity coverage depth interval of line Fe.

[0057] Furthermore, the stability of the water body at the sampled marine observation section was assessed, as follows:

[0058] The observation coefficients of the cross-sectional salinity index and the cross-sectional temperature index were obtained respectively.

[0059] The stability ranges of the cross-sectional salinity index and the stability range of the cross-sectional temperature index were obtained respectively.

[0060] If the observed coefficient of the cross-sectional salinity index is within the stability range of the cross-sectional salinity index, and the observed coefficient of the cross-sectional temperature index is within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be stable.

[0061] If the observed coefficient of the cross-sectional salinity index is not within the stability range of the cross-sectional salinity index, but the observed coefficient of the cross-sectional temperature index is within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable.

[0062] If the observed coefficient of the cross-sectional salinity index is within the stability range of the cross-sectional salinity index, but the observed coefficient of the cross-sectional temperature index is not within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable.

[0063] If the observed coefficients of the cross-sectional salinity index are not within the stability range of the cross-sectional salinity index, and the observed coefficients of the cross-sectional temperature index are not within the stability range of the cross-sectional temperature index, then the water body at the sample marine observation cross-section is judged to be unstable.

[0064] A method for multi-parameter transect observation of ocean hydrology based on unmanned surface vessels includes:

[0065] Step S1: Perform water depth and temperature analysis on the sample ocean observation section, and obtain the observation coefficient of the section temperature index corresponding to the sample ocean observation section based on the analysis results;

[0066] Step S2: Perform water depth and salinity analysis on the sample marine observation section, and obtain the observation coefficient of the section salinity index corresponding to the sample marine observation section based on the analysis results;

[0067] Step S3: Assess the stability of the marine water body at the sample marine observation section based on the observation coefficients of the cross-section salinity index and the cross-section temperature index.

[0068] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0069] 1. This invention analyzes the temperature coverage depth of sample ocean observation sections and obtains the observation coefficient of the corresponding cross-sectional temperature index based on the analysis results. This enables the observation system to better reflect the water stratification and mixing state, thereby improving the comprehensiveness of the observation results.

[0070] 2. This invention can use the observation coefficients of cross-sectional temperature index and cross-sectional salinity index to assess the stability of cross-sectional water bodies, thereby improving the accuracy of cross-sectional water body stability assessment results. Attached Figure Description

[0071] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0072] Figure 1 This is an overall system block diagram of the present invention;

[0073] Figure 2 This is a diagram illustrating the implementation steps of the present invention. Detailed Implementation

[0074] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0075] Example 1

[0076] Please see Figure 1 The present invention provides a technical solution: a marine hydrological multi-parameter transect observation system based on an unmanned vessel, comprising a transect temperature module, a transect salinity module, an observation feedback module and a server, wherein the transect temperature module, the transect salinity module and the observation feedback module are respectively connected to the server, and the server connects to the transect temperature module, the transect salinity module and the observation feedback module respectively.

[0077] The fault temperature module performs water depth temperature analysis on the sample ocean observation section and obtains the observation coefficient of the section temperature index corresponding to the sample ocean observation section based on the analysis results.

[0078] Specifically as follows:

[0079] Mark a target monitoring area in the current navigation area of ​​the unmanned vessel, set up several sea area cross-section straight lines perpendicular to the coastline on the sea surface of the target monitoring water area, draw the perpendicular plane between each sea area cross-section straight line and the horizontal plane to obtain multiple ocean observation sections, and select a sample ocean observation section from the multiple ocean observation sections obtained.

[0080] In this application, all of the marine observation sections mentioned herein are sections perpendicular to the coastline;

[0081] In this application, the target monitoring area referred to herein is a special confluence area, which includes, but is not limited to, ocean current confluence areas, river estuaries, and tributary confluence areas.

[0082] The sample ocean observation section involved here specifically refers to the target section observed by the unmanned vessel.

[0083] Longitudinal temperature parameters of the sample ocean observation section were monitored, and the temperature stratification ratio of section W1 was obtained based on the monitoring results.

[0084] Specifically as follows:

[0085] The corresponding sea area cross-section line in the sample ocean observation section is obtained, and several temperature marker points are selected in the sea area cross-section line;

[0086] In the sample ocean observation section, a straight line perpendicular to the coastline is drawn through each temperature marker point to obtain multiple cross-sectional temperature monitoring lines, and a sample temperature monitoring line is selected from the multiple cross-sectional temperature monitoring lines.

[0087] Temperature monitoring is performed on the sample temperature monitoring line, and the overlap of the cross-sectional temperature distribution corresponding to the sample temperature monitoring line is obtained based on the monitoring results.

[0088] Among the multiple cross-sectional temperature monitoring lines, the cross-sectional temperature monitoring lines other than the sample temperature monitoring line are named as X1 cross-sectional temperature line to Xc cross-sectional temperature line, respectively.

[0089] It should be noted here that:

[0090] In this application, X is the symbol corresponding to the cross-sectional temperature line, and c is the quantity value corresponding to the cross-sectional temperature line, where c is an integer greater than 0.

[0091] A temperature index interval analysis was performed on the longitudinal sea area covered by the sample temperature monitoring line to obtain the T1 temperature coverage depth interval to the Ta temperature coverage depth interval corresponding to the sample temperature monitoring line.

[0092] Specifically as follows:

[0093] Temperature values ​​are acquired in each cross-sectional area covered by the sample temperature monitoring line, resulting in multiple temperature values ​​for the line area. The values ​​of the multiple line area temperature values ​​are compared, and the range of values ​​formed by the maximum and minimum line area temperature values ​​is named the line area temperature range.

[0094] A characteristic temperature stratification value is set for the temperature range of the linear region. Within the temperature range of the linear region, the sum of the minimum linear region temperature value and the characteristic temperature stratification value is calculated to obtain the first temperature stratification preset value. The sum of the first temperature stratification preset value and the characteristic temperature stratification value is calculated to obtain the second temperature stratification preset value. And so on, the sum of the b-1th temperature sealing layer preset value and the characteristic temperature stratification value is calculated to obtain the ath temperature sealing layer preset value.

[0095] It should be noted here that:

[0096] In this application, the specific characteristic temperature layer value involved here is 5℃. The preset value of the a-th temperature layer involved here must be less than the temperature value of the maximum straight line area, and the temperature value of the maximum straight line area and the preset value of the a-th temperature layer must be less than the characteristic temperature layer value.

[0097] In the cross-sectional area covered by the sample temperature monitoring line, the cross-sectional area where the temperature value of the area is between the minimum temperature value of the straight line area and the first temperature layer preset value is marked as the T1 straight line temperature area, the cross-sectional area where the temperature value of the area is between the first temperature layer preset value and the second temperature layer preset value is marked as the T2 straight line temperature area, and so on. The cross-sectional area where the temperature value of the area is between the a-th temperature layer preset value and the maximum temperature value of the straight line area is marked as the Ta straight line temperature area.

[0098] It should be noted here that:

[0099] In this application, the linear temperature region involved here includes the case where the region temperature value is greater than the smaller value, that is, the T1 linear temperature region includes the case where the region temperature value is equal to the minimum linear region temperature value, but does not include the case where the region temperature value is equal to the first temperature layer preset value.

[0100] In the sample temperature monitoring line, the sea depth range corresponding to the temperature area of ​​line T1 is obtained to obtain the temperature coverage depth interval of T1. The sea depth range corresponding to the temperature area of ​​line T2 is obtained to obtain the temperature coverage depth interval of T2. And so on, the sea depth range corresponding to the temperature area of ​​line Ta is obtained to obtain the temperature coverage depth interval of Ta.

[0101] The temperature interval overlap analysis was performed between the sample temperature monitoring line and the X1 section temperature line, and the temperature overlap of the X1 section was obtained based on the analysis results.

[0102] The temperature line of section X1 is monitored, and the temperature coverage depth intervals from T1 to Ta corresponding to the temperature line of section X1 are obtained respectively, and then renamed to the temperature coverage depth intervals from XT1 to XTa.

[0103] It should be noted here that:

[0104] If the temperature line of section X1 has any temperature coverage depth interval, then the corresponding temperature coverage depth interval is marked with 0.

[0105] The overlapping range of the temperature coverage depth ranges T1 and XT1 is obtained to obtain the overlapping value of the temperature range X1. The overlapping range of the temperature coverage depth ranges T2 and XT2 is obtained to obtain the overlapping value of the temperature range X2. Similarly, the overlapping range of the temperature coverage depth ranges Ta and XT1 is obtained to obtain the overlapping value of the temperature range Xa.

[0106] The range values ​​from the temperature coverage depth range of T1 to the temperature coverage depth range of Ta are obtained.

[0107] The temperature overlap of section X1 is obtained by calculating the temperature coverage depth range from T1 to Ta and the temperature overlap value from X1 to Xa.

[0108] The temperature coincidence degree of section X1 is calculated using the following formula:

[0109]

[0110] Wherein, Wcx1 is the temperature overlap of the X1 section, Wffi is the temperature range overlap value of Xi, Wdfi is the temperature coverage depth range value of Ti, and a is the number of linear temperature regions.

[0111] Repeat the process of obtaining the temperature coincidence of section X1, and obtain the temperature coincidence of the sample temperature monitoring line and the temperature line from section X2 to section Xc respectively, to obtain the temperature coincidence of section X2 to section Xc.

[0112] The average value of the temperature overlap from section X1 to section Xc is calculated to obtain the temperature distribution overlap of the section corresponding to the sample temperature monitoring line.

[0113] Repeat the process of obtaining the overlap of the temperature distribution of the cross section corresponding to the sample temperature monitoring line, obtain the overlap of the temperature distribution of the cross section corresponding to each cross section temperature monitoring line, and compare the numerical values ​​of the obtained overlap of the temperature distribution of the cross section, and mark the overlap of the temperature distribution of the cross section with the largest value as the observation coefficient of the cross section temperature index.

[0114] The fault salinity module performs water depth and salinity analysis on the sample marine observation section and obtains the observation coefficient of the section salinity index corresponding to the sample marine observation section based on the analysis results.

[0115] Specifically as follows:

[0116] Longitudinal salinity index was monitored at the sample marine observation section, and the salinity stratification ratio of section Y1 was obtained based on the monitoring results.

[0117] Specifically as follows:

[0118] Obtain the corresponding sea area cross-section straight line in the sample ocean observation section, and select several salinity marker points in the sea area cross-section straight line;

[0119] In the sample marine observation section, a straight line perpendicular to the coastline is drawn through each salinity marker point to obtain multiple cross-sectional salinity monitoring lines, and a sample salinity monitoring line is selected from the multiple cross-sectional salinity monitoring lines.

[0120] Salinity is monitored on the sample salinity monitoring line, and the overlap of salinity distribution across the cross section corresponding to the sample salinity monitoring line is obtained based on the monitoring results;

[0121] Among the multiple cross-sectional salinity monitoring lines, the cross-sectional salinity monitoring lines other than the sample salinity monitoring line are named as the S1 cross-sectional salinity line to the Sd cross-sectional salinity line, respectively.

[0122] It should be noted here that:

[0123] In this application, S is the symbol corresponding to the cross-sectional salinity line, and d is the quantitative value corresponding to the cross-sectional salinity line, and d is an integer greater than 0.

[0124] A range analysis of salinity indices was performed on the longitudinal sea area covered by the sample temperature monitoring line to obtain the F1 salinity coverage depth range to the Fe salinity coverage depth range corresponding to the sample salinity monitoring line.

[0125] Specifically as follows:

[0126] Salinity values ​​are acquired in each cross-sectional area covered by the sample salinity monitoring line, resulting in multiple salinity values ​​for the line area. The values ​​of the multiple line area salinity values ​​are compared, and the range of values ​​formed by the largest and smallest line area salinity values ​​is named the line area salinity range.

[0127] A characteristic salinity stratification value is set for the salinity range of the linear region. Within the salinity range of the linear region, the sum of the minimum salinity value of the linear region and the characteristic salinity stratification value is calculated to obtain the first salinity stratification preset value. The sum of the first salinity stratification preset value and the characteristic salinity stratification value is calculated to obtain the second salinity stratification preset value. And so on, the sum of the b-1th salinity sealing preset value and the characteristic salinity stratification value is calculated to obtain the eth salinity sealing preset value.

[0128] It should be noted here that:

[0129] In this application, the characteristic salinity stratification value involved here is specifically 5°C, the preset value of the eth salinity stratification involved here must be less than the salinity value of the maximum straight-line region, and the salinity value of the maximum straight-line region and the preset value of the eth salinity stratification must be less than the characteristic salinity stratification value.

[0130] In the cross-sectional area covered by the sample salinity monitoring line, the cross-sectional area where the salinity value is between the minimum straight-line area salinity value and the first salinity stratification preset value is marked as F1 straight-line salinity area, the cross-sectional area where the salinity value is between the first salinity stratification preset value and the second salinity stratification preset value is marked as F2 straight-line salinity area, and so on, the cross-sectional area where the salinity value is between the e-th salinity stratification preset value and the maximum straight-line area salinity value is marked as Fe straight-line salinity area;

[0131] It should be noted here that:

[0132] In this application, the linear salinity region involved here includes the case where the regional salinity value is greater than the smaller value, that is, the F1 linear salinity region includes the case where the regional salinity value is equal to the minimum linear regional salinity value, but does not include the case where the regional salinity value is equal to the first salinity stratification preset value.

[0133] In the sample salinity monitoring line, the sea depth range corresponding to the salinity area of ​​line F1 is obtained to obtain the salinity coverage depth interval of F1. The sea depth range corresponding to the salinity area of ​​line F2 is obtained to obtain the salinity coverage depth interval of F2. And so on, the sea depth range corresponding to the salinity area of ​​line Fe is obtained to obtain the salinity coverage depth interval of Fe.

[0134] The salinity monitoring line of the sample was compared with the salinity line of section S1 to analyze the degree of overlap in salinity intervals. The degree of overlap of salinity in section S1 was obtained based on the analysis results.

[0135] The salinity line of section S1 was monitored, and the salinity coverage depth intervals from F1 to Fe corresponding to the salinity line of section S1 were obtained respectively, and renamed to the salinity coverage depth intervals from SF1 to SFe.

[0136] It should be noted here that:

[0137] If the salinity line of section S1 has any salinity coverage depth interval, then the corresponding salinity coverage depth interval is marked with 0.

[0138] The overlapping range of salinity coverage depth intervals F1 and SF1 is obtained to obtain the overlapping value of salinity range S1. The overlapping range of salinity coverage depth intervals F2 and SF2 is obtained to obtain the overlapping value of salinity range S2. Similarly, the overlapping range of salinity coverage depth intervals Fe and SFe is obtained to obtain the overlapping value of salinity range Se.

[0139] The range values ​​from the F1 salinity coverage depth range to the Fe salinity coverage depth range are obtained.

[0140] The salinity overlap of the S1 section is obtained by calculating the salinity coverage depth range from F1 to Fe and the salinity overlap range from S1 to Se.

[0141] The salinity overlap ratio at section S1 is calculated using the following formula:

[0142]

[0143] Wherein, Ycx1 is the salinity overlap of section S1, Yffi is the salinity overlap value of Si range, Ydfi is the salinity coverage depth range value of Fi, and e is the number of linear salinity regions.

[0144] Repeat the process of obtaining the salinity overlap of section S1, and obtain the salinity overlap of the sample salinity monitoring line with the salinity line from section S2 to section Sd respectively, to obtain the salinity overlap from section S2 to section Sd.

[0145] The average value of the salinity overlap from section S1 to section Sd is calculated to obtain the salinity distribution overlap of the section corresponding to the sample salinity monitoring line.

[0146] Repeat the process of obtaining the overlap of salinity distribution across the cross-section corresponding to the salinity monitoring line of the sample, obtain the overlap of salinity distribution across the cross-section corresponding to the salinity monitoring line of each cross-section, and compare the numerical values ​​of the obtained overlap of salinity distribution across multiple cross-sections. Mark the overlap of salinity distribution across the cross-section with the largest numerical value as the observation coefficient of salinity index across the cross-section.

[0147] The observation feedback module assesses the stability of the sample marine observation section based on the observation coefficients of the section salinity index and the section temperature index.

[0148] Specifically as follows:

[0149] The observation coefficients of the cross-sectional salinity index and the cross-sectional temperature index were obtained respectively.

[0150] The stability ranges of the cross-sectional salinity index and the stability range of the cross-sectional temperature index were obtained respectively.

[0151] It should be noted here that:

[0152] In this application, several historical moments known as the stable state of the water body are selected in the target monitoring sea area;

[0153] The cross-sectional salinity index observation coefficients corresponding to each historical moment are obtained, and the values ​​of the obtained cross-sectional salinity index observation coefficients are compared. The cross-sectional salinity index observation coefficient with the smallest value is marked as the lower limit of the salinity index stability interval, and the cross-sectional salinity index observation coefficient with the largest value is marked as the upper limit of the salinity index stability interval, thus obtaining the cross-sectional salinity index stability interval.

[0154] The cross-sectional temperature index observation coefficients corresponding to each historical moment are obtained, and the values ​​of the obtained cross-sectional temperature index observation coefficients are compared. The cross-sectional temperature index observation coefficient with the smallest value is marked as the lower limit of the temperature index stability interval, and the cross-sectional temperature index observation coefficient with the largest value is marked as the upper limit of the temperature index stability interval, thus obtaining the cross-sectional temperature index stability interval.

[0155] If the observed coefficient of the cross-sectional salinity index is within the stability range of the cross-sectional salinity index, and the observed coefficient of the cross-sectional temperature index is within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be stable.

[0156] If the observed coefficient of the cross-sectional salinity index is not within the stability range of the cross-sectional salinity index, but the observed coefficient of the cross-sectional temperature index is within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable.

[0157] If the observed coefficient of the cross-sectional salinity index is within the stability range of the cross-sectional salinity index, but the observed coefficient of the cross-sectional temperature index is not within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable.

[0158] If the observed coefficient of the cross-sectional salinity index is not within the stability range of the cross-sectional salinity index, and the observed coefficient of the cross-sectional temperature index is not within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable.

[0159] It should be noted here that:

[0160] In this application, the stability of the sample ocean observation section water body involved here includes the case where the observed coefficient of the section salinity index is at the boundary of the section salinity index stability interval, and the observed coefficient of the section temperature index is at the boundary of the section temperature index stability interval.

[0161] The instability of the sample ocean observation section mentioned here specifically refers to the physical movement of the water body in the sea area corresponding to the sample ocean observation section. The physical movement of the water body mentioned here includes, but is not limited to, submarine currents and ocean eddies.

[0162] In this application, if a corresponding calculation formula appears, the above calculation formula is a dimensionless calculation. The weighting coefficient, proportional coefficient and other coefficients in the formula are set to quantify each parameter to obtain a result value. The size of the weighting coefficient and proportional coefficient is only required to not affect the proportional relationship between the parameter and the result value.

[0163] Example 2

[0164] Please see Figure 2 Based on another concept of the same invention, a method for multi-parameter transect observation of marine hydrology based on unmanned vessels is proposed, including the following steps:

[0165] Step S1: Conduct a cross-sectional temperature coverage depth analysis on the sample ocean observation section, and obtain the cross-sectional temperature index observation coefficient corresponding to the sample ocean observation section based on the analysis results;

[0166] Step S1 further includes the following specific steps:

[0167] Step S11: Mark a target monitoring area in the current navigation area of ​​the unmanned vessel, set several sea area cross-section straight lines perpendicular to the coastline on the sea surface of the target monitoring water area, draw the perpendicular plane between each sea area cross-section straight line and the horizontal plane to obtain multiple ocean observation sections, and select a sample ocean observation section from the multiple ocean observation sections obtained.

[0168] Step S13: Obtain the corresponding sea area cross-section straight line in the sample ocean observation section, and select several temperature marker points in the sea area cross-section straight line;

[0169] Step S14: In the sample ocean observation section, draw a straight line perpendicular to the coastline through each temperature marker point to obtain multiple cross-sectional temperature monitoring lines, and select one sample temperature monitoring line from the multiple cross-sectional temperature monitoring lines.

[0170] Step S15: Monitor the temperature of the sample temperature monitoring line and obtain the overlap of the cross-sectional temperature distribution corresponding to the sample temperature monitoring line based on the monitoring results.

[0171] Step S15 further includes the following specific steps:

[0172] Step S151: Among the multiple cross-sectional temperature monitoring lines, the cross-sectional temperature monitoring lines other than the sample temperature monitoring line are named as X1 cross-sectional temperature line to Xc cross-sectional temperature line respectively.

[0173] Step S152: Perform temperature index interval analysis on the longitudinal sea area covered by the sample temperature monitoring line to obtain the T1 temperature coverage depth interval to the Ta temperature coverage depth interval corresponding to the sample temperature monitoring line.

[0174] Step S152 further includes the following specific steps:

[0175] Temperature values ​​are acquired in each cross-sectional area covered by the sample temperature monitoring line, resulting in multiple temperature values ​​for the line area. The values ​​of the multiple line area temperature values ​​are compared, and the range of values ​​formed by the maximum and minimum line area temperature values ​​is named the line area temperature range.

[0176] A characteristic temperature stratification value is set for the temperature range of the linear region. Within the temperature range of the linear region, the sum of the minimum linear region temperature value and the characteristic temperature stratification value is calculated to obtain the first temperature stratification preset value. The sum of the first temperature stratification preset value and the characteristic temperature stratification value is calculated to obtain the second temperature stratification preset value. And so on, the sum of the b-1th temperature sealing layer preset value and the characteristic temperature stratification value is calculated to obtain the ath temperature sealing layer preset value.

[0177] In the cross-sectional area covered by the sample temperature monitoring line, the cross-sectional area where the temperature value of the area is between the minimum temperature value of the straight line area and the first temperature layer preset value is marked as the T1 straight line temperature area, the cross-sectional area where the temperature value of the area is between the first temperature layer preset value and the second temperature layer preset value is marked as the T2 straight line temperature area, and so on. The cross-sectional area where the temperature value of the area is between the a-th temperature layer preset value and the maximum temperature value of the straight line area is marked as the Ta straight line temperature area.

[0178] In the sample temperature monitoring line, the sea depth range corresponding to the temperature area of ​​line T1 is obtained to obtain the temperature coverage depth interval of T1. The sea depth range corresponding to the temperature area of ​​line T2 is obtained to obtain the temperature coverage depth interval of T2. And so on, the sea depth range corresponding to the temperature area of ​​line Ta is obtained to obtain the temperature coverage depth interval of Ta.

[0179] Step S153: Perform temperature interval overlap analysis between the sample temperature monitoring line and the X1 section temperature line, and obtain the X1 section temperature overlap based on the analysis results.

[0180] Step S153 further includes the following specific steps:

[0181] The temperature line of section X1 is monitored, and the temperature coverage depth intervals from T1 to Ta corresponding to the temperature line of section X1 are obtained respectively, and then renamed to the temperature coverage depth intervals from XT1 to XTa.

[0182] The overlapping range of the temperature coverage depth ranges T1 and XT1 is obtained to obtain the overlapping value of the temperature range X1. The overlapping range of the temperature coverage depth ranges T2 and XT2 is obtained to obtain the overlapping value of the temperature range X2. Similarly, the overlapping range of the temperature coverage depth ranges Ta and XT1 is obtained to obtain the overlapping value of the temperature range Xa.

[0183] The range values ​​from the temperature coverage depth range of T1 to the temperature coverage depth range of Ta are obtained.

[0184] The temperature overlap of section X1 is obtained by calculating the temperature coverage depth range from T1 to Ta and the temperature overlap value from X1 to Xa.

[0185] The temperature coincidence degree of section X1 is calculated using the following formula:

[0186]

[0187] Wherein, Wcx1 is the temperature overlap of the X1 section, Wffi is the temperature range overlap value of Xi, Wdfi is the temperature coverage depth range value of Ti, and a is the number of linear temperature regions.

[0188] Step S154: Obtain the temperature coincidence of the sample temperature monitoring line and the temperature line from section X2 to section Xc respectively, and obtain the temperature coincidence from section X2 to section Xc.

[0189] Step S155: Calculate the average value of the temperature overlap from section X1 to section Xc to obtain the temperature distribution overlap of the section corresponding to the sample temperature monitoring line.

[0190] Step S16: Obtain the overlap degree of the temperature distribution of each cross-section corresponding to the temperature monitoring line, and compare the numerical values ​​of the multiple cross-section temperature distribution overlap degrees. Mark the cross-section temperature distribution overlap degree with the largest value as the cross-section temperature index observation coefficient.

[0191] Step S2: Conduct water depth and salinity analysis at the sample ocean observation section, and obtain the observation coefficient of the section salinity index corresponding to the sample ocean observation section based on the analysis results;

[0192] The benefits of step S1:

[0193] Step S1 focuses on the depth analysis of temperature coverage across the sample ocean observation section, obtaining the observed coefficients of the section temperature index through a series of operations. Its advantages lie in the fact that, firstly, the target monitoring area is scientifically divided and samples are selected, ensuring the research is targeted and representative, avoiding blind spots. Then, through detailed temperature monitoring of the sample temperature monitoring line and complex temperature interval overlap analysis, the temperature distribution patterns and similarities at different locations and depths of the section can be accurately grasped. The resulting observed coefficients of the section temperature index comprehensively reflect the temperature characteristics and stability of the section, providing crucial and accurate temperature dimension data support for subsequent assessment of water body stability, and contributing to a more comprehensive and in-depth understanding of the temperature conditions of the ocean section and its impact on water body stability.

[0194] Step S2 further includes the following specific steps:

[0195] Step S21: Obtain the straight line of the sea area corresponding to the sample ocean observation section, and select several salinity marker points in the straight line of the sea area section;

[0196] Step S22: In the sample ocean observation section, draw a straight line perpendicular to the coastline through each salinity marker point to obtain multiple cross-sectional salinity monitoring lines, and select a sample salinity monitoring line from the multiple cross-sectional salinity monitoring lines.

[0197] Step S23: Perform salinity monitoring on the sample salinity monitoring line, and obtain the overlap degree of salinity distribution of the cross section corresponding to the sample salinity monitoring line based on the monitoring results;

[0198] Step S23 further includes the following specific steps:

[0199] Step S231: Among the multiple cross-sectional salinity monitoring lines, the cross-sectional salinity monitoring lines other than the sample salinity monitoring line are named S1 cross-sectional salinity line to Sd cross-sectional salinity line respectively.

[0200] Step S232: Perform a salinity index interval analysis on the longitudinal sea area covered by the sample temperature monitoring line to obtain the F1 salinity coverage depth interval to the Fe salinity coverage depth interval corresponding to the sample salinity monitoring line.

[0201] Step S232 further includes the following specific steps:

[0202] Salinity values ​​are acquired in each cross-sectional area covered by the sample salinity monitoring line, resulting in multiple salinity values ​​for the line area. The values ​​of the multiple line area salinity values ​​are compared, and the range of values ​​formed by the largest and smallest line area salinity values ​​is named the line area salinity range.

[0203] A characteristic salinity stratification value is set for the salinity range of the linear region. Within the salinity range of the linear region, the sum of the minimum salinity value of the linear region and the characteristic salinity stratification value is calculated to obtain the first salinity stratification preset value. The sum of the first salinity stratification preset value and the characteristic salinity stratification value is calculated to obtain the second salinity stratification preset value. And so on, the sum of the b-1th salinity sealing preset value and the characteristic salinity stratification value is calculated to obtain the eth salinity sealing preset value.

[0204] In the cross-sectional area covered by the sample salinity monitoring line, the cross-sectional area where the salinity value is between the minimum straight-line area salinity value and the first salinity stratification preset value is marked as F1 straight-line salinity area, the cross-sectional area where the salinity value is between the first salinity stratification preset value and the second salinity stratification preset value is marked as F2 straight-line salinity area, and so on, the cross-sectional area where the salinity value is between the e-th salinity stratification preset value and the maximum straight-line area salinity value is marked as Fe straight-line salinity area;

[0205] In the sample salinity monitoring line, the sea depth range corresponding to the salinity area of ​​line F1 is obtained to obtain the salinity coverage depth interval of F1. The sea depth range corresponding to the salinity area of ​​line F2 is obtained to obtain the salinity coverage depth interval of F2. And so on, the sea depth range corresponding to the salinity area of ​​line Fe is obtained to obtain the salinity coverage depth interval of Fe.

[0206] Step S233: Perform a salinity interval overlap analysis between the sample salinity monitoring line and the salinity line of section S1, and obtain the salinity overlap of section S1 based on the analysis results;

[0207] Step S233 further includes the following specific steps:

[0208] The salinity line of section S1 was monitored, and the salinity coverage depth intervals from F1 to Fe corresponding to the salinity line of section S1 were obtained respectively, and renamed to the salinity coverage depth intervals from SF1 to SFe.

[0209] The overlapping range of salinity coverage depth intervals F1 and SF1 is obtained to obtain the overlapping value of salinity range S1. The overlapping range of salinity coverage depth intervals F2 and SF2 is obtained to obtain the overlapping value of salinity range S2. Similarly, the overlapping range of salinity coverage depth intervals Fe and SFe is obtained to obtain the overlapping value of salinity range Se.

[0210] The range values ​​from the F1 salinity coverage depth range to the Fe salinity coverage depth range are obtained.

[0211] The salinity overlap of the S1 section is obtained by calculating the salinity coverage depth range from F1 to Fe and the salinity overlap range from S1 to Se.

[0212] The salinity overlap ratio at section S1 is calculated using the following formula:

[0213]

[0214] Wherein, Ycx1 is the salinity overlap of section S1, Yffi is the salinity overlap value of Si range, Ydfi is the salinity coverage depth range value of Fi, and e is the number of linear salinity regions.

[0215] Step S234: Obtain the cross-sectional salinity overlap between the sample salinity monitoring line and the salinity line from section S2 to section Sd, and obtain the salinity overlap from section S2 to section Sd.

[0216] Step S235: Calculate the average value of the salinity overlap from section S1 to section Sd to obtain the salinity distribution overlap of the section corresponding to the sample salinity monitoring line;

[0217] Step S24: Obtain the overlap degree of salinity distribution corresponding to each cross-section salinity monitoring line, and compare the numerical values ​​of the obtained overlap degrees of salinity distribution of multiple cross-sections. Mark the cross-section salinity distribution overlap degree with the largest value as the cross-section salinity index observation coefficient.

[0218] Benefits of step S2

[0219] Step S2 focuses on the salinity analysis of the sample oceanographic observation section, aiming to obtain the observed coefficients of the section's salinity index. Its advantage lies in that, similar to step S1, it first selects a sample salinity monitoring line, monitors the salinity along this line, and performs a series of operations such as salinity interval overlap analysis. This process can deeply explore the salinity distribution characteristics and variation patterns at different depths along the section, as well as the similarity between salinity monitoring lines from different sections. The obtained observed coefficients of the section's salinity index can effectively measure the salinity stability and consistency of the section, providing important salinity dimension data for assessing the stability of the water body at the section. Complementing the temperature dimension data, this makes the understanding of the oceanographic section's water condition more comprehensive and accurate.

[0220] Step S3: Assess the stability of the marine water body at the sample marine observation section based on the observed coefficients of the cross-sectional salinity index and the cross-sectional temperature index.

[0221] Step S3 further includes the following specific steps:

[0222] The observation coefficients of the cross-sectional salinity index and the cross-sectional temperature index were obtained respectively.

[0223] The stability ranges of the cross-sectional salinity index and the stability range of the cross-sectional temperature index were obtained respectively.

[0224] If the observed coefficient of the cross-sectional salinity index is within the stability range of the cross-sectional salinity index, and the observed coefficient of the cross-sectional temperature index is within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be stable.

[0225] If the observed coefficient of the cross-sectional salinity index is not within the stability range of the cross-sectional salinity index, but the observed coefficient of the cross-sectional temperature index is within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable.

[0226] If the observed coefficient of the cross-sectional salinity index is within the stability range of the cross-sectional salinity index, but the observed coefficient of the cross-sectional temperature index is not within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable.

[0227] If the observed coefficients of the cross-sectional salinity index are not within the stability range of the cross-sectional salinity index, and the observed coefficients of the cross-sectional temperature index are not within the stability range of the cross-sectional temperature index, then the water body at the sample marine observation cross-section is judged to be unstable.

[0228] Benefits of step S3

[0229] Step S3 assesses the water stability of the sample marine observation section based on the observed coefficients of salinity and temperature. Its significance lies in comprehensively utilizing the observed coefficients of salinity and temperature—two key dimensions—obtained in steps S1 and S2, and combining them with a pre-defined stability range to make a scientific and comprehensive judgment on the water stability of the sample marine observation section. This multi-dimensional assessment method allows for a more accurate understanding of the actual water stability situation, timely identification of potential instability factors, and provides important references for marine environmental protection, marine resource development and utilization, and marine disaster early warning. It also helps in taking targeted measures to maintain marine ecological balance and ensure the safe conduct of marine activities.

[0230] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-parameter transect observation system for marine hydrology based on an unmanned vessel, characterized in that, include: Sectional Temperature Module: Performs water depth temperature analysis on the sample ocean observation section, and obtains the observation coefficient of the section temperature index corresponding to the sample ocean observation section based on the analysis results; Sectional salinity module: Performs water depth and salinity analysis on sample marine observation sections, and obtains the observation coefficient of the section salinity index corresponding to the sample marine observation section based on the analysis results; Observation feedback module: assesses the stability of the sample marine observation section based on the observation coefficients of the cross-sectional salinity index and the cross-sectional temperature index; Among the multiple cross-sectional temperature monitoring lines, the cross-sectional temperature monitoring lines other than the sample temperature monitoring line are named as X1 cross-sectional temperature line to Xc cross-sectional temperature line, respectively. A temperature index interval analysis was performed on the longitudinal sea area covered by the sample temperature monitoring line to obtain the temperature coverage depth interval from T1 to Ta. The temperature line of section X1 is monitored, and the temperature coverage depth intervals from T1 to Ta corresponding to the temperature line of section X1 are obtained respectively, and then renamed to the temperature coverage depth intervals from XT1 to XTa. The overlapping range of the temperature coverage depth ranges T1 and XT1 is obtained to obtain the overlapping value of the temperature range X1. The overlapping range of the temperature coverage depth ranges T2 and XT2 is obtained to obtain the overlapping value of the temperature range X2. Similarly, the overlapping range of the temperature coverage depth ranges Ta and XT1 is obtained to obtain the overlapping value of the temperature range Xa. The range values ​​from the temperature coverage depth range of T1 to the temperature coverage depth range of Ta are obtained. The temperature overlap of section X1 is obtained by calculating the temperature coverage depth range from T1 to Ta and the temperature overlap value from X1 to Xa. The temperature coincidence degree of section X1 is calculated using the following formula: ； Wherein, Wcx1 is the temperature overlap of the X1 section, Wffi is the temperature range overlap value of Xi, Wdfi is the temperature coverage depth range value of Ti, and a is the number of linear temperature regions. Repeat the process of obtaining the temperature coincidence of section X1, and obtain the temperature coincidence of the sample temperature monitoring line with the temperature line from section X2 to section Xc, respectively, to obtain the temperature coincidence of section X2 to section Xc. Calculate the average value of the temperature coincidence of section X1 to section Xc to obtain the temperature distribution coincidence of the section corresponding to the sample temperature monitoring line. Obtain the temperature distribution coincidence of each section temperature monitoring line, and compare the values ​​of the multiple obtained temperature distribution coincidence values. Mark the temperature distribution coincidence of the section with the largest value as the observation coefficient of the temperature index.

2. The marine hydrological multi-parameter transect observation system based on an unmanned vessel according to claim 1, characterized in that, The observation coefficients for cross-sectional temperature parameters were obtained as follows: Mark a target monitoring area in the current navigation area of ​​the unmanned vessel, set up several sea area cross-section straight lines perpendicular to the coastline on the sea surface of the target monitoring water area, draw the perpendicular plane between each sea area cross-section straight line and the horizontal plane to obtain multiple ocean observation sections, and select a sample ocean observation section from the multiple ocean observation sections obtained. The corresponding sea area cross-section line in the sample ocean observation section is obtained, and several temperature marker points are selected in the sea area cross-section line; In the sample ocean observation section, a straight line perpendicular to the coastline is drawn through each temperature marker point to obtain multiple cross-sectional temperature monitoring lines, and one sample temperature monitoring line is selected from the multiple cross-sectional temperature monitoring lines.

3. The marine hydrological multi-parameter transect observation system based on an unmanned vessel according to claim 2, characterized in that, The temperature coverage depth range from T1 to Ta is obtained, as follows: Temperature values ​​are acquired in each cross-sectional area covered by the sample temperature monitoring line, resulting in multiple temperature values ​​for the line area. The values ​​of the multiple line area temperature values ​​are compared, and the range of values ​​formed by the maximum and minimum line area temperature values ​​is named the line area temperature range. A characteristic temperature stratification value is set for the temperature range of the straight region. Within the temperature range of the straight region, the sum of the minimum straight region temperature value and the characteristic temperature stratification value is calculated to obtain the first temperature stratification preset value. The sum of the first temperature stratification preset value and the characteristic temperature stratification value is calculated to obtain the second temperature stratification preset value. The sum of the (b-1)th temperature stratification preset value and the characteristic temperature stratification value is calculated to obtain the ath temperature sealing layer preset value. In the cross-sectional area covered by the sample temperature monitoring line, the cross-sectional area where the temperature value of the area is between the minimum temperature value of the straight line area and the preset value of the first temperature layer is marked as the T1 straight line temperature area, and the cross-sectional area where the temperature value of the area is between the preset value of the a-th temperature layer and the maximum temperature value of the straight line area is marked as the Ta straight line temperature area. In the sample temperature monitoring line, the sea depth range corresponding to the temperature area of ​​the T1 line is obtained to obtain the T1 temperature coverage depth range, and the sea depth range corresponding to the temperature area of ​​the Ta line is obtained to obtain the Ta temperature coverage depth range.

4. The marine hydrological multi-parameter transect observation system based on an unmanned vessel according to claim 1, characterized in that, The salinity index observation coefficients of the cross-section were obtained as follows: Obtain the corresponding sea area cross-section straight line in the sample ocean observation section, and select several salinity marker points in the sea area cross-section straight line; In the sample marine observation section, a straight line perpendicular to the coastline is drawn through each salinity marker point to obtain multiple cross-sectional salinity monitoring lines, and a sample salinity monitoring line is selected from the multiple cross-sectional salinity monitoring lines. Salinity is monitored on the sample salinity monitoring line, and the overlap of salinity distribution across the cross section corresponding to the sample salinity monitoring line is obtained based on the monitoring results; The overlap of salinity distributions corresponding to the salinity monitoring line of each cross section is obtained, and the numerical values ​​of the obtained overlap of salinity distributions of multiple cross sections are compared. The cross section with the largest numerical value is marked as the observation coefficient of the salinity index.

5. A multi-parameter transect observation system for marine hydrology based on an unmanned vessel according to claim 4, characterized in that, The overlap of salinity distribution across the cross sections was obtained, as detailed below: Among the multiple cross-sectional salinity monitoring lines, the cross-sectional salinity monitoring lines other than the sample salinity monitoring line are named as the S1 cross-sectional salinity line to the Sd cross-sectional salinity line, respectively. A range analysis of salinity indices was performed on the longitudinal sea area covered by the sample temperature monitoring line to obtain the F1 salinity coverage depth range to the Fe salinity coverage depth range corresponding to the sample salinity monitoring line. The salinity monitoring line of the sample was compared with the salinity line of section S1 to analyze the degree of overlap in salinity intervals. The degree of overlap of salinity in section S1 was obtained based on the analysis results. Specifically as follows: The salinity line of section S1 was monitored, and the salinity coverage depth intervals from F1 to Fe corresponding to the salinity line of section S1 were obtained respectively, and named from SF1 to SFe. The overlapping range of salinity coverage depth intervals F1 and SF1 is obtained to obtain the overlapping value of salinity range S1. The overlapping range of salinity coverage depth intervals F2 and SF2 is obtained to obtain the overlapping value of salinity range S2. Similarly, the overlapping range of salinity coverage depth intervals Fe and SFe is obtained to obtain the overlapping value of salinity range Se. The range values ​​from the F1 salinity coverage depth range to the Fe salinity coverage depth range are obtained. Calculate the salinity overlap at section S1; The overlap of the sample salinity monitoring line with the salinity line from section S2 to section Sd is obtained respectively, thus obtaining the overlap of salinity from section S2 to section Sd. The average value of the salinity overlap from section S1 to section Sd is calculated to obtain the salinity distribution overlap of the section corresponding to the sample salinity monitoring line.

6. The marine hydrological multi-parameter transect observation system based on an unmanned vessel according to claim 5, characterized in that, The salinity coverage depth range from F1 to Fe salinity coverage depth range was obtained, as follows: Salinity values ​​are acquired in each cross-sectional area covered by the sample salinity monitoring line, resulting in multiple salinity values ​​for the straight line area. The range of values ​​formed by the maximum and minimum salinity values ​​for the straight line area is named the salinity range of the straight line area. A characteristic salinity stratification value is set for the salinity range of the linear region. Within the salinity range of the linear region, the sum of the minimum salinity value of the linear region and the characteristic salinity stratification value is calculated to obtain the first salinity stratification preset value. The sum of the first salinity stratification preset value and the characteristic salinity stratification value is calculated to obtain the second salinity stratification preset value. And so on, the sum of the b-1th salinity sealing preset value and the characteristic salinity stratification value is calculated to obtain the eth salinity sealing preset value. In the cross-sectional area covered by the sample salinity monitoring line, the cross-sectional area where the salinity value is between the minimum straight-line area salinity value and the first salinity stratification preset value is marked as F1 straight-line salinity area, and so on, the cross-sectional area where the salinity value is between the e-th salinity stratification preset value and the maximum straight-line area salinity value is marked as Fe straight-line salinity area. In the sample salinity monitoring line, the sea depth range corresponding to the salinity area of ​​the F1 line is obtained to obtain the F1 salinity coverage depth interval. Similarly, the sea depth range corresponding to the salinity area of ​​the Fe line is obtained to obtain the Fe salinity coverage depth interval.

7. The marine hydrological multi-parameter transect observation system based on an unmanned vessel according to claim 1, characterized in that, The stability assessment of the water body at the sampled marine observation section was conducted as follows: The observation coefficients of the cross-sectional salinity index and the cross-sectional temperature index were obtained respectively. The stability ranges of the cross-sectional salinity index and the stability range of the cross-sectional temperature index were obtained respectively. If the observed coefficient of the cross-sectional salinity index is within the stability range of the cross-sectional salinity index, and the observed coefficient of the cross-sectional temperature index is within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be stable. If the observed coefficient of the cross-sectional salinity index is not within the stability range of the cross-sectional salinity index, but the observed coefficient of the cross-sectional temperature index is within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable. If the observed coefficient of the cross-sectional salinity index is within the stability range of the cross-sectional salinity index, but the observed coefficient of the cross-sectional temperature index is not within the stability range of the cross-sectional temperature index, then the water body of the sample marine observation cross-section is judged to be unstable. If the observed coefficients of the cross-sectional salinity index are not within the stability range of the cross-sectional salinity index, and the observed coefficients of the cross-sectional temperature index are not within the stability range of the cross-sectional temperature index, then the water body at the sample marine observation cross-section is judged to be unstable.

8. A method for multi-parameter transect observation of marine hydrology based on unmanned surface vessels (USVs), applicable to the multi-parameter transect observation system of marine hydrology based on USVs as described in any one of claims 1-7, characterized in that, The observation methods include: Step S1: Perform water depth and temperature analysis on the sample ocean observation section, and obtain the observation coefficient of the section temperature index corresponding to the sample ocean observation section based on the analysis results; Step S2: Perform water depth and salinity analysis on the sample marine observation section, and obtain the observation coefficient of the section salinity index corresponding to the sample marine observation section based on the analysis results; Step S3: Assess the stability of the marine water body at the sample marine observation section based on the observation coefficients of the cross-section salinity index and the cross-section temperature index.

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