Electronic buoy flow measurement method, device and equipment based on ultra wide band positioning, storage medium and computer program product

Abstract

The invention relates to the technical field of water flow detection, in particular to an electronic buoy flow measurement method, device and equipment based on ultra wide band positioning, a storage medium and a computer program product. The method comprises the following steps: constructing a plane-coordinate system based on basic information of a to-be-measured river reach, and configuring spatial positions and section geometric parameters of upstream, downstream and middle sections; obtaining identification information of a preset electronic buoy, and obtaining a distance data sequence between the buoy and a preset positioning base station according to the identification information; determining a buoy movement track based on the distance data sequence and the coordinates of the positioning base station; determining the moment when the buoy passes through each section according to the position relationship between the motion trail and the upstream and downstream sections, and determining the flow velocity parameter of the trail according to the distance between the two sections and the corresponding moment; in combination with the flow velocity parameter and the geometric parameter of the middle section, the middle section is divided into a plurality of subsection areas, the area of each subsection is determined, and the corresponding flow velocity is matched, so that the flow parameter of the to-be-detected river reach is obtained, and the accuracy of river flow detection is improved.

Description

Technical Field

[0001] This application relates to the field of water flow detection technology, and in particular to an electronic buoy flow measurement method, device, equipment, storage medium and computer program product based on ultra-wideband positioning. Background Technology

[0002] Among the existing methods for measuring river flow, the commonly used methods include mechanical current meter method, acoustic Doppler current meter method, and traditional buoy flow measurement method. Mechanical current meter methods typically rely on deploying current meters at measuring points and manually measuring the velocity distribution across a cross-section in layers and segments. The flow rate is then calculated based on the cross-sectional shape. This method involves numerous measuring points, long operation times, and significant safety risks when deploying instruments during flood season or in complex river sections. While acoustic Doppler current meters can improve automation to some extent, the equipment is expensive and has high requirements for cross-sectional water depth, deployment vessels, and operating environment, making it difficult to promote long-term use in small and medium-sized rivers or river sections with complex terrain. Traditional buoy flow measurement methods involve deploying buoys between upstream and downstream cross-sections and manually observing the buoys' positions and transit times across the cross-section or several measuring lines. The flow velocity and flow rate are calculated based on the cross-sectional water depth and width. This method requires optical observation of the buoys using theodolites, rangefinders, etc., on the riverbank or bridge. It is significantly affected by visibility conditions and cannot guarantee observation accuracy when the river is winding, obstructed by vegetation, or in adverse weather conditions. At the same time, the manual reading and recording of data is labor-intensive, making it difficult to achieve continuous and real-time flow measurement. Furthermore, traditional buoy-based flow measurement often relies on simplified geometric assumptions or limited line interpolation to determine the buoy's position, making it difficult to obtain a complete buoy trajectory. This affects the accuracy of flow velocity parameters and cross-sectional discharge calculations, ultimately leading to poor accuracy in river flow detection. Therefore, improving the accuracy of river flow detection has become a pressing technical problem. Summary of the Invention

[0003] The main objective of this application is to provide an electronic buoy flow measurement method, device, equipment, storage medium, and computer program product based on ultra-wideband positioning, aiming to solve the technical problem of how to improve the accuracy of river flow detection.

[0004] To achieve the above objectives, this application provides an electronic buoy current measurement method based on ultra-wideband positioning, the method comprising the following steps: Based on the basic information of the river section to be measured, a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both sides of the river section to be measured is constructed, and the spatial position and cross-sectional geometric parameters of the upstream section, downstream section and intermediate section associated with the river section to be measured are configured in the planar coordinate system. The identification information of a preset electronic buoy in the river section to be measured is obtained. The identification information includes an ultra-wideband tag that matches the preset ultra-wideband positioning base station. Based on the identification information, the distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station is obtained by processing the ultra-wideband ranging signal emitted by the ultra-wideband tag. Based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system, the motion trajectory corresponding to the preset electronic buoy is determined. Based on the spatial position of the motion trajectory and the upstream and downstream sections, the time when the preset electronic buoy passes through the upstream and downstream sections is determined, and the flow velocity parameter corresponding to the motion trajectory is determined according to the distance between the upstream and downstream sections and the time. Based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross-section, the intermediate cross-section is divided into multiple segmented regions, the area of ​​each segmented region is determined, and the flow parameters of the river section to be measured are determined by combining the flow velocity parameters corresponding to each segmented region.

[0005] In one embodiment, the step of acquiring the identification information of a preset electronic buoy in the river section to be measured, wherein the identification information includes an ultra-wideband tag matching the preset ultra-wideband positioning base station, and acquiring the distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station obtained by processing the ultra-wideband ranging signal emitted by the ultra-wideband tag based on the identification information includes: Obtain the identification information of the preset electronic buoys associated with the river section to be measured, parse the identification information, and obtain the identification field of each preset electronic buoy and the ultra-wideband tag parameter corresponding to the identification field; Ranging control information is generated based on the ultra-wideband tag parameters and sent to the preset ultra-wideband positioning base stations so that each preset ultra-wideband positioning base station transmits ultra-wideband ranging signals to the ultra-wideband tag according to a preset timing sequence and obtains ranging response data corresponding to each preset electronic buoy. The ranging response data is parsed and time-aligned to obtain distance data corresponding to the preset electronic buoy and each preset ultra-wideband positioning base station. The distance data is then organized into a distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station according to the sampling time.

[0006] In one embodiment, the step of determining the motion trajectory corresponding to the preset electronic buoy based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in the planar coordinate system includes: At multiple sampling times, a positioning constraint relationship is constructed based on the distance data sequence and the coordinate information corresponding to each of the preset ultra-wideband positioning base stations, and the discrete position points of the preset electronic buoys in the planar coordinate system corresponding to each sampling time are determined based on the constraint relationship. The discrete location points are subjected to trajectory fitting in time sequence to obtain the initial trajectory line of the preset electronic buoy in the plane coordinate system; Based on the initial trajectory line, the discrete position points are smoothed and interpolated to generate a motion trajectory in the planar coordinate system corresponding to the preset electronic buoy.

[0007] In one embodiment, the step of constructing a planar coordinate system corresponding to preset ultra-wideband positioning base stations on both banks of the river section to be measured based on the basic information of the river section to be measured, and configuring the spatial positions and cross-sectional geometric parameters of the upstream, downstream and intermediate cross-sections associated with the river section to be measured in the planar coordinate system includes: The basic information of the river section to be measured is obtained, including river boundary data, riverbed elevation data and cross-section measurement data. An initial plane coordinate system is constructed, and the river boundary data is mapped to the initial plane coordinate system to determine the river profile of the river section to be measured. The installation positions of the preset ultra-wideband positioning base stations are determined on both sides of the river channel outline, and the installation positions of each preset ultra-wideband positioning base station are taken as the spatial positions corresponding to the plane coordinate system. Based on the cross-sectional measurement data, the cross-sectional lines of the upstream cross-section, the downstream cross-section, and the intermediate cross-section are arranged in the initial plane coordinate system. Each cross-sectional line is discretized and segmented according to a preset rule, and the cross-sectional geometric parameters of each cross-section are determined based on the segmented cross-sectional lines.

[0008] In one embodiment, the step of determining the time when the preset electronic buoy passes through the upstream and downstream cross-sections based on the spatial position of the motion trajectory and the upstream and downstream cross-sections, and determining the flow velocity parameter corresponding to the motion trajectory according to the distance between the upstream and downstream cross-sections and the time, includes: The intersection points between the motion trajectory and the cross-sectional lines corresponding to the upstream and downstream cross-sections are calculated to determine the intersection points of the motion trajectory with the upstream and downstream cross-sections. Based on the trajectory sampling time adjacent to the intersection point, the passing time of the preset electronic buoy through the upstream section and the downstream section is interpolated to obtain the corresponding upstream passing time and downstream passing time; Based on the distance between the upstream section and the downstream section, as well as the upstream and downstream passage times, the average flow velocity parameter corresponding to the motion trajectory is determined, and the average flow velocity parameter is used as the flow velocity parameter of the motion trajectory.

[0009] In one embodiment, the step of dividing the intermediate cross-section into multiple segmented regions based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross-section, determining the area of ​​each segmented region, and determining the flow parameters of the river section to be measured by combining the flow velocity parameters corresponding to each segmented region includes: Based on the cross-sectional geometric parameters, the cross-sectional line corresponding to the intermediate cross-section is discretized along the water depth and width directions in the plane coordinate system to obtain multiple adjacent segmented regions, and a corresponding region identifier is assigned to each segmented region. The intersection point of the motion trajectory on the intermediate section is projected onto the segmented region. According to the segmented region to which the intersection point belongs, the flow velocity parameter corresponding to the motion trajectory is assigned to the corresponding segmented region, so that each segmented region is associated with the corresponding flow velocity parameter. The area of ​​each segment region is determined based on the boundary information of each segment region, and the sub-flow rate of each segment region is determined based on the area of ​​each segment region and the flow velocity parameters associated with the segment region. The sub-flow rates of each segment region are then summarized to obtain the flow parameters of the river segment to be measured.

[0010] Furthermore, to achieve the above objectives, this application also proposes an electronic buoy current measurement device based on ultra-wideband positioning, the electronic buoy current measurement device based on ultra-wideband positioning comprising: The parameter configuration module is used to construct a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both sides of the river section to be measured based on the basic information of the river section to be measured, and to configure the spatial position and cross-sectional geometric parameters of the upstream section, downstream section and intermediate section associated with the river section to be measured in the planar coordinate system. The distance data module is used to acquire the identification information of a preset electronic buoy in the river section to be measured. The identification information includes an ultra-wideband tag that matches the preset ultra-wideband positioning base station. Based on the identification information, the module acquires the distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station obtained by processing the ultra-wideband ranging signal emitted by the ultra-wideband tag. The motion trajectory module is used to determine the motion trajectory of the preset electronic buoy based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system. The flow velocity parameter module is used to determine the time when the preset electronic buoy passes through the upstream and downstream sections based on the spatial position of the motion trajectory and the upstream and downstream sections, and to determine the flow velocity parameter corresponding to the motion trajectory based on the distance between the upstream and downstream sections and the time. The target module is used to divide the intermediate cross-section into multiple segmented regions based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross-section, determine the area of ​​each segmented region, and determine the flow parameters of the river section to be measured by combining the flow velocity parameters corresponding to each segmented region.

[0011] Furthermore, to achieve the above objectives, this application also proposes an electronic buoy flow measurement device based on ultra-wideband positioning. The device includes: a memory, a processor, and an electronic buoy flow measurement program based on ultra-wideband positioning stored in the memory and executable on the processor. The electronic buoy flow measurement program based on ultra-wideband positioning is configured to implement the steps of the electronic buoy flow measurement method based on ultra-wideband positioning as described in any of the above embodiments.

[0012] In addition, to achieve the above objectives, this application also proposes a storage medium storing an electronic buoy current measurement program based on ultra-wideband positioning, wherein when the electronic buoy current measurement program based on ultra-wideband positioning is executed by a processor, it implements the steps of the electronic buoy current measurement method based on ultra-wideband positioning as described above.

[0013] In addition, to achieve the above objectives, this application also proposes a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the electronic buoy current measurement method based on ultra-wideband positioning as described above.

[0014] This application constructs a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both banks of the river section under test based on the basic information of the river section under test. The spatial positions and geometric parameters of the upstream, downstream, and intermediate sections associated with the river section under test are configured in the planar coordinate system. Identification information of preset electronic buoys in the river section under test is obtained, including ultra-wideband tags matched with the preset ultra-wideband positioning base stations. Based on the identification information, a distance data sequence between the preset electronic buoys and the preset ultra-wideband positioning base stations is obtained by processing the ultra-wideband ranging signals emitted by the ultra-wideband tags. Based on the distance data sequence... Based on the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system, the motion trajectory of the preset electronic buoy is determined; based on the spatial position of the motion trajectory and the upstream and downstream sections, the time when the preset electronic buoy passes through the upstream and downstream sections is determined, and the flow velocity parameters corresponding to the motion trajectory are determined according to the distance between the upstream and downstream sections and the time; based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate section, the intermediate section is divided into multiple segmented regions, the area of ​​each segmented region is determined, and the flow parameters of the river section to be measured are determined by combining the flow velocity parameters corresponding to each segmented region. This application, by simultaneously configuring the spatial positions and cross-sectional geometric parameters of preset ultra-wideband positioning base stations and upstream, downstream, and intermediate cross-sections in a unified planar coordinate system, enables the description of river channel geometry and flow measurement elements under the same spatial reference. Based on this, the motion trajectory of the electronic buoy is reconstructed using distance data sequences between preset electronic buoys and each preset ultra-wideband positioning base station, and the moments when the electronic buoy passes through the upstream and downstream cross-sections are accurately determined. Thus, given the known cross-sectional spacing, the flow velocity parameters corresponding to this motion trajectory are obtained. By dividing the intermediate cross-section into multiple segmented regions, determining the area of ​​each segmented region, and allocating the corresponding flow velocity parameters to each segmented region for combined calculation, the flow parameters of the river section under test are calculated based on the continuous motion trajectory and segmented cross-sectional information in a unified coordinate system, thereby improving the accuracy of river flow detection results. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the first embodiment of the electronic buoy current measurement method based on ultra-wideband positioning in this application; Figure 2 This is a schematic diagram of a sub-process in the second embodiment of the electronic buoy current measurement method based on ultra-wideband positioning in this application; Figure 3 This is a schematic diagram of a sub-process in the third embodiment of the electronic buoy current measurement method based on ultra-wideband positioning in this application; Figure 4 This is a schematic diagram of the module structure of the electronic buoy current measurement device based on ultra-wideband positioning according to an embodiment of this application; Figure 5This is a schematic diagram of the hardware operating environment of the electronic buoy flow measurement method based on ultra-wideband positioning in the embodiments of this application.

[0016] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0017] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0018] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0019] It should be noted that among the existing methods for measuring river flow, commonly used methods include mechanical current metering, acoustic Doppler current metering, and traditional buoy flow measurement. Mechanical current metering typically relies on deploying current meters at measurement points and manually measuring the velocity distribution across the cross-section in layers and segments. The flow rate is then calculated based on the cross-sectional shape. This method requires numerous measurement points, is time-consuming, and poses significant safety risks when deploying instruments during flood season or in complex river sections. While acoustic Doppler current meters can improve automation to some extent, the equipment is expensive and has high requirements for cross-sectional water depth, deployment vessels, and the operating environment, making it difficult to promote long-term use in small and medium-sized rivers or river sections with complex terrain. Traditional buoy flow measurement involves deploying buoys between upstream and downstream sections and manually observing the buoys at points or along several measuring lines. The method of calculating river flow velocity and discharge based on the buoy's position and transit time, along with the cross-sectional water depth and width, requires optical observation of the buoy from the riverbank or bridge using theodolites, rangefinders, etc. This method is significantly affected by visibility conditions and struggles to guarantee accuracy in situations such as river bends, vegetation obstruction, or adverse weather conditions. Furthermore, manual data reading and recording are labor-intensive, hindering continuous, real-time flow observation. In addition, traditional buoy flow measurement often relies on simplified geometric assumptions or limited line interpolation to obtain the buoy's complete trajectory, affecting the accuracy of velocity parameters and cross-sectional discharge calculations, ultimately leading to poor accuracy in river flow detection. Therefore, improving the accuracy of river flow detection has become a pressing technical problem.

[0020] The main solution of this application is as follows: Based on the basic information of the river section to be measured, a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both banks of the river section to be measured is constructed, and the spatial positions and cross-sectional geometric parameters of the upstream, downstream, and intermediate cross-sections associated with the river section to be measured are configured in the planar coordinate system; the identification information of the preset electronic buoys in the river section to be measured is obtained, including ultra-wideband tags matched with the preset ultra-wideband positioning base stations; based on the identification information, the distance data sequence between the preset electronic buoys and the preset ultra-wideband positioning base stations is obtained by processing the ultra-wideband ranging signals emitted by the ultra-wideband tags; based on the distance... Based on the data sequence and the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system, the motion trajectory of the preset electronic buoy is determined; based on the spatial position of the motion trajectory relative to the upstream and downstream cross sections, the time when the preset electronic buoy passes through the upstream and downstream cross sections is determined, and the flow velocity parameters corresponding to the motion trajectory are determined according to the distance between the upstream and downstream cross sections and the time; based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross section, the intermediate cross section is divided into multiple segmented regions, the area of ​​each segmented region is determined, and the flow parameters of the river section to be measured are determined by combining the flow velocity parameters corresponding to each segmented region.

[0021] This application, by simultaneously configuring the spatial positions and cross-sectional geometric parameters of preset ultra-wideband positioning base stations and upstream, downstream, and intermediate cross-sections in a unified planar coordinate system, enables the description of river channel geometry and flow measurement elements under the same spatial reference. Based on this, the motion trajectory of the electronic buoy is reconstructed using distance data sequences between preset electronic buoys and each preset ultra-wideband positioning base station, and the moments when the electronic buoy passes through the upstream and downstream cross-sections are accurately determined. Thus, given the known cross-sectional spacing, the flow velocity parameters corresponding to this motion trajectory are obtained. By dividing the intermediate cross-section into multiple segmented regions, determining the area of ​​each segmented region, and allocating the corresponding flow velocity parameters to each segmented region for combined calculation, the flow parameters of the river section under test are calculated based on the continuous motion trajectory and segmented cross-sectional information in a unified coordinate system, thereby improving the accuracy of river flow detection results.

[0022] It should be noted that the execution subject of the method in this embodiment can be a computing service device with data processing, network communication, and program execution functions, or it can be the aforementioned electronic buoy current measurement device based on ultra-wideband positioning with the same or similar functions. This embodiment and the following embodiments will be described using an electronic buoy current measurement device based on ultra-wideband positioning as an example.

[0023] Based on this, a first embodiment of the electronic buoy current measurement method based on ultra-wideband positioning of this application is proposed. Please refer to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the electronic buoy current measurement method based on ultra-wideband positioning in this application.

[0024] In this embodiment, the electronic buoy current measurement method based on ultra-wideband positioning includes the following steps: S1: Based on the basic information of the river section to be measured, construct a plane coordinate system corresponding to the preset ultra-wideband positioning base stations on both sides of the river section to be measured, and configure the spatial position and cross-sectional geometric parameters of the upstream section, downstream section and intermediate section associated with the river section to be measured in the plane coordinate system. It should be noted that the river section to be measured refers to the river area where hydrological elements such as flow velocity and discharge need to be determined. Basic information refers to the original data set related to the river section, including river topography, water level, water depth, bank location, riverbed elevation, and existing cross-section measurement data, used to describe the river's spatial morphology and hydraulic conditions. The pre-determined ultra-wideband (UWB) positioning base station is a fixed node deployed on both banks of the river section to be measured, used to transmit or receive UWB signals and participate in ranging and positioning of the electronic buoy. Its spatial location is predetermined and used to construct the coordinate system. The planar coordinate system is a coordinate reference system used to describe the positional relationship between the river section to be measured, the pre-determined UWB positioning base station, and each cross-section in a two-dimensional plane. The upstream cross-section refers to a test cross-section near the upstream side of the river section to be measured, used as the starting point for the buoy's passage. The downstream cross-section refers to a test cross-section near the downstream side of the river section to be measured, used as the ending point for the buoy's passage. An intermediate cross-section is a test section located between the upstream and downstream cross-sections, used for segmented calculation and analysis of flow. Spatial location is a description of the position of the target point or target line in a plane coordinate system. Cross-sectional geometric parameters are geometric quantities used to characterize the shape and size of the cross-section.

[0025] Specifically, based on the basic information of the river section to be measured, the overall spatial morphology of the river channel is analyzed. Specifically, data related to the riverbank location, channel centerline, water level and depth measurements, riverbed elevation data, and existing cross-sectional measurement data can be collected or retrieved, and this basic information is uniformly converted into a single plane reference. Then, based on this, a suitable coordinate origin is selected, and the direction of the coordinate axes is determined (e.g., one axis along the main channel direction and the other along the river width direction), establishing a plane coordinate system corresponding to the pre-set ultra-wideband positioning base stations on both banks of the river section to be measured. For each pre-set ultra-wideband positioning base station deployed on both banks, its actual installation location is mapped to a specific coordinate point in the plane coordinate system using actual measurements or existing measurement results, thereby fixing the spatial position of each pre-set ultra-wideband positioning base station in this plane coordinate system.

[0026] Furthermore, after completing the calibration of the planar coordinate system and the preset ultra-wideband positioning base station locations, based on the aforementioned basic information and the characteristics of the river channel layout, upstream, downstream, and intermediate cross-sections for flow measurement calculations are selected within the river section to be measured. According to the actual layout of the cross-sections, the projection of each cross-section onto the plane is represented as a cross-sectional line composed of multiple coordinate points, and this cross-sectional line is registered as its corresponding spatial location. Subsequently, combined with riverbed elevation and water depth measurement data, discrete sampling is performed on each cross-sectional line along the width direction to obtain the water depth, riverbed height, etc., at each sampling point, thus describing the cross-sectional shape. Based on this, the corresponding cross-sectional geometric parameters are calculated, such as the total cross-sectional width, segment width, local water depth, and the segment area and cross-sectional area obtained from the contours of each segment. This ensures that the upstream, downstream, and intermediate cross-sections not only have clear spatial locations in the planar coordinate system but also possess geometric parameters for subsequent flow velocity and flow rate calculations.

[0027] By simultaneously configuring the spatial positions of pre-set ultra-wideband positioning base stations on both banks of the river section to be measured, as well as the upstream, downstream, and intermediate sections associated with the river section, in a unified planar coordinate system, and pre-determining the corresponding geometric parameters for each section, all key objects in the flow measurement process—including positioning base stations, electronic buoy trajectories, and each test section—are described and calculated within the same geometric reference frame. This allows for direct intersection point determination, distance calculation, and segmented area division based on this planar coordinate system when reconstructing the buoy's trajectory using distance measurement data between the pre-set ultra-wideband positioning base stations and the electronic buoy, and when associating the trajectory with the upstream, downstream, and intermediate sections. This reduces geometric errors caused by multi-coordinate system transformations, empirical projections, or simplification assumptions, providing a stable, unified, and clearly structured spatial and geometric foundation for accurately determining flow velocity and cross-sectional flow parameters, thus improving the overall accuracy and reliability of river flow detection.

[0028] S2: Obtain the identification information of the preset electronic buoy in the river section to be measured. The identification information includes an ultra-wideband tag that matches the preset ultra-wideband positioning base station. Based on the identification information, obtain the distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station obtained by processing the ultra-wideband ranging signal emitted by the ultra-wideband tag. It should be noted that the pre-set electronic buoy is an electronic buoy device that is deployed or arranged in advance in the river section to be measured. The identification information is a set of identification data used to uniquely identify each pre-set electronic buoy. The ultra-wideband tag is an ultra-wideband (UWB) signal transceiver unit used in conjunction with a pre-set ultra-wideband positioning base station. The pre-set ultra-wideband positioning base station is a fixed node pre-deployed on or near the banks of the river section to be measured. The ultra-wideband ranging signal is an ultra-wideband wireless signal transmitted by the pre-set ultra-wideband positioning base station or the ultra-wideband tag to achieve the ranging function. The distance data sequence is a sequence of data characterizing the distance changes between the pre-set electronic buoy and each pre-set ultra-wideband positioning base station, obtained by processing the ultra-wideband ranging signal and organizing it in chronological order.

[0029] Specifically, the first step is to register and maintain the pre-defined electronic buoy information associated with the river section to be measured in the flow measurement system. The system can read the identification information of each pre-defined electronic buoy from the configuration file, initialization parameters, or during on-site configuration, and store this identification information in a one-to-one correspondence with its onboard ultra-wideband tag. By parsing the identification information, the system can clearly identify the ultra-wideband tag corresponding to each pre-defined electronic buoy, thus correctly attributing ranging data from different ultra-wideband tags to the corresponding pre-defined electronic buoy name during the subsequent reception and parsing of ranging data, avoiding data confusion in multi-buoy scenarios.

[0030] Furthermore, after completing the identification information parsing and association, the system triggers the ranging process based on the identification information, with preset ultra-wideband positioning base stations transmitting ultra-wideband ranging signals to the matched ultra-wideband tags. During ranging interactions with the ultra-wideband tags, each preset ultra-wideband positioning base station acquires raw ranging data related to signal round-trip time, signal correlation characteristics, etc. After receiving the ranging-related data reported by each preset ultra-wideband positioning base station, the system preprocesses this data, including filtering out data corresponding to the target preset electronic buoy based on the identification information, sorting or aligning data according to sampling time, and filtering or compensating for abnormal or missing data. After the above processing, the system organizes the ranging results associated with the preset electronic buoy, arranged in chronological order, into a distance data sequence reflecting the distance changes between the preset electronic buoy and each preset ultra-wideband positioning base station, which is used as input for subsequent trajectory determination steps.

[0031] By pre-acquiring and parsing the identification information of pre-set electronic buoys in the river section to be measured, a clear correspondence is established between each pre-set electronic buoy, its onboard ultra-wideband tag, and the pre-set ultra-wideband positioning base station. Using the identification information as an index, ranging data related to the target pre-set electronic buoy is extracted and organized from the processing results of the ultra-wideband ranging signals transmitted by the ultra-wideband tags, forming a distance data sequence arranged in chronological order. This allows for the use of continuous, clearly attributed, and pre-processed ranging data when calculating the motion trajectory based on this distance data sequence, reducing confusion in multi-buoy scenarios and errors caused by the dispersion of ranging data. This helps improve the accuracy of pre-set electronic buoy position reconstruction and motion trajectory determination, laying a data foundation for the accurate calculation of subsequent flow velocity and flow parameters.

[0032] S3: Based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system, determine the motion trajectory corresponding to the preset electronic buoy; It should be noted that the distance data sequence is a set of data, processed according to the ultra-wideband ranging signal and arranged in chronological order, representing the distance changes between the preset electronic buoy and each preset ultra-wideband positioning base station. The coordinate information is the planar position data of each preset ultra-wideband positioning base station recorded in a plane coordinate system. The motion trajectory refers to the trajectory of the preset electronic buoy's position change in the plane coordinate system over time.

[0033] Specifically, firstly, based on the obtained distance data sequence and the coordinate information of the preset ultra-wideband positioning base stations in the planar coordinate system, a positioning constraint relationship corresponding to each sampling time is constructed. Specifically, for a given sampling time, the system extracts the distance data between that time and each preset ultra-wideband positioning base station from the distance data sequence, and associates this distance data with the coordinate information of the corresponding base stations, thereby forming a geometric constraint in the planar coordinate system with multiple preset ultra-wideband positioning base stations as known points and the preset electronic buoy position as the unknown point. Based on these geometric constraints, the system uses a preset positioning solution strategy to solve for the planar position point of the preset electronic buoy in the planar coordinate system corresponding to that time at each sampling time, obtaining a series of discrete position points arranged in chronological order.

[0034] Furthermore, after obtaining the aforementioned discrete location points, trajectory reconstruction processing is performed on these points to form a continuous, pre-defined electronic buoy motion trajectory. On one hand, the system can connect the discrete location points in chronological order to form a preliminary polygonal trajectory, reflecting the drift path of the pre-defined electronic buoy in the measured river section. On the other hand, to reduce ranging errors and the impact of calculation jitter, the system can perform smoothing and interpolation processing based on the discrete location points, correcting or weakening abnormal deviations, making the changes between adjacent location points more consistent with the actual continuous movement of the pre-defined electronic buoy in the water flow. After the above processing, the system obtains the pre-defined electronic buoy motion trajectory corresponding to the distance data sequence in a planar coordinate system, providing a positional basis for subsequently associating this trajectory with upstream, downstream, and intermediate sections.

[0035] By combining distance data sequences with the coordinate information of preset ultra-wideband positioning base stations in a planar coordinate system, the planar position of the preset electronic buoy is calculated at each sampling time using multiple base stations as references. The obtained position points are then reconstructed and smoothed in chronological order, allowing the continuous motion trajectory of the preset electronic buoy during drift to be clearly depicted in a unified coordinate system. Compared to methods that rely on only a few observation points or simplified path assumptions, this method of solving the position and recovering the complete motion trajectory hourly based on time-series distance data enables subsequent determinations of the preset electronic buoy's passage through upstream and downstream sections, as well as its position on intermediate sections, to be based on more realistic and continuous path information. This helps improve the accuracy and reliability of flow velocity parameters and subsequent flow rate parameters.

[0036] S4: Based on the spatial position of the motion trajectory and the upstream and downstream sections, determine the time when the preset electronic buoy passes through the upstream and downstream sections, and determine the flow velocity parameter corresponding to the motion trajectory according to the distance between the upstream and downstream sections and the time. It should be noted that "time" refers to the point in time when the preset electronic buoy intersects the upstream and downstream cross-sections along its trajectory. The distance between the upstream and downstream cross-sections is the spatial spacing between the two cross-sections determined in the aforementioned planar coordinate system based on their spatial positions. The flow velocity parameter is a flow velocity characterization quantity corresponding to the trajectory, determined based on the distance between the upstream and downstream cross-sections and the time when the preset electronic buoy passes through the two cross-sections.

[0037] Specifically, by utilizing the geometric relationship between the pre-determined electronic buoy trajectory and the spatial positions of the upstream and downstream cross-sections in the planar coordinate system, the interaction between the pre-determined electronic buoy and each cross-section is determined. The system can traverse each position point on the trajectory in chronological order, comparing and geometrically judging these position points with the corresponding cross-sectional lines of the upstream and downstream cross-sections to identify the trajectory positions where the trajectory intersects with the upstream and downstream cross-sections. When it is determined that the trajectory intersects with the upstream and downstream cross-sections in space, the system further retrieves the trajectory sampling time adjacent to the intersection position. If necessary, it can calculate the exact time when the pre-determined electronic buoy accurately passes through the upstream and downstream cross-sections through interpolation or fitting, thereby obtaining a set of time information corresponding to the upstream and downstream cross-sections.

[0038] Furthermore, after obtaining the times when the preset electronic buoy passes through the upstream and downstream cross-sections, the system calculates the flow velocity parameters corresponding to the motion trajectory by combining the distance between the upstream and downstream cross-sections determined in the aforementioned planar coordinate system. Specifically, the system can first obtain the motion duration of the preset electronic buoy along the motion trajectory between the two cross-sections based on the time difference between the upstream and downstream passage times, and then combine the motion duration with the spatial distance between the two cross-sections to obtain the corresponding flow velocity characterization quantity, so that the flow velocity characterization quantity can reflect the average flow velocity of the preset electronic buoy along the motion trajectory between the upstream and downstream cross-sections. Through the above processing, the system can extract the flow velocity parameters corresponding to the motion trajectory from the spatial position of the motion trajectory and cross-sections and the corresponding time, providing velocity input for subsequent calculation of flow parameters based on segmented regions of intermediate cross-sections.

[0039] By combining the motion trajectory of a pre-set electronic buoy with the spatial positions of upstream and downstream cross-sections, the exact time when the pre-set electronic buoy passes through the upstream and downstream cross-sections is determined in a unified planar coordinate system. This time information is then combined with the pre-determined distance between the two cross-sections to obtain the flow velocity parameters corresponding to the motion trajectory. This allows the flow velocity parameters to be directly derived from the spatial and temporal scales of the pre-set electronic buoy traversing the two cross-sections along a real path in the actual river channel, rather than relying solely on local point measurements or empirical estimates. This processing method, which uniformly links the trajectory geometry, cross-section position, and the time of passage, helps to reduce the dependence on ideal streamline assumptions and simplified path models, improves the degree to which the flow velocity parameters reflect actual water flow conditions, and thus provides a more accurate and reliable velocity basis for subsequent calculation of flow parameters based on segmented regions of intermediate cross-sections.

[0040] S5: Based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross-section, the intermediate cross-section is divided into multiple segmented regions, the area of ​​each segmented region is determined, and the flow parameters of the river section to be measured are determined by combining the flow velocity parameters corresponding to each segmented region.

[0041] It should be noted that cross-sectional geometric parameters are geometric information used to describe the shape and size of the intermediate cross-section. A segmented region refers to several sub-regions divided on the intermediate cross-section according to the cross-sectional geometric parameters. The flow rate parameter is a quantity used to characterize the water-carrying capacity of the river section under test, calculated based on the area of ​​each segmented region and the corresponding flow velocity parameter.

[0042] Specifically, based on the cross-sectional geometric parameters corresponding to the intermediate section, the intermediate section is geometrically discretized and segmented. Specifically, the cross-sectional line of the intermediate section can be divided into several adjacent segmented regions according to the changes in width and water depth. For example, segment boundaries can be set at equal intervals along the river width or according to water depth variation characteristics, so that each segmented region covers a portion of the width and / or water depth range of the intermediate section. For each segmented region, the cross-sectional area of ​​the water passage of the segmented region is calculated based on its boundary position on the cross-section and the corresponding geometric information such as water depth and riverbed elevation. The calculated area is then associated with the identifier of the segmented region to form a segmented representation of the overall area of ​​the intermediate section.

[0043] Furthermore, after obtaining the area of ​​each segment of the intermediate cross-section, the system combines the flow velocity parameters determined in the previous step with the positional relationships on the intermediate cross-section, assigning or associating appropriate flow velocity parameters to each segment. For example, based on the intersection of a preset electronic buoy trajectory on the intermediate cross-section, the flow velocity parameters corresponding to that trajectory can be mapped to one or more corresponding segment regions on the intermediate cross-section, ensuring that each segment region has its corresponding flow velocity parameters. Subsequently, the system calculates the sub-flow rate of each segment region based on its area and corresponding flow velocity parameters, and summarizes the sub-flow rates of all segment regions to obtain the flow rate parameters corresponding to the entire intermediate cross-section. This flow rate parameter serves as a flow characterization of the river segment under test, reflecting the water flow situation of that river segment at the time of the test.

[0044] By dividing the intermediate cross-section into multiple segments based on velocity parameters and cross-sectional geometry, and determining the area of ​​each segment, the flow parameters of the river section under test are determined by combining the velocity parameters corresponding to each segment. This allows flow calculation to move beyond a rough combination of a single average velocity and the overall area for the entire cross-section. Instead, flow calculation is refined to multiple spatially defined segments. Within each segment, sub-flow calculations are performed based on the cross-sectional area and corresponding velocity parameters. The overall flow is then obtained by summing these sub-flows. This "segmented area + segmented velocity + summation" process incorporates the differences in velocity and water depth at different locations within the intermediate cross-section into the flow calculation, thereby reducing errors caused by simplified cross-sectional assumptions and improving the accuracy and characterization of flow parameters for the river section under test.

[0045] This embodiment constructs a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both banks of the river section under test based on the basic information of the river section under test. The spatial positions and geometric parameters of the upstream, downstream, and intermediate sections associated with the river section under test are configured in the planar coordinate system. Identification information of preset electronic buoys in the river section under test is obtained. This identification information includes ultra-wideband tags matched with the preset ultra-wideband positioning base stations. Based on the identification information, a distance data sequence between the preset electronic buoys and the preset ultra-wideband positioning base stations is obtained by processing the ultra-wideband ranging signals emitted by the ultra-wideband tags. Based on the distance data sequence... Based on the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system, the motion trajectory of the preset electronic buoy is determined; based on the spatial position of the motion trajectory and the upstream and downstream sections, the time when the preset electronic buoy passes through the upstream and downstream sections is determined, and the flow velocity parameters corresponding to the motion trajectory are determined according to the distance between the upstream and downstream sections and the time; based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate section, the intermediate section is divided into multiple segmented regions, the area of ​​each segmented region is determined, and the flow parameters of the river section to be measured are determined by combining the flow velocity parameters corresponding to each segmented region. This embodiment, by simultaneously configuring the spatial positions and cross-sectional geometric parameters of preset ultra-wideband positioning base stations and upstream, downstream, and intermediate cross-sections in a unified planar coordinate system, enables the description of river channel geometry and flow measurement elements under the same spatial reference. Based on this, the motion trajectory of the electronic buoy is reconstructed using the distance data sequence between the preset electronic buoy and each preset ultra-wideband positioning base station, and the moment when the electronic buoy passes through the upstream and downstream cross-sections is accurately determined. Thus, given the known cross-sectional spacing, the flow velocity parameters corresponding to this motion trajectory are obtained. By dividing the intermediate cross-section into multiple segmented regions, determining the area of ​​each segmented region, and allocating the corresponding flow velocity parameters to each segmented region for combined calculation, the flow parameters of the river section under test are calculated based on the continuous motion trajectory and segmented cross-sectional information in a unified coordinate system, thereby improving the accuracy of river flow detection results.

[0046] Based on the first embodiment described above, a second embodiment of the electronic buoy current measurement method based on ultra-wideband positioning in this application is proposed. Please refer to... Figure 2 , Figure 2 This is a schematic diagram of a sub-process in the second embodiment of the electronic buoy current measurement method based on ultra-wideband positioning in this application.

[0047] like Figure 2 As shown, in this embodiment, step S2 includes: S21: Obtain the identification information of the preset electronic buoy associated with the river section to be measured, parse the identification information, and obtain the identification field of each preset electronic buoy and the ultra-wideband tag parameter corresponding to the identification field; S22: Generate ranging control information based on the ultra-wideband tag parameters, and send the ranging control information to the preset ultra-wideband positioning base station so that each preset ultra-wideband positioning base station transmits ultra-wideband ranging signals to the ultra-wideband tag according to a preset timing sequence, and obtains ranging response data corresponding to each preset electronic buoy. S23: The ranging response data is parsed and time-aligned to obtain distance data corresponding to the preset electronic buoy and each of the preset ultra-wideband positioning base stations, and the distance data is organized into a distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station according to the sampling time.

[0048] It should be noted that the identification field is a specific field or combination of fields used in the identification information to distinguish different preset electronic buoys. Ultra-wideband tag parameters are a set of parameters corresponding to each identification field, used to configure and control the ultra-wideband tag. Ranging control information is control commands or configuration data generated based on the ultra-wideband tag parameters, instructing preset ultra-wideband positioning base stations how to interact with the corresponding ultra-wideband tags in ranging. Preset timing is a pre-defined time arrangement and sequence rule for the ranging interaction process. The ultra-wideband ranging signal is an ultra-wideband wireless signal transmitted by the preset ultra-wideband positioning base station to the ultra-wideband tag according to the ranging control information. Ranging response data is the raw data returned by the ultra-wideband tag or preset ultra-wideband positioning base station during the ranging interaction process, containing signal round-trip time, timestamps, or related characteristics. Time alignment processing refers to the time-axis correction of ranging response data from different preset ultra-wideband positioning base stations and different preset electronic buoys. The distance data sequence is a sequence of distance data between preset electronic buoys and each preset ultra-wideband positioning base station, organized according to the sampling time sequence.

[0049] Specifically, the system acquires and parses the identification information of pre-defined electronic buoys associated with the river section to be measured, distinguishing between different pre-defined electronic buoys. By parsing the identification information, the system can extract the identification fields corresponding to each pre-defined electronic buoy and query or generate corresponding ultra-wideband tag parameters based on these fields, thus establishing a correspondence between "pre-defined electronic buoy—identification field—ultra-wideband tag parameter." Based on this, the system constructs ranging control information according to the ultra-wideband tag parameters. This ranging control information includes the working configuration of the ultra-wideband tag for each pre-defined electronic buoy and ranging trigger rules. This ranging control information is then sent to each pre-defined ultra-wideband positioning base station, enabling each pre-defined ultra-wideband positioning base station to transmit ultra-wideband ranging signals to the corresponding ultra-wideband tag according to a preset timing sequence. After completing the ranging interaction with the ultra-wideband tag, each pre-defined ultra-wideband positioning base station obtains ranging response data corresponding to each pre-defined electronic buoy and reports this ranging response data to the system.

[0050] Furthermore, after obtaining the ranging response data corresponding to each preset electronic buoy, the system performs parsing and time alignment processing on the ranging response data. The parsing step mainly extracts key fields related to ranging from the ranging response data, such as signal round-trip time, transmission and reception time markers, and ranging quality indicators, and establishes the correlation between these data and the corresponding preset electronic buoy and preset ultra-wideband positioning base station. The time alignment processing is used to map the ranging response data from different preset ultra-wideband positioning base stations to a unified sampling time, so as to combine and compare the ranging data of multiple base stations under the same time reference. After parsing and time alignment processing, the system calculates the corresponding distance data based on the ranging response data between each preset electronic buoy and each preset ultra-wideband positioning base station, and organizes these distance data according to the sampling time to form a distance data sequence corresponding to each preset electronic buoy and arranged in chronological order, providing input for subsequent motion trajectory determination.

[0051] By first acquiring and parsing the pre-defined electronic buoy identification information associated with the river section to be measured, the mapping relationship between each pre-defined electronic buoy and its corresponding ultra-wideband tag parameters is clarified. Then, ranging control information is generated based on the ultra-wideband tag parameters and sent to the pre-defined ultra-wideband positioning base stations. This enables each pre-defined ultra-wideband positioning base station to transmit ultra-wideband ranging signals to the target ultra-wideband tag according to a pre-defined time sequence and acquire the corresponding ranging response data. After parsing and time-aligning the ranging response data, distance data corresponding to each pre-defined electronic buoy and each pre-defined ultra-wideband positioning base station under a unified time reference is obtained and organized into a clearly structured distance data sequence. Through the above process, even when multiple buoys and multiple base stations are working in parallel, the attribution of ranging data is clear, the time is consistent, and the sequence is complete. This provides a high-quality raw data foundation for subsequent motion trajectory solving based on the distance data sequence, which helps to improve the accuracy of electronic buoy positioning and trajectory reconstruction, thereby indirectly improving the reliability of subsequent flow velocity and flow rate calculation results.

[0052] Based on the first embodiment described above, in this embodiment, step S3 includes: S31: At multiple sampling times, a positioning constraint relationship is constructed based on the distance data sequence and the coordinate information corresponding to each of the preset ultra-wideband positioning base stations, and the discrete position points of the preset electronic buoys corresponding to each sampling time in the plane coordinate system are determined based on the constraint relationship. S32: Perform trajectory fitting processing on the discrete position points in time sequence to obtain the initial trajectory line of the preset electronic buoy in the plane coordinate system; S33: Based on the initial trajectory line, smooth and interpolate the discrete position points to generate a motion trajectory in the planar coordinate system corresponding to the preset electronic buoy.

[0053] It should be noted that the positioning constraint relationship is a set of constraints constructed through geometric relationships based on the distance data between the buoy and multiple base stations, as well as the known coordinates of the base stations in the planar coordinate system, used to solve for the buoy's position. Discrete position points refer to the specific coordinates of the preset electronic buoy in the planar coordinate system, obtained at each sampling time using the positioning constraint relationship. Trajectory fitting processing refers to the process of mathematically fitting the discrete position points in time sequence to make the trajectory trend more continuous and smooth. The initial trajectory line is the preliminary motion path obtained based on the fitted discrete position points. Smoothing and interpolation processing refers to reducing the jitter and noise effects of discrete position points through smoothing algorithms and interpolating between adjacent points to improve the continuity of the trajectory, making the final generated trajectory more consistent with the buoy's actual motion state.

[0054] Specifically, after obtaining the distance data sequence between the buoy and each preset ultra-wideband positioning base station, the system first uses each sampling time as an independent solution node. Combining the distance data from multiple base stations corresponding to that sampling time with the known coordinates of each base station in the planar coordinate system, it constructs the positioning constraints required for buoy positioning. For example, it approximates the buoy position by using the intersection points of multiple circular or elliptical distance constraints. The system uses these positioning constraints to solve for the position at each sampling time, thus obtaining a series of discrete position points distributed over time. Each discrete position point represents the estimated position of the preset electronic buoy at that sampling time, thus forming a preliminary discrete-time-space coordinate sequence.

[0055] Furthermore, after obtaining discrete location points sorted by time, the system performs trajectory fitting processing based on these points, generating an initial trajectory line for the electronic buoy through a fitting method suitable for hydrodynamic motion characteristics (such as curve fitting or path regression). The initial trajectory line may still contain jitter points, offset points, or local deviations due to ranging noise. Therefore, the system further smooths and interpolates the discrete location points based on the initial trajectory, making the trajectory more continuous in time and closer to the natural drift path in space. Smoothing can filter out abnormal jump points, and interpolation can fill trajectory gaps caused by long sampling time intervals. Finally, the system obtains a continuous motion trajectory in a planar coordinate system that conforms to the actual drift state of the electronic buoy, providing stable and reliable path data for flow velocity calculation.

[0056] By constructing positioning constraints based on the distance data sequence and the coordinates of the positioning base station at each sampling time and obtaining discrete location points, and then performing trajectory fitting, smoothing, and interpolation on the discrete location points, noise, jump points, and base station ranging errors in the original ranging data can be effectively suppressed, and a highly continuous and stable electronic buoy motion trajectory can be constructed on the time axis. This continuous motion trajectory more accurately reflects the buoy's drift path than directly using the original distance information or unprocessed discrete points. Therefore, when determining the cross-sectional passage time and calculating the corresponding flow velocity and flow rate based on the trajectory, it can significantly improve the positioning accuracy, the reliability of the drift path, and the accuracy of flow velocity inversion, providing higher quality core input data for overall flow rate measurement.

[0057] This embodiment constructs a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both banks of the river section under test based on the basic information of the river section under test. The spatial positions and geometric parameters of the upstream, downstream, and intermediate sections associated with the river section under test are configured in the planar coordinate system. Identification information of preset electronic buoys in the river section under test is obtained. This identification information includes ultra-wideband tags matched with the preset ultra-wideband positioning base stations. Based on the identification information, a distance data sequence between the preset electronic buoys and the preset ultra-wideband positioning base stations is obtained by processing the ultra-wideband ranging signals emitted by the ultra-wideband tags. Based on the distance data sequence... Based on the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system, the motion trajectory of the preset electronic buoy is determined; based on the spatial position of the motion trajectory and the upstream and downstream sections, the time when the preset electronic buoy passes through the upstream and downstream sections is determined, and the flow velocity parameters corresponding to the motion trajectory are determined according to the distance between the upstream and downstream sections and the time; based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate section, the intermediate section is divided into multiple segmented regions, the area of ​​each segmented region is determined, and the flow parameters of the river section to be measured are determined by combining the flow velocity parameters corresponding to each segmented region. This embodiment, by simultaneously configuring the spatial positions and cross-sectional geometric parameters of preset ultra-wideband positioning base stations and upstream, downstream, and intermediate cross-sections in a unified planar coordinate system, enables the description of river channel geometry and flow measurement elements under the same spatial reference. Based on this, the motion trajectory of the electronic buoy is reconstructed using the distance data sequence between the preset electronic buoy and each preset ultra-wideband positioning base station, and the moment when the electronic buoy passes through the upstream and downstream cross-sections is accurately determined. Thus, given the known cross-sectional spacing, the flow velocity parameters corresponding to this motion trajectory are obtained. By dividing the intermediate cross-section into multiple segmented regions, determining the area of ​​each segmented region, and allocating the corresponding flow velocity parameters to each segmented region for combined calculation, the flow parameters of the river section under test are calculated based on the continuous motion trajectory and segmented cross-sectional information in a unified coordinate system, thereby improving the accuracy of river flow detection results.

[0058] Based on the second embodiment described above, a third embodiment of the electronic buoy current measurement method based on ultra-wideband positioning in this application is proposed. Please refer to... Figure 3 , Figure 3 This is a schematic diagram of a sub-process in the third embodiment of the electronic buoy current measurement method based on ultra-wideband positioning in this application.

[0059] In this embodiment, step S1 includes: S11: Obtain the basic information of the river section to be measured, including river boundary data, riverbed elevation data and cross-section measurement data, construct an initial plane coordinate system, map the river boundary data to the initial plane coordinate system, and determine the river outline of the river section to be measured. S12: Determine the installation positions of the preset ultra-wideband positioning base stations on both sides of the river channel outline, and take the installation positions of each preset ultra-wideband positioning base station as the spatial positions corresponding to the plane coordinate system. S13: Based on the cross-sectional measurement data, arrange the cross-sectional lines of the upstream cross-section, the downstream cross-section, and the intermediate cross-section in the initial plane coordinate system, discretize and segment each cross-sectional line according to a preset rule, and determine the cross-sectional geometric parameters of each cross-section based on the segmented cross-sectional lines.

[0060] It should be noted that river boundary data describes the river's edge line information on a plane. Riverbed elevation data reflects the longitudinal elevation variation of the riverbed in space and is used to describe the topographic features of the riverbed. Cross-sectional measurement data is the morphological data of the water-passing cross-section collected at specific locations in the river. Cross-sectional lines refer to line segments representing the geometric shape of the cross-section, drawn in a coordinate system based on cross-sectional measurement data. Cross-sectional geometric parameters are a set of parameters used to characterize the cross-sectional morphology.

[0061] Specifically, during the initialization phase of the flow measurement system, basic information about the river section to be measured is first acquired. This includes river boundary data describing the overall shape of the river channel, riverbed elevation data characterizing the riverbed topography, and cross-sectional measurement data reflecting the local cross-sectional shape. Based on this basic information, an initial planar coordinate system is constructed, and the river boundary data is mapped into this coordinate system to obtain the contour of the river channel in a two-dimensional plane. Based on the overall shape of the river channel contour, specific locations with unobstructed line-of-sight are selected on both sides of the river as installation points for pre-set ultra-wideband positioning base stations, and the coordinates of these installation points in the coordinate system are determined as the spatial locations used in the subsequent positioning process.

[0062] Furthermore, based on the cross-sectional measurement data, cross-sectional lines corresponding to the upstream, downstream, and intermediate cross-sections are arranged in the initial plane coordinate system. To make the cross-sectional geometry more suitable for subsequent flow calculations based on segmented regions, each cross-sectional line is discretized and segmented according to preset rules, transforming the cross-sectional shape from a continuous curve into several more easily calculated line segments or local regions. After completing the discretization and segmentation of the cross-sectional lines, the cross-sectional geometric parameters of each cross-section are determined based on the segmented morphological structure, including key structural quantities used for area estimation and velocity matching, thereby forming complete cross-sectional basic data and providing accurate structural constraints for subsequent velocity calculations and flow estimations.

[0063] By constructing an initial planar coordinate system based on fundamental information and mapping the river channel boundaries to determine the river channel outline, the system can obtain a two-dimensional spatial reference frame consistent with the actual terrain. Simultaneously, by accurately determining the spatial locations of ultra-wideband positioning base stations on both sides of the river channel, reliable geometric conditions are laid for subsequent electronic buoy positioning. Furthermore, by arranging cross-sectional lines in the coordinate system and discretizing and segmenting the cross-sections, the system can obtain structured cross-sectional geometric parameters, enabling subsequent velocity matching and flow estimation based on segmented regions to achieve higher spatial accuracy. Overall, the above steps establish a complete, accurate, and applicable spatial modeling foundation for subsequent flow measurement calculations, resulting in higher accuracy and stability for velocity inversion and flow calculation.

[0064] Based on the second embodiment described above, in this embodiment, step S4 includes: S41: Calculate the intersection point between the motion trajectory and the cross-sectional lines corresponding to the upstream and downstream cross-sections to determine the position of the intersection point between the motion trajectory and the upstream and downstream cross-sections; S42: Based on the trajectory sampling time adjacent to the intersection point, interpolate the passage time of the preset electronic buoy through the upstream section and the downstream section to obtain the corresponding upstream passage time and downstream passage time; S43: Based on the distance between the upstream section and the downstream section, as well as the upstream passage time and the downstream passage time, determine the average flow velocity parameter corresponding to the motion trajectory, and use the average flow velocity parameter as the flow velocity parameter of the motion trajectory.

[0065] It should be noted that intersection calculation refers to determining the intersection position of the motion trajectory curve and the cross-sectional line through geometric calculation using the spatial relationship between the two. The trajectory sampling time refers to the time label of the corresponding discrete position point during the generation of the motion trajectory. The average flow velocity parameter is the average velocity obtained through the buoy's motion path between the upstream and downstream cross-sections and the time difference.

[0066] Specifically, after obtaining the preset trajectory of the electronic buoy, the intersection points of this trajectory curve with the corresponding cross-sectional lines of the upstream and downstream sections are calculated. Specifically, the continuous path information of the trajectory in the planar coordinate system is read, and the cross-sectional lines are treated as fixed spatial segments. By determining the positional relationship between the trajectory segment and the cross-sectional segment, the intersection points where the trajectory crosses the cross-sectional lines are determined. After solving for the intersection points, the specific locations where the trajectory crosses each cross-section in space can be obtained, providing spatial basis for further determining the buoy's transit time.

[0067] Furthermore, based on the trajectory sampling times immediately adjacent to each intersection point, interpolation calculations are performed to determine the times when the buoy passes through the upstream and downstream cross-sections. Since the trajectory consists of discrete points, the actual cross-section position of the buoy often does not perfectly coincide with the sampling time. Therefore, the true time of the buoy's cross-section is estimated using the timestamps and coordinates of adjacent sampling points. After obtaining the upstream and downstream crossing times, the average flow velocity parameter corresponding to the trajectory is calculated based on the time difference between the two cross-sections, combined with the distance between them. This average flow velocity is then used as the representative flow velocity for this section of the water flow for subsequent flow rate calculations.

[0068] By calculating the intersection points of the buoy's trajectory and the cross-sectional line, and interpolating the trajectory sampling times, the true transit time of the buoy can be obtained, effectively avoiding time estimation errors caused by the discreteness of trajectory points. Subsequently, the average flow velocity is obtained by combining the distance between cross-sections, ensuring that the flow velocity parameter reflects the actual drift process rather than a rough estimate from the sampling points. These steps, through the dual constraints of spatial location and temporal information, improve the accuracy of flow velocity calculation, thus providing a reliable velocity input for subsequent flow rate calculations and contributing to an overall improvement in the accuracy and stability of river flow measurement results.

[0069] Based on the second embodiment described above, in this embodiment, step S5 includes: S51: Based on the cross-sectional geometric parameters, the cross-sectional line corresponding to the intermediate cross-section is discretized along the water depth direction and the width direction in the plane coordinate system to obtain multiple adjacent segmented regions, and a corresponding region identifier is assigned to each segmented region. S52: Project the intersection point of the motion trajectory on the intermediate section onto the segmented region, and allocate the flow velocity parameter corresponding to the motion trajectory to the corresponding segmented region according to the segmented region to which the intersection point belongs, so that each segmented region is associated with the corresponding flow velocity parameter; S53: Determine the area of ​​each segment region based on the boundary information of each segment region, and determine the sub-flow rate of each segment region according to the area of ​​each segment region and the flow velocity parameters associated with the segment region. Summarize the sub-flow rates of each segment region to obtain the flow parameters of the river segment to be measured.

[0070] It should be noted that the water depth direction refers to the vertical or longitudinal distribution direction along the cross-section line. The width direction refers to the direction that crosses the river channel laterally along the cross-section line. The area identifier is a unique marker assigned to each segment area. The intersection point is the spatial coordinate point where the trajectory intersects with the intermediate cross-section line. Projection refers to spatially mapping the intersection point onto the segmented structure of the cross-section line to determine the segment area to which the intersection point belongs. Sub-discharge is a local discharge value calculated for a specific segment area based on the area of ​​that area and the associated velocity parameters.

[0071] Specifically, the cross-sectional line is discretized within a planar coordinate system based on the cross-sectional geometric parameters of the intermediate section. Discretization can be performed by dividing the section into several horizontal segments along the width direction (to cover the cross-sectional width from the left bank to the right bank), or by further subdividing each segment along the water depth direction, thereby decomposing the cross-section into several adjacent small rectangular or polygonal segment regions. For each segment region, its boundary vertex coordinates, width interval, and depth interval are recorded, and the cross-sectional area of ​​the segment region is calculated based on this boundary information. A unique region identifier is assigned to each segment region for subsequent association.

[0072] Furthermore, the intersection points of the motion trajectories on the intermediate section are mapped onto the aforementioned segmented region structure. This involves projecting each intersection point onto its corresponding segmented region according to its coordinates and determining its region identifier. For one or more intersection points associated with a particular segmented region, the velocity parameters corresponding to that intersection point are assigned to that segmented region. When multiple velocity observations from multiple motion trajectories or multiple crossings exist within the same segmented region, the velocity parameters from these observations can be merged or weighted averaged according to preset rules to obtain the representative velocity of that segment. Subsequently, the sub-flow rate of each segmented region is calculated based on its area and corresponding representative velocity. The sub-flow rates of all segmented regions are then summarized to obtain the overall flow rate parameter corresponding to the intermediate section. This overall flow rate parameter serves as the flow characterization value for the river segment under test.

[0073] The intermediate cross-section is discretized into several segmented regions along the width and water depth directions, and the specific area of ​​each region is calculated. Then, the intersection points of the motion trajectory are projected onto the regions, and the corresponding velocity parameters are assigned to the corresponding segmented regions. This transforms the flow calculation from a coarse form of "overall area × single velocity" to a refined process of "segmented area × segmented velocity → sub-flow summary". This segmentation and location mapping allows local differences in water depth and velocity distribution to be explicitly included in the calculation. Each sub-flow is obtained based on the corresponding geometric quantities and measured velocities, thereby more accurately reflecting the spatial distribution of the non-uniform velocity field within the cross-section, reducing errors caused by the simplification assumptions of the cross-section, and improving the calculation accuracy and reliability of the flow parameters of the river section under test.

[0074] This embodiment constructs a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both banks of the river section under test based on the basic information of the river section under test. The spatial positions and geometric parameters of the upstream, downstream, and intermediate sections associated with the river section under test are configured in the planar coordinate system. Identification information of preset electronic buoys in the river section under test is obtained. This identification information includes ultra-wideband tags matched with the preset ultra-wideband positioning base stations. Based on the identification information, a distance data sequence between the preset electronic buoys and the preset ultra-wideband positioning base stations is obtained by processing the ultra-wideband ranging signals emitted by the ultra-wideband tags. Based on the distance data sequence... Based on the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system, the motion trajectory of the preset electronic buoy is determined; based on the spatial position of the motion trajectory and the upstream and downstream sections, the time when the preset electronic buoy passes through the upstream and downstream sections is determined, and the flow velocity parameters corresponding to the motion trajectory are determined according to the distance between the upstream and downstream sections and the time; based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate section, the intermediate section is divided into multiple segmented regions, the area of ​​each segmented region is determined, and the flow parameters of the river section to be measured are determined by combining the flow velocity parameters corresponding to each segmented region. This embodiment, by simultaneously configuring the spatial positions and cross-sectional geometric parameters of preset ultra-wideband positioning base stations and upstream, downstream, and intermediate cross-sections in a unified planar coordinate system, enables the description of river channel geometry and flow measurement elements under the same spatial reference. Based on this, the motion trajectory of the electronic buoy is reconstructed using the distance data sequence between the preset electronic buoy and each preset ultra-wideband positioning base station, and the moment when the electronic buoy passes through the upstream and downstream cross-sections is accurately determined. Thus, given the known cross-sectional spacing, the flow velocity parameters corresponding to this motion trajectory are obtained. By dividing the intermediate cross-section into multiple segmented regions, determining the area of ​​each segmented region, and allocating the corresponding flow velocity parameters to each segmented region for combined calculation, the flow parameters of the river section under test are calculated based on the continuous motion trajectory and segmented cross-sectional information in a unified coordinate system, thereby improving the accuracy of river flow detection results.

[0075] This application also provides an electronic buoy current measurement device based on ultra-wideband positioning, please refer to... Figure 4 , Figure 4 This is a schematic diagram of the module structure of the electronic buoy current measuring device based on ultra-wideband positioning according to an embodiment of this application. The electronic buoy current measuring device based on ultra-wideband positioning includes: The parameter configuration module 401 is used to construct a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both sides of the river section to be measured based on the basic information of the river section to be measured, and to configure the spatial position and cross-sectional geometric parameters of the upstream section, downstream section and intermediate section associated with the river section to be measured in the planar coordinate system. The distance data module 402 is used to acquire the identification information of the preset electronic buoy in the river section to be measured. The identification information includes an ultra-wideband tag that matches the preset ultra-wideband positioning base station. Based on the identification information, the distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station is acquired by processing the ultra-wideband ranging signal emitted by the ultra-wideband tag. The motion trajectory module 403 is used to determine the motion trajectory of the preset electronic buoy based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system. The flow velocity parameter module 404 is used to determine the time when the preset electronic buoy passes through the upstream and downstream sections based on the spatial position of the motion trajectory and the upstream and downstream sections, and to determine the flow velocity parameter corresponding to the motion trajectory according to the distance between the upstream and downstream sections and the time. The target module 405 is used to divide the intermediate cross-section into multiple segmented regions based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross-section, determine the area of ​​each segmented region, and determine the flow parameters of the river section to be measured by combining the flow velocity parameters corresponding to each segmented region.

[0076] The electronic buoy flow measurement device based on ultra-wideband positioning provided in this application adopts the electronic buoy flow measurement method based on ultra-wideband positioning in the above embodiments, which can solve the technical problem of how to improve the accuracy of river flow detection. Compared with the prior art, the beneficial effects of the electronic buoy flow measurement device based on ultra-wideband positioning provided in this application are the same as the beneficial effects of the electronic buoy flow measurement method based on ultra-wideband positioning provided in the above embodiments, and other technical features in the electronic buoy flow measurement device based on ultra-wideband positioning are the same as the features disclosed in the methods of the above embodiments, and will not be repeated here.

[0077] This application provides an electronic buoy flow measurement device based on ultra-wideband positioning. The electronic buoy flow measurement device based on ultra-wideband positioning includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the electronic buoy flow measurement method based on ultra-wideband positioning in the above embodiments.

[0078] The following is for reference. Figure 5 , Figure 5 This is a schematic diagram of the hardware operating environment of the electronic buoy flow measurement method based on ultra-wideband positioning in the embodiments of this application. It shows a schematic diagram of the structure of the electronic buoy flow measurement device based on ultra-wideband positioning suitable for implementing the embodiments of this application. Figure 5 The illustrated electronic buoy current measurement device based on ultra-wideband positioning is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0079] like Figure 5 As shown, the ultra-wideband positioning-based electronic buoy current measurement device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the ultra-wideband positioning-based electronic buoy current measurement device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the ultra-wideband positioning-based electronic buoy current measurement device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows an ultra-wideband positioning-based electronic buoy current measurement device with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0080] In particular, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. When the computer program is executed by the processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0081] The ultra-wideband positioning-based electronic buoy flow measurement device provided in this application, employing the ultra-wideband positioning-based electronic buoy flow measurement method described in the above embodiments, can solve the technical problem of how to improve the accuracy of river flow detection. Compared with the prior art, the beneficial effects of the ultra-wideband positioning-based electronic buoy flow measurement device provided in this application are the same as those of the ultra-wideband positioning-based electronic buoy flow measurement method provided in the above embodiments, and other technical features of this ultra-wideband positioning-based electronic buoy flow measurement device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0082] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0083] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0084] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the electronic buoy current measurement method based on ultra-wideband positioning in the above embodiments.

[0085] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by an electronic buoy current measurement device based on ultra-wideband positioning, the device causes the following: based on the basic information of the river section to be measured, it constructs a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both banks of the river section to be measured, and configures the spatial positions and cross-sectional geometric parameters of the upstream, downstream, and intermediate cross-sections associated with the river section to be measured in the planar coordinate system; it acquires the identification information of preset electronic buoys in the river section to be measured, the identification information including ultra-wideband tags matched with the preset ultra-wideband positioning base stations; and based on the identification information, it acquires and processes the ultra-wideband ranging signals emitted by the ultra-wideband tags. The method involves obtaining a distance data sequence between a preset electronic buoy and a preset ultra-wideband positioning base station; determining the motion trajectory of the preset electronic buoy based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in a planar coordinate system; determining the time when the preset electronic buoy passes through the upstream and downstream sections based on the spatial position of the motion trajectory and the upstream and downstream sections, and determining the flow velocity parameters corresponding to the motion trajectory based on the distance between the upstream and downstream sections and the time; dividing the intermediate section into multiple segmented regions based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate section, determining the area of ​​each segmented region, and determining the flow parameters of the river section to be measured based on the flow velocity parameters corresponding to each segmented region. Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0086] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0087] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0088] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described electronic buoy flow measurement method based on ultra-wideband positioning, thereby solving the technical problem of how to improve the accuracy of river flow detection. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the electronic buoy flow measurement method based on ultra-wideband positioning provided in the above embodiments, and will not be repeated here.

[0089] This application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the electronic buoy current measurement method based on ultra-wideband positioning as described above.

[0090] The computer program product provided in this application can solve the technical problem of how to improve the accuracy of river flow detection. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiments of this application are the same as the beneficial effects of the electronic buoy flow measurement method based on ultra-wideband positioning provided in the above embodiments, and will not be repeated here.

[0091] The above are merely preferred embodiments of this application and do not limit the scope of protection of this application. Any equivalent structural or procedural transformations made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of this application.

Claims

1. A current measurement method using an electronic buoy based on ultra-wideband positioning, characterized in that, The method includes: Based on the basic information of the river section to be measured, a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both sides of the river section to be measured is constructed, and the spatial position and cross-sectional geometric parameters of the upstream section, downstream section and intermediate section associated with the river section to be measured are configured in the planar coordinate system. The identification information of a preset electronic buoy in the river section to be measured is obtained. The identification information includes an ultra-wideband tag that matches the preset ultra-wideband positioning base station. Based on the identification information, the distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station is obtained by processing the ultra-wideband ranging signal emitted by the ultra-wideband tag. Based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system, the motion trajectory corresponding to the preset electronic buoy is determined. Based on the spatial position of the motion trajectory and the upstream and downstream sections, the time when the preset electronic buoy passes through the upstream and downstream sections is determined, and the flow velocity parameter corresponding to the motion trajectory is determined according to the distance between the upstream and downstream sections and the time. Based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross-section, the intermediate cross-section is divided into multiple segmented regions, the area of ​​each segmented region is determined, and the flow parameters of the river section to be measured are determined by combining the flow velocity parameters corresponding to each segmented region.

2. The method as described in claim 1, characterized in that, The step of obtaining the identification information of a preset electronic buoy in the river section to be measured, wherein the identification information includes an ultra-wideband tag matching the preset ultra-wideband positioning base station, and obtaining the distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station obtained by processing the ultra-wideband ranging signal emitted by the ultra-wideband tag based on the identification information includes: Obtain the identification information of the preset electronic buoys associated with the river section to be measured, parse the identification information, and obtain the identification field of each preset electronic buoy and the ultra-wideband tag parameter corresponding to the identification field; Ranging control information is generated based on the ultra-wideband tag parameters and sent to the preset ultra-wideband positioning base stations so that each preset ultra-wideband positioning base station transmits ultra-wideband ranging signals to the ultra-wideband tag according to a preset timing sequence and obtains ranging response data corresponding to each preset electronic buoy. The ranging response data is parsed and time-aligned to obtain distance data corresponding to the preset electronic buoy and each preset ultra-wideband positioning base station. The distance data is then organized into a distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station according to the sampling time.

3. The method as described in claim 2, characterized in that, The step of determining the motion trajectory of the preset electronic buoy based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system includes: At multiple sampling times, a positioning constraint relationship is constructed based on the distance data sequence and the coordinate information corresponding to each of the preset ultra-wideband positioning base stations, and the discrete position points of the preset electronic buoys in the planar coordinate system corresponding to each sampling time are determined based on the constraint relationship. The discrete location points are subjected to trajectory fitting in time sequence to obtain the initial trajectory line of the preset electronic buoy in the plane coordinate system; Based on the initial trajectory line, the discrete position points are smoothed and interpolated to generate a motion trajectory in the planar coordinate system corresponding to the preset electronic buoy.

4. The method as described in claim 1, characterized in that, The steps of constructing a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both banks of the river section under test based on the basic information of the river section under test, and configuring the spatial positions and cross-sectional geometric parameters of the upstream, downstream and intermediate cross-sections associated with the river section under test in the planar coordinate system include: The basic information of the river section to be measured is obtained, including river boundary data, riverbed elevation data and cross-section measurement data. An initial plane coordinate system is constructed, and the river boundary data is mapped to the initial plane coordinate system to determine the river profile of the river section to be measured. The installation positions of the preset ultra-wideband positioning base stations are determined on both sides of the river channel outline, and the installation positions of each preset ultra-wideband positioning base station are taken as the spatial positions corresponding to the plane coordinate system. Based on the cross-sectional measurement data, the cross-sectional lines of the upstream cross-section, the downstream cross-section, and the intermediate cross-section are arranged in the initial plane coordinate system. Each cross-sectional line is discretized and segmented according to a preset rule, and the cross-sectional geometric parameters of each cross-section are determined based on the segmented cross-sectional lines.

5. The method as described in claim 1, characterized in that, The steps of determining the time when the preset electronic buoy passes through the upstream and downstream cross-sections based on the spatial position of the motion trajectory and the upstream and downstream cross-sections, and determining the flow velocity parameter corresponding to the motion trajectory based on the distance between the upstream and downstream cross-sections and the time, include: The intersection points between the motion trajectory and the cross-sectional lines corresponding to the upstream and downstream cross-sections are calculated to determine the intersection points of the motion trajectory with the upstream and downstream cross-sections. Based on the trajectory sampling time adjacent to the intersection point, the passing time of the preset electronic buoy through the upstream section and the downstream section is interpolated to obtain the corresponding upstream passing time and downstream passing time; Based on the distance between the upstream section and the downstream section, as well as the upstream and downstream passage times, the average flow velocity parameter corresponding to the motion trajectory is determined, and the average flow velocity parameter is used as the flow velocity parameter of the motion trajectory.

6. The method according to any one of claims 1 to 5, characterized in that, The steps of dividing the intermediate cross-section into multiple segmented regions based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross-section, determining the area of ​​each segmented region, and determining the flow parameters of the river section to be measured by combining the flow velocity parameters corresponding to each segmented region include: Based on the cross-sectional geometric parameters, the cross-sectional line corresponding to the intermediate cross-section is discretized along the water depth and width directions in the plane coordinate system to obtain multiple adjacent segmented regions, and a corresponding region identifier is assigned to each segmented region. The intersection point of the motion trajectory on the intermediate section is projected onto the segmented region. According to the segmented region to which the intersection point belongs, the flow velocity parameter corresponding to the motion trajectory is assigned to the corresponding segmented region, so that each segmented region is associated with the corresponding flow velocity parameter. The area of ​​each segment region is determined based on the boundary information of each segment region, and the sub-flow rate of each segment region is determined based on the area of ​​each segment region and the flow velocity parameters associated with the segment region. The sub-flow rates of each segment region are then summarized to obtain the flow parameters of the river segment to be measured.

7. An electronic buoy current measurement device based on ultra-wideband positioning, characterized in that, The device includes: The parameter configuration module is used to construct a planar coordinate system corresponding to the preset ultra-wideband positioning base stations on both sides of the river section to be measured based on the basic information of the river section to be measured, and to configure the spatial position and cross-sectional geometric parameters of the upstream section, downstream section and intermediate section associated with the river section to be measured in the planar coordinate system. The distance data module is used to acquire the identification information of a preset electronic buoy in the river section to be measured. The identification information includes an ultra-wideband tag that matches the preset ultra-wideband positioning base station. Based on the identification information, the module acquires the distance data sequence between the preset electronic buoy and the preset ultra-wideband positioning base station obtained by processing the ultra-wideband ranging signal emitted by the ultra-wideband tag. The motion trajectory module is used to determine the motion trajectory of the preset electronic buoy based on the distance data sequence and the coordinate information of the preset ultra-wideband positioning base station in the plane coordinate system. The flow velocity parameter module is used to determine the time when the preset electronic buoy passes through the upstream and downstream sections based on the spatial position of the motion trajectory and the upstream and downstream sections, and to determine the flow velocity parameter corresponding to the motion trajectory based on the distance between the upstream and downstream sections and the time. The target module is used to divide the intermediate cross-section into multiple segmented regions based on the flow velocity parameters and the cross-sectional geometric parameters corresponding to the intermediate cross-section, determine the area of ​​each segmented region, and determine the flow parameters of the river section to be measured by combining the flow velocity parameters corresponding to each segmented region.

8. An electronic buoy current measurement device based on ultra-wideband positioning, characterized in that, The device includes: a memory, a processor, and an electronic buoy current measurement program based on ultra-wideband positioning stored in the memory and executable on the processor, the electronic buoy current measurement program based on ultra-wideband positioning configured to implement the steps of the electronic buoy current measurement method based on ultra-wideband positioning as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores an electronic buoy current measurement program based on ultra-wideband positioning. When the processor executes the electronic buoy current measurement program based on ultra-wideband positioning, it implements the steps of the electronic buoy current measurement method based on ultra-wideband positioning as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the electronic buoy current measurement method based on ultra-wideband positioning as described in any one of claims 1 to 6.

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