A shipboard water area spectral radiance measuring device

Abstract

The utility model belongs to the remote sensing measurement and water environment monitoring technical field discloses a kind of shipborne water area spectral radiometric equipment, including controller, measuring mechanism and with the positioning orientation mechanism and stabilizing platform of controller connection, the stabilizing platform is used to realize the attitude stability of measuring mechanism;The stabilizing platform includes three rotatable connection drive shaft assemblies, and three drive shaft assemblies are heading shaft assembly, pitch shaft assembly and cross roll shaft assembly respectively, each described drive shaft assembly includes driving element and joint arm driven by the driving element, the joint arm can be executed relative rotation under the driving of the driving element, and the measuring mechanism is supported by the joint arm of the heading shaft assembly, the controller is connected with the driving element of the cross roll shaft assembly;The positioning orientation mechanism is used to determine the included angle between the direction of heading shaft assembly and the earth north direction.

Description

Technical Field

[0001] This utility model belongs to the field of remote sensing measurement and water environment monitoring technology, specifically relating to a shipborne water spectral radiation measurement device. Background Technology

[0002] Water reflectance (Rrs) is a crucial fundamental parameter in water color remote sensing, water quality inversion, and radiometric correction. Among these parameters, water-leaving radiation (Lw) measurement is a key technology in remote sensing and water optics research. It is the core data for remote sensing inversion of water quality parameters, primarily referring to the light radiation transmitted from within the water body to the water surface—that is, the radiation information of the water body itself. It carries optical characteristic information about water components (such as chlorophyll, suspended particles, and dissolved organic matter), but excludes skylight reflected from the water surface, atmospheric interference, or other light sources.

[0003] Accurately acquiring water-leaving radiation is a challenge because the total radiation received by the sensor includes atmospheric scattering, water surface reflection, and water-leaving radiation. Therefore, it is impossible to directly measure water-leaving radiation. In addition, traditional measurement methods often use static tripod support platforms or handheld devices, which are affected by factors such as surges, attitude disturbances, and ambient light interference during measurement, making it difficult to guarantee measurement accuracy and directional stability. In particular, it is difficult to continuously collect data while sailing.

[0004] Given the unique characteristics of water-leaving radiation measurement methods, and in order to achieve high-precision and high-stability water surface spectral measurements, there is an urgent need for a three-axis stabilized multi-channel measurement device with high-precision attitude compensation and synchronous acquisition capabilities. This device would be used to simultaneously acquire parameters such as total water surface radiance, sky radiance, and downlink irradiance, thereby obtaining parameters such as spectral water-leaving radiation, spectral water-leaving emissivity, and water remote sensing reflectivity. Utility Model Content

[0005] In view of this, in order to solve the problems mentioned in the background art, the purpose of this utility model is to provide a shipborne water spectral radiation measurement device that achieves high stability and multi-channel synchronous acquisition in multiple incident and reflection directions, thereby obtaining parameters such as water-leaving radiation and water remote sensing reflectivity, while improving the spectral measurement efficiency and accuracy of the device in complex dynamic water environments.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A shipborne water spectral radiometry measurement device includes a controller, a measurement mechanism, a positioning and orientation mechanism connected to the controller, and a stabilizing platform, wherein the stabilizing platform is used to achieve attitude stabilization of the measurement mechanism (1);

[0008] The stabilization platform includes three rotatably connected drive shaft assemblies, namely a yaw axis assembly, a pitch axis assembly, and a roll axis assembly. Each drive shaft assembly includes a drive element and a joint arm driven by the drive element. The joint arm can perform relative rotation under the drive element. The measuring mechanism is supported by the joint arm of the yaw axis assembly. The controller is connected to the drive element of the roll axis assembly.

[0009] The positioning and orientation mechanism is used to determine the angle between the Earth's north direction and the direction of the heading axis assembly.

[0010] Preferably, the stabilization platform further includes a stabilization platform control module, which has a built-in IMU sensor. The stabilization platform control module is used to acquire the detection feedback from the IMU sensor during the process of controlling the rotation of the stabilization platform, and to execute the rotation of at least one of the drive shaft components based on the detection feedback.

[0011] Preferably, the measuring mechanism includes a measuring instrument body and an irradiance radiometer, a radiance radiometer, and a skylight radiometer installed in the measuring instrument body.

[0012] Preferably, the irradiance radiometer and the skylight radiometer are mounted facing the top of the measuring instrument body, and the radiance radiometer is mounted facing the bottom of the measuring instrument body.

[0013] Preferably, the measuring device body includes a housing and a sampling module installed in the housing. The sampling module is used for sampling control and data storage of the irradiance radiometer, radiance radiometer and skylight radiometer.

[0014] Preferably, the positioning and orientation mechanism includes a GPS antenna assembly capable of providing an orientation vector to the controller, and the positioning and orientation mechanism is also used to determine the angle between the Earth's north direction and the orientation vector.

[0015] Preferably, the positioning and orientation mechanism further includes a measuring rod for mounting the GPS antenna assembly, and one end of the measuring rod is fixedly connected to the controller.

[0016] Preferably, the GPS antenna assembly includes two GPS antennas with a positioning and orientation channel reserved in the middle. The positioning and orientation channel is parallel to the measuring rod, and the positioning and orientation mechanism provides the controller with an orientation vector formed on the line connecting the two GPS antennas.

[0017] Preferably, the two GPS antennas are a main antenna and a slave antenna, respectively, and the orientation vector is directed from the main antenna to the slave antenna.

[0018] Preferably, the controller includes a housing and a stabilizing platform, a GPS control module, a power control module, and a data communication module mounted through the housing; the stabilizing platform and GPS control module are used to control the operation of the stabilizing platform and the positioning and orientation mechanism; the power control module can independently control the power supply start-up or power failure shutdown of the measuring mechanism, the stabilizing platform, and the positioning and orientation mechanism; the data communication module is used to receive and transmit data information from the measuring mechanism, the stabilizing platform, and the positioning and orientation mechanism.

[0019] Compared with the prior art, this utility model has the following advantages:

[0020] (1) A stable platform with pitch, roll and yaw axes is set up to achieve control over all attitude changes of the measuring mechanism. The three axes can be controlled independently. At the same time, the three-axis stable platform has advantages such as attitude stability and dynamic compensation. In addition, it can be used with the positioning and orientation mechanism to achieve accurate positioning and orientation of the equipment, thereby improving the efficiency and accuracy of spectral measurement of the equipment in complex dynamic water environment.

[0021] (2) The measuring mechanism includes a radiance radiometer, a radiance radiometer and a sky light radiometer, which are oriented in different directions. This integrates the three measurement functions of illuminance, luminance and sky light into one, and quickly and efficiently obtains the data basis for calculating the water-leaving radiation parameters. At the same time, it works with the sampling module to realize tri-directional synchronous acquisition and storage, eliminating the need for separate acquisition operations for the three radiometers and simplifying the operation process. Attached Figure Description

[0022] Figure 1 This is a perspective view of the present utility model;

[0023] Figure 2 This is a schematic diagram of the measuring mechanism in this utility model;

[0024] Figure 3 This is a schematic diagram of the structure of the stabilizing platform in this utility model;

[0025] Figure 4 This is a schematic diagram of the controller in this utility model;

[0026] Figure 5 This is a schematic diagram of the positioning and orientation mechanism in this utility model;

[0027] In the diagram: Measurement mechanism-1; Irradiance radiometer-11; Radiation radiometer-12; Sky radiometer-13; Measurement device body-14; Stabilizing platform-2; Yaw axis assembly-21; Pitch axis assembly-22; Roll axis assembly-23; Controller-3; Positioning and orientation mechanism-4; GPS antenna assembly-41; Main antenna-411; Slave antenna-412; Measurement rod-42. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] like Figure 1 As shown, a shipborne water spectral radiation measurement device of this utility model includes a controller 3, a measuring mechanism 1, a positioning and orientation mechanism 4 and a stabilizing platform 2 connected to the controller 3.

[0030] Continue to refer to Figure 2 As shown, the measuring mechanism 1 includes a measuring body 14, which includes a housing I and a sampling module (set inside the housing I, not shown in the figure) installed inside the housing I. An irradiance radiometer 11, a radiance radiometer 12, and a sky radiometer 13 are also installed inside the housing I. Specifically, three measuring ports are provided on the housing I, and the measuring ends of the irradiance radiometer 11, radiance radiometer 12, and sky radiometer 13 are positioned at the three measuring ports respectively. The measuring ends of the irradiance radiometer 11 and the sky radiometer 13 are both facing the top of the housing I, while the measuring end of the radiance radiometer 12 faces the bottom of the housing I. Furthermore, the measuring end of the irradiance radiometer 11 is ensured to be perpendicular to the housing I.

[0031] Continue to refer to Figure 3 As shown, the stabilizing platform 2 includes three rotatably connected drive shaft assemblies, namely a yaw axis assembly 21 (Y-axis), a pitch axis assembly 22 (P-axis), and a roll axis assembly 23 (R-axis). Each drive shaft assembly includes a drive element (motor) and a joint arm driven by the drive element (motor). The joint arm can perform relative rotation under the drive of the drive element. Figure 1As shown, the housing of the measuring mechanism is connected to the yaw axis assembly 21 (Y-axis). (It can be considered that the measuring mechanism 1 is supported by the articulated arm of the yaw axis assembly 21, thereby driving the Y-axis motor to yaw the Y-axis articulated arm and the measuring mechanism 1. The Y-axis articulated arm can fit against the bottom of the housing, thus ensuring that the axis of rotation of the Y-axis motor driving the Y-axis articulated arm is perpendicular to the housing I, thereby obtaining that the installation direction of the radiometer 11 is parallel to the axis of rotation of the yaw axis assembly 21). A stabilization platform control module is installed on the roll axis assembly 23 (R-axis). The stabilization platform control module has a built-in IMU sensor. Specifically, the stabilization platform control module is used to obtain the detection feedback of the IMU sensor during the control of the rotation of the stabilization platform 2, and to execute the rotation of at least one of the drive axis assemblies based on the detection feedback.

[0032] Continue to refer to Figure 4 As shown, the controller 3 includes a housing II and a stabilizing platform, a GPS control module, a power control module, and a data communication module (installed inside the housing II, not shown in the figure) mounted through the housing II. The stabilizing platform and GPS control module are used to control the operation of the stabilizing platform 2 and the positioning and orientation mechanism 4. The power control module can independently control the power supply start-up or power-off shutdown of the measuring mechanism 1, the stabilizing platform 2, and the positioning and orientation mechanism 4, specifically through a power button located on the surface of the housing; for example... Figure 4 As shown, there are three power buttons on the surface of the housing: one is the main power switch, and the other two are independent power switches for controlling the measuring mechanism 1 and the stabilizing platform 2, respectively. The power control module is connected to a power cord (not shown in the figure) via a power interface (not shown in the figure), and the power cord can pass through the measuring rod 42 of the positioning and orientation mechanism 4. The data communication module is used to receive and transmit data information from the measuring mechanism 1, the stabilizing platform 2, and the positioning and orientation mechanism 4. In addition, the housing II of the controller 3 is fixedly connected to the drive element (R-axis motor) of the roll axis assembly 23.

[0033] refer to Figure 5 As shown, the positioning and orientation mechanism 4 includes a measuring rod 42 and a GPS antenna assembly 41 mounted on the measuring rod 42; one end of the measuring rod 42 is fixedly connected to the controller 3; the GPS antenna assembly 41 includes two GPS antennas with a positioning and orientation channel reserved in the middle, the orientation vector is parallel to the measuring rod 42, and the two GPS antennas are a main antenna and a secondary antenna, respectively. The positioning and orientation mechanism 4 provides the controller 3 with an orientation vector pointing from the main antenna 411 to the secondary antenna 412. Based on this, the positioning and orientation mechanism 4 determines the angle between the Earth's north direction and the orientation vector, and then determines the angle between the Earth's north direction and the direction of the heading axis assembly 21.

[0034] From the above, the main functions of each component of the equipment are as follows:

[0035] Irradiance meter 11: Measures the total downward irradiance incident on the water surface vertically upwards.

[0036] Radiance Radiometer 12: Measures the total radiance of the water surface.

[0037] Sky radiometer 13: Measures the brightness of sky radiometric radiation.

[0038] Sampling module: performs sampling control and data storage for the irradiance radiometer 11, radiance radiometer 12 and skylight radiometer 13.

[0039] Y-axis motor, P-axis motor, R-axis motor: Enables angle adjustment of the stabilized platform 2 in three directions: yaw, pitch, and roll.

[0040] Stabilization platform control module: responsible for coordinating the P-axis motor, R-axis motor and external commands to achieve attitude stabilization and dynamic control.

[0041] IMU sensor: Real-time sensing and adjustment of pitch and roll angles to dynamically maintain the directional stability of the platform and achieve self-stabilization.

[0042] Controller 3: Stabilizes the platform and manages the positioning and orientation system, power supply, and communication system.

[0043] GPS antenna assembly 41 (main antenna and slave antenna): provides GPS information and provides the angle (0-360°) between the vector formed by the line connecting the two antennas (main antenna pointing to slave antenna) and the north direction of the earth.

[0044] In summary, when performing measurements using the equipment of this utility model:

[0045] First, fix the entire device using measuring rod 42, and connect the power cord to the power source (not shown in the figure);

[0046] Then, the entire device is started via the main power switch d on the surface of the controller 3 housing II (in addition, pressing and holding the power switch c of the measuring mechanism 1 can independently power off the measuring mechanism 1; pressing and holding the power switch b of the stabilization platform 2 can independently power off the stabilization platform 2. A short press of the main power switch d powers off the entire device). The communication interface a on the surface of the controller 3 housing II is connected to the antenna, and the data communication module receives the control signals sent by the remote PC. The stabilization platform control module controls the P-axis motor and R-axis motor to drive them accordingly, thereby driving the measuring mechanism 1 to adjust its measurement attitude. The rotation of the P-axis motor changes the pitch angle of the measuring mechanism 1, and the rotation of the R-axis motor changes the roll angle of the measuring mechanism 1. At the same time, the IMU sensor senses the current pitch and roll spatial Euler angles and controls the rotation of the P-axis motor and R-axis motor at a frequency of 400Hz to maintain the set pitch and roll angles, thus achieving self-stabilization.

[0047] Meanwhile, the GPS antenna assembly 41 provides GPS information (including longitude, latitude, altitude, number of satellites, time, etc.) and the angle (0-360°) between the vector formed by the connection of the two antennas (the main antenna pointing towards the secondary antenna) and the Earth's north direction. After determining the angle, the Y-axis motor is driven by the stabilization platform and GPS control module to keep the angle between the Earth's north direction and the direction of the heading axis assembly 21 locked, thereby maintaining the set yaw angle. For example, when the device's operating mode is selected as the north-locked mode, the control signal is transmitted to the stabilization platform and GPS control module, which control the Y-axis motor to rotate to true north and always maintain true north (i.e., the angle between the Earth's north direction and the direction of the heading axis assembly 21 is 0°). When the device's operating mode is selected as the solar mode, the control signal is transmitted to the stabilization platform and GPS control module, which control the Y-axis motor to rotate in real time according to the solar altitude angle.

[0048] During data acquisition, the sampling module enables the irradiance radiometer 11, radiance radiometer 12, and sky radiometer 13 to acquire data synchronously, and stores the acquired data (including spectral maximum value, integration time, storage bytes, etc.). It also transmits the data to a remote PC in real time. Furthermore, the housing I of the measuring mechanism 1 is equipped with a network port. After data acquisition, with the device powered on, the device can be connected to a PC via the network port and a network cable for wired data transmission.

[0049] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. "" and / or "" indicate that either one or both can be selected. Furthermore, the terms "includes," "contains," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the statement "includes a..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention.

Claims

1. A shipborne water spectral radiometry measuring device, characterized in that: It includes a controller (3), a measuring mechanism (1), a positioning and orientation mechanism (4) connected to the controller (3), and a stabilizing platform (2), wherein the stabilizing platform (2) is used to stabilize the attitude of the measuring mechanism (1); The stabilizing platform (2) includes three rotatably connected drive shaft assemblies, namely a yaw axis assembly (21), a pitch axis assembly (22), and a roll axis assembly (23). Each drive shaft assembly includes a drive element and a joint arm driven by the drive element. The joint arm can perform relative rotation under the drive of the drive element. The measuring mechanism (1) is supported by the joint arm of the yaw axis assembly (21). The controller (3) is connected to the drive element of the roll axis assembly (23). The positioning and orientation mechanism (4) includes a measuring rod (42) and a GPS antenna assembly (41) mounted on the measuring rod (42); one end of the measuring rod (42) is fixedly connected to the controller (3); The GPS antenna assembly (41) includes two GPS antennas; the positioning and orientation mechanism (4) provides the controller (3) with an orientation vector formed on the line connecting the two GPS antennas, and determines the angle between the Earth's north direction and the direction of the heading axis assembly (21) by the angle between the Earth's north direction and the orientation vector.

2. The shipborne water spectral radiometry measuring device according to claim 1, characterized in that: The stabilizing platform (2) also includes a stabilizing platform control module. The stabilizing platform control module has a built-in IMU sensor. The stabilizing platform control module is used to obtain the detection feedback of the IMU sensor during the process of controlling the rotation of the stabilizing platform (2) and to execute the rotation of at least one of the drive shaft components based on the detection feedback.

3. The shipborne water spectral radiometry measuring device according to claim 1, characterized in that: The measuring mechanism (1) includes a measuring instrument body (14) and an irradiance radiometer (11), a radiance radiometer (12), and a sky radiometer (13) installed in the measuring instrument body (14).

4. The shipborne water spectral radiometry measuring device according to claim 3, characterized in that: The irradiance radiometer (11) and the skylight radiometer (13) are mounted toward the top of the measuring body (14), and the irradiance radiometer (12) is mounted toward the bottom of the measuring body (14).

5. A shipborne water spectral radiometry measuring device according to claim 3 or 4, characterized in that: The measuring instrument body (14) includes a housing and a sampling module installed in the housing. The sampling module is used to perform sampling control and data storage for the irradiance radiometer (11), radiance radiometer (12) and sky light radiometer (13).

6. The shipborne water spectral radiometry measuring device according to claim 1, characterized in that: The GPS antenna assembly (41) includes two GPS antennas with a positioning and orientation channel reserved in the middle, and the positioning and orientation channel is parallel to the measuring rod (42).

7. A shipborne water spectral radiometry measuring device according to claim 6, characterized in that: The two GPS antennas are a main antenna and a slave antenna, respectively, and the orientation vector is directed from the main antenna (411) to the slave antenna (412).

8. The shipborne water spectral radiometry measuring device according to claim 1, characterized in that: The controller (3) includes a housing and a stable platform, GPS control module, power control module and data communication module installed through the housing; the stable platform and GPS control module are used to control the operation of the stable platform and the positioning and orientation mechanism; the power control module can independently control the power supply start-up or power failure shutdown of the measuring mechanism (1), the stable platform (2) and the positioning and orientation mechanism (4); the data communication module is used to receive and transmit data information of the measuring mechanism (1), the stable platform (2) and the positioning and orientation mechanism (4).

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