47 results about "Acoustic Doppler current profiler" patented technology

The invention belongs to the technical field of underwater sea condition data monitoring, and discloses an underwater online intelligent monitoring analysis system and method. According to the method, an acoustic Doppler current profiler (ADCP) carried by a seabed observation system is used for carrying out seabed flow measurement, the speed and direction of water flow are obtained, and a binocular camera carried by the seabed observation system is used for determining the size of underwater organisms; performing image mode recognition and classification on the underwater creatures by using an image recognition algorithm in the underwater observation system, and recognizing the types and the number of the underwater creatures; transmitting data to a communication module of the virtual anchor system unmanned platform by using the armored cable, performing error control on the data transmitted by the armored cable, and detecting and correcting error information of the data in the transmission process; and judging whether the returned information is successful or not through an information transmission control method in the underwater observation system. According to the invention, the method can achieve the image recognition of Branchiostoma under a complex sea condition, and improves the operation efficiency and safety.

The invention relates to the technical field of offshore wind plant area marine environment monitoring, and discloses an offshore wind plant wide-area environment panoramic sensing method and system, and the method comprises the steps: S1, laying seabed bottom type comprehensive observation equipment and low-altitude meteorological observation equipment in a target area of an offshore wind plant; the seabed bottom type comprehensive observation equipment comprises an acoustic Doppler flow velocity profiler, a tide gauge and a temperature-salinity-depth instrument; the low-altitude meteorological observation equipment comprises a meteorological station and a wind measuring radar; s2, collecting field data through the seabed bottom type comprehensive observation equipment and the low-altitude meteorological observation equipment, collecting remote sensing data through the meteorological remote sensing satellite, performing inversion on the remote sensing data to obtain remote sensing inversion data, and transmitting the field data and the remote sensing inversion data to a software processing platform and the like; according to the method and the system, collaborative acquisition, precise processing and fusion prediction of air-sky-sea multi-dimensional data can be realized, and the comprehensiveness and the accuracy of offshore wind plant environment perception are improved.

The invention discloses a flow field adaptive calculation method and system based on an acoustic Doppler flow meter. Comprising the following steps: acquiring original frequency spectrum data and synchronous attitude, position and water level information of a Doppler current meter; performing preprocessing and quality marking on the original data; multi-dimensional features are extracted, and a current dominant flow field type is identified through a pre-trained flow field classification model; adaptively selecting a flow velocity profile reconstruction algorithm according to the flow field type, and dynamically adjusting key algorithm parameters according to flow field stability or turbulence intensity parameters in the reconstruction process; a calculation grid is dynamically generated based on a flow velocity field of a reconstruction strategy to perform flow integral calculation, and data, a model and an integral error are comprehensively evaluated to quantify uncertainty of an output flow result; and finally performing flow field abnormity diagnosis, short-term flow trend prediction and equipment health state early warning. According to the method, the problem of insufficient precision of a traditional fixed algorithm in a complex flow field is solved, and the reliability and the intelligent level of flow monitoring are remarkably improved.

The invention relates to the technical field of water quality detection, and discloses a method and system for detecting the concentration of suspended solids in a canal water sample, and the method comprises the following steps: obtaining environmental parameters of a canal water body in real time, and synchronously collecting a light scattering intensity signal and an acoustic echo attenuation signal of the canal water body through a near-infrared optical sensor and an acoustic Doppler flow velocity profiler; calculating an initial suspended matter concentration value based on the light scattering intensity signal and the acoustic echo attenuation signal; correcting the initial suspended matter concentration value through a dynamic compensation algorithm according to the environmental parameters of the canal water body, and generating concentration data before calibration; inputting the concentration data before calibration into a pre-trained machine learning model, and outputting a final suspended matter concentration value; wherein the pre-trained machine learning model comprises a random forest regression model and a gradient boosting decision tree model. According to the scheme, the detection accuracy under the complex hydrological condition and the real-time response capability of the model under the disturbance scene can be improved.

The invention belongs to the technical field of hydrodynamics, and relates to a subsurface flow accurate measurement method and system based on an acoustic Doppler flow velocity profiler. The method comprises the following steps: measuring a target water area by using an acoustic Doppler current profiler; extracting at least one boundary feature parameter at the measurement point; constructing a physical-data fusion model and carrying out pre-training; inputting effective flow velocity data located above the measurement blind area in the original data of the flow velocity profile and the boundary characteristic parameters into a pre-trained physical-data fusion model; and outputting the subsurface flow velocity distribution in the measurement blind area and the key statistic and confidence interval of the subsurface flow velocity distribution. According to the method, the respective defects of an existing physical model and an existing data driving model can be overcome, a subsurface flow accurate measurement method integrating physical interpretability and environment adaptability is provided, a traceable and verifiable model training and evaluation benchmark is provided, and the subsurface flow measurement accuracy in a complex environment is remarkably improved.

The invention discloses a tidal current energy water turbine array flow field sensing and intelligent control system, which relates to the technical field of ocean renewable energy sources and comprises a flow field sensing module, an array state monitoring module, an intelligent control module, a data storage and analysis module and an emergency response module. The flow field sensing module comprises a dynamic calibration sub-module and a short-term prediction sub-module, and equipment such as an acoustic Doppler current meter is adopted; the array state monitoring module comprises a fault grading diagnosis sub-module; the intelligent control module comprises a wake flow avoidance sub-module, a yaw self-adaption sub-module and a power optimization sub-module, and adjustment is achieved through combination of a PLC and a PID. The data storage and analysis module adopts a mode of combining local solid-state storage and cloud, and BP and LSTM models are built in the data storage and analysis module; the emergency response module can dispose six types of scenes in a grading manner. The flow field sensing error is effectively reduced, the array generating capacity standard-reaching rate is improved, the fault response time is shortened, the operation and maintenance cost is reduced, the grid-connected stability is enhanced, and the comprehensive energy efficiency is improved.

The embodiment of the invention discloses a data quality control method, device and equipment for an acoustic Doppler flow velocity profiler. The method comprises the following steps: representing original data of the acoustic Doppler flow velocity profiler as superposition of a real flow velocity, measurement noise and an abnormal value; describing the dynamic characteristics of the original data by using a state space model, and determining a corresponding state vector and an observation vector; performing prediction processing of the Kalman filtering according to the prediction step of the standard Kalman filtering; modifying the updating step of the standard Kalman filtering by adopting a Huber weight function and an innovative sequence self-adaptive method to form an updating step of robust self-adaptive Kalman filtering, and updating the Kalman filtering according to the updating step of the robust self-adaptive Kalman filtering; and detecting an abnormal value in the original data, replacing the abnormal value with a predicted value at a corresponding moment after robust adaptive Kalman filtering processing, and outputting the data after quality control. According to the method and the device, the abnormal value and the noise in the ADCP data are effectively controlled, and the robustness and the accuracy of data processing are remarkably improved.

The utility model discloses an acoustic Doppler flow velocity measuring device which comprises a lifting support, a chain guide rail is arranged on the lifting support, and a chain used for pulling a measuring mechanism is arranged in the chain guide rail. The first lifting mechanism comprises a driving part which is provided with an output shaft, a winding drum is arranged on the output shaft, and a steel wire for pulling the measuring mechanism to lift is wound on the winding drum; the second lifting mechanism comprises an arc-shaped guide rail, an arc-shaped groove is formed in the guide rail, and the chain can extend into the guide rail from one end of the arc-shaped groove and extend out of the guide rail from the other end of the arc-shaped groove; and the chain wheel is fixedly connected to one end of the output shaft and is meshed with the chain. According to the utility model, the first lifting mechanism and the second lifting mechanism are arranged at the same time, and when one lifting mechanism breaks down, the other lifting mechanism can be used for driving, so that the phenomenon that the measuring mechanism cannot be pulled due to the damage of the lifting mechanism is avoided.

The utility model relates to the technical field of acoustic Doppler flow velocity profiler detection, and discloses an acoustic Doppler flow velocity profiler pressure sensor online detection device, which comprises a main frame, a pulley component and a cross beam component, the main frame is formed by welding square tubes, the two square tubes arranged in parallel at the bottom serve as supporting guide rails of the tackle component, the two vertical guide rails are symmetrically arranged on the two sides of the main frame, the cross beam component is arranged between the two vertical guide rails, and the main frame, the tackle component and the cross beam component are combined. The pressure sensor on-line detection equipment is low in cost, simple in operation and compatible with acoustic Doppler flow velocity profilers of various specifications, three notches are formed in the side portion of a vertical guide rail so that a cross beam component can have a high-middle-low fixing position, and three notches are formed in a guide column so that a clamping assembly can have a high-middle-low fixing position. And meanwhile, by virtue of the length of the screw rod, the device can be adapted to acoustic Doppler flow velocity profiler in three height ranges.

The application relates to the technical field of water quality detection, and discloses a detection method and system for the concentration of suspended solids in a canal water sample, which comprises the following steps: acquiring the environmental parameters of the canal water body in real time, synchronously collecting the light scattering intensity signals and acoustic echo attenuation signals of the canal water body through a near-infrared optical sensor and an acoustic Doppler current profiler, calculating an initial suspended solid concentration value based on the light scattering intensity signals and the acoustic echo attenuation signals, correcting the initial suspended solid concentration value through a dynamic compensation algorithm according to the environmental parameters of the canal water body to generate pre-calibration concentration data, inputting the pre-calibration concentration data into a pre-trained machine learning model to output a final suspended solid concentration value, and wherein the pre-trained machine learning model comprises a random forest regression model and a gradient boosting decision tree model. The scheme can improve the detection accuracy under complex hydrological conditions and the real-time response capability of the model under a disturbance scene.

The utility model discloses a lifting support for an acoustic Doppler flow velocity measuring device, comprising a plurality of support units, each support unit comprising a plurality of longitudinal beams and a plurality of cross beams; the first connecting pieces are connected to the outer side faces of the cross beams, the outer side faces of the longitudinal beams and the outer side face of the other adjacent cross beam at the same time. The second connecting pieces are connected to the inner side faces of the cross beams and the inner side face of another adjacent cross beam at the same time; according to the utility model, the plurality of first connecting pieces are arranged on the outer side surfaces of the cross beams and the longitudinal beams, and the second connecting pieces are arranged on the inner side surfaces of the two adjacent cross beams, so that the plurality of longitudinal beams and the plurality of cross beams are detachably assembled together. In this way, the original scheme that the lifting support is welded on site is replaced, and the problem that welding cannot be achieved due to the fact that the construction site does not have the power supply condition is solved.

The utility model relates to a discontinuous one-way rotating ADCP (Acoustic Doppler Current Profiler) scanning flow measuring device for a fluid section, and belongs to the technical field of water flow detection. According to the technical scheme, a floating traction cable, a scanning flow measurement sensor driving motor and a control module are arranged on a floating body, the control module is connected with the scanning flow measurement sensor driving motor, and the output end of the scanning flow measurement sensor driving motor is connected with a rotating shaft below the floating body; the floating traction cable is formed by extruding a waterproof floating material outside a cable core; two ends of the cable core are respectively connected with the control module and the power supply and control system; the floating traction cable floats on the water surface. The beneficial effects of the utility model are that the floating traction cable is adopted to prevent from hanging aquatic plants in water to influence the normal operation of the flow measurement sensor, and the scanning flow measurement sensor driving motor and the control module are arranged on the upper side of the floating body, thereby reducing the waterproof requirement, simplifying the structure, reducing the cost, improving the reliability of the device, reducing the maintenance amount, and improving the user experience.

The utility model relates to the technical field of unmanned ships, in particular to a bimodal semi-submersible unmanned ship with an integrated turbulent flow observation system, which comprises an unmanned ship body, the unmanned ship body comprises a fore peak, an instrument and equipment compartment, a moon pool compartment, a rear battery compartment, a cabin, a stern compartment, a front battery compartment and a fuel tank compartment, a ballast water pump and a liquid level sensor for detecting the liquid level in the two front ballast tanks are respectively arranged in the two front ballast tanks, an integrated turbulent flow observation system integrated with a turbulent flow profile observation instrument, a lowering type acoustic Doppler ocean current profiler and a temperature-salinity-depth instrument is arranged in the moon pool tank, and a lifting mechanism is arranged above the cabin. An automatic opening and closing type cover plate is arranged at the bottom of the moon pool cabin, the device further comprises a controller, by carrying an integrated turbulence observation system, the problem that small-scale turbulence observation frequency is insufficient or time resolution is low is solved, and synchronous observation of turbulence and thermohaline depth / flow is achieved.

The present application relates to the technical field of offshore wind farm area marine environment monitoring, and discloses a kind of offshore wind farm wide area environment panoramic perception method and system, comprising: S1, in the target area of offshore wind farm layout seabed bottom type comprehensive observation equipment and low-altitude meteorological observation equipment;The seabed bottom type comprehensive observation equipment includes acoustic Doppler current profiler, tide gauge, temperature salinity depth instrument, and the low-altitude meteorological observation equipment includes weather station, wind radar;S2, through seabed bottom type comprehensive observation equipment, low-altitude meteorological observation equipment acquisition field data, through meteorological remote sensing satellite acquisition remote sensing data, remote sensing data is inverted to obtain remote sensing inversion data, and field data and remote sensing inversion data are transmitted to software processing platform etc.;The method and system can realize the collaborative collection of space-time-sea multidimensional data, accurate processing and fusion prediction, improve the comprehensiveness and accuracy of offshore wind farm environment perception.

The present application relates to the technical field of marine environment monitoring, in particular to a sediment transport intelligent monitoring system for offshore wind farms, comprising: a seabed base module, a sea level buoy module and an optical-electric composite cable connecting the two, the bottom of the buoy module is provided with a sensor cabin with built-in multiple sensors and counterweights, and the base and the buoy module are both equipped with acoustic Doppler current profiler, turbidity sensors and other detection components. The buoy module contains independent watertight compartments, photovoltaic power supply and control components, can identify the sediment transport state through eigenvector analysis and Mahalanobis distance clustering algorithm, intelligently switch three monitoring modes of normal, event triggering and decay tracking, and dynamically adjust the sampling frequency. The system realizes three-dimensional monitoring of the whole process of sediment "suspension-transportation-settlement" and real-time data transmission, solves the limitations of traditional seabed monitoring, takes into account the monitoring accuracy and energy efficiency, and provides reliable support for the safe operation and maintenance of wind farms.

The utility model provides a sectional type seabed base suitable for coral island power environment monitoring, which belongs to the field of coral island sea area monitoring equipment and comprises a hollow cylinder and an inclined tube single-side support assembly, a universal ring is arranged at the center of the hollow cylinder, a hollow circular ring is arranged inside the bottom of the hollow cylinder, and the inclined tube single-side support assembly is connected with the universal ring. A plurality of cylindrical vertical rod guardrails are arranged at the lower end of the hollow circular ring, a cylindrical bottom support is arranged at the bottom ends of the cylindrical vertical rod guardrails, an acoustic Doppler flow velocity profiler is arranged on the universal ring, and a hollow disc is arranged on the outer wall of the hollow cylinder; the upper ends of the inclined tube single-side support assemblies are connected with the hollow disc through inclined tube upper steel plates, inclined tube bottom perforated round steel plates are arranged at the lower ends of the inclined tube single-side support assemblies, and the two inclined tube single-side support assemblies are respectively provided with a wave tide meter, a temperature-salinity-depth meter and a turbidity meter. The device is suitable for being laid on the coral reef shallow water coast through a small civil ship, the instrument and the seabed base are detachable, and the device is convenient to carry and deploy.

The invention relates to the technical field of hydrological monitoring, in particular to a flow measuring device based on ADCP and a flow measuring method thereof.The flow measuring device comprises an annular buoyancy structure, an acoustic Doppler flow velocity profiler, a reversible water pump system and a dynamic positioning system; the method comprises the following steps: controlling the dynamic positioning system, and maintaining the horizontal position of the flow measuring device at a preset target point location to be fixed; when the inclination angle exceeds the preset threshold value, the reversible water pump system is controlled to change the amount of water in the water ballast space, and the gravity center of the annular buoyancy structure is adjusted until the inclination angle of the annular buoyancy structure recovers to be within the preset threshold value; an annular buoyancy structure with an independent variable water ballast space and a vector propulsion unit is constructed, and locking of the horizontal position of the device is achieved through a composite control algorithm based on water flow speed feedforward and position feedback; meanwhile, by dynamically adjusting the water storage capacity of the independent water ballast spaces, stable control over the posture of the device is achieved.

The utility model relates to the technical field of acoustic Doppler current profiler testing, and discloses a simulation testing device suitable for a high-frequency ADCP, which comprises a three-axis portal frame arranged above a test pool, a mounting seat is arranged at the lower end of a Z axis of the three-axis portal frame, a height adjusting assembly is assembled and connected on the mounting seat, and the height adjusting assembly is connected with the test pool. A sliding seat is arranged at the moving end of the height adjusting assembly, feeler levers are symmetrically installed on the sliding seat, a fixing seat is arranged at the lower ends of the feeler levers, a butt clamp limiting assembly is arranged on the fixing seat, a bearing component is assembled and connected to the lower end of the fixing seat, the high-frequency ADCP is installed in the vertical direction, and the detecting end of the high-frequency ADCP is controlled to be completely immersed in water. Then the X axis and the Y axis in the horizontal direction are matched to generate the set speed in a certain direction, meanwhile, the high-frequency ADCP obtains data of the relative water flow speed, and the performance of the high-frequency ADCP is judged by comparing the error between the set moving speed and the speed measured by the high-frequency ADCP.

The invention belongs to the technical field of wind turbine generator auxiliary work, and discloses an offshore wind power single pile foundation cage vibration suppression device which comprises a flow breaking plate in an equilateral rectangle shape and flow disturbing assemblies installed at the four corners of the flow breaking plate correspondingly. Through the cooperation of the flow breaking plate, the flow disturbing assembly and other structures, when one acoustic Doppler flow velocity profiler detects that the impact force of the ocean current is too large, the outer end of the flow guide plate is controlled to face the ocean current through the intelligent adjusting assembly, and the ocean current is shunted by the shunting boxes and reaches the other two shunting boxes through the notches in the flow guide plate; the guide plates II are in fixed postures and are not in the same direction as the ocean current, and the ocean current is in a disordered state and is thoroughly disturbed, so that the situation that the flow velocity is not reduced and the ocean current converges with other ocean currents to form larger-scale ocean current or eddy current is prevented, the impact of the ocean current on other cage bodies is reduced, and the service life of the cage bodies is prolonged. And the safety of the cage in other areas is further protected.

A sailing type ADCP installation device suitable for an assault boat comprises a transverse pipe fixedly connected to the assault boat, one end of the transverse pipe is fixedly connected with a vertical pipe through a cross-shaped fastener, the lower end of the vertical pipe is fixedly connected with a supporting plate, the two ends of the supporting plate are hinged to connecting plates, and the lower ends of the connecting plates are fixedly connected with an arc-shaped cover. The two arc-shaped covers are detachably connected through a plurality of screws, and the two arc-shaped covers are used for placing ADCP (Acoustic Doppler Current Profiler). The utility model is used for solving the problem that certain potential safety hazards are caused while the working efficiency is reduced because the steamboat needs to be continuously lifted by manpower and the ADCP needs to be frequently loaded and unloaded in the terrain which is difficult to reach.

The present invention provides a method, medium and system for collecting ocean internal wave data, which belongs to the field of ocean hydrological observation technology. The present invention collects water body movement data through an acoustic Doppler current profiler and seawater parameters through a temperature-salinity-depth profiler, and combines satellite altimeter and drifting buoy data. Time-frequency analysis is performed on the water body movement data and bandpass filtering is used to obtain internal wave candidate data. A set of internal wave mathematical equations including basic fluid mechanics equations, buoyancy frequency, dispersion relationship, etc. is constructed to verify and filter out valid data. The valid data is input into a pre-trained classification model to determine the internal wave type, and finally the key waveform segment is extracted through a preset extraction equation set to generate and output internal wave characteristic waveform data. The present invention combines multi-source observation data and mathematical and physical models to realize the identification, classification and feature extraction of ocean internal waves, solving the current problem of the lack of a data acquisition method that can effectively extract effective ocean internal wave signals and accurately identify internal wave characteristics.

The application discloses a data processing method of an underwater glider for obtaining a sea current profile, and belongs to the technical field of ocean exploration. The underwater glider for obtaining the sea current profile comprises a pressure-resistant unit, a tail unit and a flow velocity profile obtaining unit. The flow velocity profile obtaining unit comprises an acoustic Doppler flow velocity profiler, a current meter and a temperature-salinity-depth sensor. The underwater glider can obtain the sea current information by integrating the flow velocity sensor, but the obtained sea current information is the relative velocity relative to the moving glider platform, and is not the absolute velocity of the sea current. The application obtains the accurate sea current profile based on the motion information of the underwater glider and the flow velocity profile observation data.

The utility model provides a shell plate type ship side hydrographic survey equipment laying device which comprises a C-shaped framework and a lifting rod, the bottom of the C-shaped framework is connected with an installation frame, the left side and the right side of one side of the bottom of the C-shaped framework are respectively provided with a first locker, a fixing assembly is arranged on the surface of the installation frame, and the fixing assembly comprises a limiting hoop. One side of the limiting hoop is rotationally connected with a first limiting piece through a rotating shaft, a first locking nut is arranged on the surface of the limiting hoop and located on the side opposite to the first limiting piece, and the limiting assembly is arranged on one side of the surface of the C-shaped framework. According to the shell plate type ship board hydrographic survey equipment laying device provided by the utility model, the fixing assembly is arranged on the C-shaped framework with the mounting frame, and the through groove and the limiting assembly are matched for operation, so that an underway acoustic Doppler flow velocity profiler can be fixed on a shell plate type ship board in an auxiliary manner; therefore, the existing manual taking work and hoop fixing mode of workers can be replaced, and the operation safety can be improved.

The utility model belongs to the field of hydrological lead fishes, and particularly relates to a hydrological lead fish device with an ADCP (Acoustic Doppler Current Profiler), which comprises a lead fish body, a mounting groove is formed in the fish lead body, an ADCP body is slidably connected to the inner side of the mounting groove, a groove is formed in the fish lead body, a screw is rotatably connected to the interior of the groove, a moving block is in threaded connection to the surface of the screw, and a positioning plate is fixedly connected to the side face of the moving block. The positioning plate is slidably connected with the mounting groove, a friction pad is arranged on the inner side of the positioning plate, a worm gear is fixedly connected to the surface of the screw rod, a worm is rotatably connected to the interior of the mounting groove, and the worm is meshed with the worm gear; and by arranging the rotating rod, the worm and the worm gear, the positioning plates on the two sides can be driven to move, the ADCP body in the mounting groove is clamped and positioned, and meanwhile, the ADCP body is convenient to disassemble and assemble.

The invention relates to the technical field of offshore steel pipe pile damage monitoring, particularly discloses a damage monitoring method and system for an offshore wind power steel pipe pile, and is used for solving the problems that ocean vortex-induced vibration seriously threatens the stability of the steel pipe pile, and continuous vibration possibly causes deviation or bending of a pile body. Monitoring networks are arranged along the axial steel pipe pile at equal intervals to obtain a first vibration characteristic parameter and a second vibration characteristic parameter of the steel pipe pile in real time, and an acoustic Doppler flow velocity profiler is used for obtaining a first ocean characteristic parameter of ocean current connected with the steel pipe pile in real time; importing the first ocean characteristic parameter into a performance attenuation factor calculation model to calculate a performance attenuation factor, and constructing a two-dimensional damage analysis model of the steel pipe pile based on the first vibration characteristic parameter, the second vibration characteristic parameter and the performance attenuation factor to analyze a stable damage value of the steel pipe pile. Dynamic evaluation and prediction of vibration damage of the steel pipe pile are achieved, and the safety of an offshore wind power foundation is improved.

The application discloses a flow field self-adaptive calculation method and system based on an acoustic Doppler current profiler. The method comprises the following steps: collecting original spectrum data of a Doppler current meter and synchronous attitude, position and water level information; pre-processing and quality marking the original data; extracting multi-dimensional features, identifying the current dominant flow field type through a pre-trained flow field classification model; adaptively selecting a flow velocity profile reconstruction algorithm according to the flow field type, and dynamically adjusting key algorithm parameters in the reconstruction process according to flow field stability or turbulent intensity parameters; generating a calculation grid for flow integration calculation based on the reconstruction strategy, and comprehensively evaluating data, models and integration errors to quantify the uncertainty of the output flow result; and finally, performing flow field anomaly diagnosis, short-term flow trend prediction and equipment health state early warning. The application solves the problem of insufficient accuracy of traditional fixed algorithms under complex flow fields, and significantly improves the reliability and intelligent level of flow monitoring.

The present application relates to the technical field of flow velocity prediction model construction, and particularly relates to a method for constructing a flow velocity prediction model based on a thermocline adaptive loss. The method comprises the following steps: in the process of shipborne sailing, low-frequency full-water-depth flow velocity background field data and medium-high-frequency target water layer high-resolution flow velocity data are obtained by using a multi-frequency acoustic Doppler current profiler, sound velocity profile data and unified space-time reference data are synchronously obtained, and a multi-source original observation data set is formed; sound velocity gradient data is calculated based on the sound velocity profile data, a thermocline interval is identified, and thermocline structure identification information is generated; under the constraint of the thermocline structure identification information, adaptive layered three-dimensional sound ray tracking calculation is performed on each wave beam measurement unit of the preset multi-frequency ADCP; by means of adaptive layered sound ray tracking and high-frequency detail reservation, the present application overcomes the measurement distortion caused by the dramatic change of sound velocity in the thermocline in the traditional method, and obtains a high-precision flow velocity field of the key water layer.

The invention discloses a UUV (Unmanned Underwater Vehicle) route self-adaptive adjustment method based on ocean current and pose information fusion, which comprises the following steps: step 1, carrying an acoustic Doppler ocean current profiler on a UUV, measuring the ocean current flow velocity under a beam coordinate system, and carrying out integration processing by combining the position and pose data of the UUV to obtain ocean information combined with the pose of the UUV; step 2, calculating the optimal initial course of UUV navigation according to the ocean information combined with the UUV pose obtained in the step 1; step 3, judging whether the result calculated in the step 2 is interfered by navigation interference factors, if so, executing step 4, and if not, outputting the optimal initial course; and 4, calculating the course of the UUV when the UUV is interfered by the navigation interference factors, calculating the optimal course after the UUV is interfered according to the information obtained in the step 2, and outputting the optimal course after the UUV is interfered. According to the method, the UUV can be adjusted to the optimal route through adaptive adjustment of the route, so that the navigation efficiency is improved while the task is ensured to be completed.

The application provides a kind of three-dimensional multi-dimensional ocean swimming animal monitoring method based on artificial intelligence, relating to the technical field of ocean swimming animal monitoring, comprising: deploying a temperature-salinity-depth profiler and an acoustic Doppler current profiler, collecting data and configuring environmental parameter data sets, obtaining three-dimensional environmental parameter data sets, and generating a multi-dimensional environmental parameter database. By integrating various ocean fishery resource survey methods and using advanced artificial intelligence methods, three-dimensional multi-dimensional dynamic monitoring of ocean swimming animals is achieved. On the one hand, the number composition and spatio-temporal distribution of ocean swimming animals, especially the vertical distribution characteristics, can be monitored, revealing the relationship between population dynamics and environmental factors. On the other hand, through monitoring of swimming animals, basic data for population resource assessment can be provided, serving the formulation of ocean economic swimming animal catch quotas and the delineation of marine protected areas.

The utility model relates to the technical field of turbulence observation devices, in particular to an integrated turbulence observation device which comprises an instrument cabin and a probe cabin, a floating platform is arranged on the upper portion of the instrument cabin, a support is arranged at the bottom of the instrument cabin, a fixing plate is arranged in the instrument cabin, and a miniature battery cabin and a turbulence profile observation instrument are arranged on the fixing plate. A temperature-salinity-depth instrument is vertically arranged on the outer wall of the instrument cabin through a positioning block, a connecting piece is arranged at the bottom of the instrument cabin, a downward acoustic Doppler current profiler and a battery bin are correspondingly arranged on the connecting piece, and deceleration wings are correspondingly arranged below the floating platform. The technical problem that synchronous observation of turbulent flow and thermohaline depth / flow cannot be achieved is solved.