33 results about "Acoustic Doppler current profiler" patented technology

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 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 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 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 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 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.

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 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 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 discloses a deep sea subsurface buoy system suitable for fine observation of a bottom boundary layer, which comprises a seabed base, a plurality of single-point flow velocity observation units and a main floating body which are sequentially connected from bottom to top, the plurality of single-point flow velocity observation units are arranged between the seabed base and the main floating body along the tensile cable, and each single-point flow velocity observation unit is integrated with a deepwater single-point current meter and a CTD; an acoustic Doppler flow velocity profiler is installed in the main floating body, and the acoustic Doppler flow velocity profiler, an ADV, a CTD and a double-parallel acoustic releaser are integrated on the seabed base. According to the utility model, an observation blind area is eliminated through structure optimization, and a core area (5-10m) of a bottom boundary layer can be brought into an observation range; multiple observation units with vertical spacing can capture full-water-depth ocean current change details, and the data resolution is improved; due to the arrangement of the double parallel acoustic releasers, the equipment reliability is improved, and the risk of recovery failure is effectively reduced; and long-term continuous observation can be realized.

1. The name of the design product: acoustic Doppler current profiler (iFlow RP9). 2. The use of the design product: the design product is used for flow measurement of unmanned ships, trimarans and other ships. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The application belongs to the technical field of wind turbine auxiliary work, and discloses a sea wind power single-pile foundation cage vibration suppression device, which comprises a flow breaking plate in the shape of an equilateral rectangle and turbulence components respectively installed at four corners of the flow breaking plate. The application is characterized by the cooperation of the flow breaking plate and the turbulence components. When one acoustic Doppler current profiler detects that the sea current impact force is too large, the outer end of the guide plate is controlled by the intelligent adjusting component to face the sea current. The sea current is divided by the flow dividing box and reaches the other two flow dividing boxes through the slots on the guide plate. The sea current is cut by one side of the guide plate first, contacts several guide plates two, and is in a turbulent state. The guide plate two is in a fixed posture and is not the same as the direction of the sea current. The sea current is completely disturbed to prevent the flow rate from not being reduced and combining with other sea currents to form larger sea currents or vortexes, reduce the impact of the sea current on other cages, and further protect the safety of the cages in other areas.

The invention relates to the technical field of data transmission, and discloses a data transmission method and system of a distributed wireless acoustic Doppler flow velocity profiler, which are realized based on a distributed control module and a distributed storage station in the flow velocity profiler. The distributed control module establishes two data links with the transfer gateway through the dual-communication module, hydrological data are collected and stored periodically, timestamps are generated, and after the hydrological data are transmitted to the gateway through the links, the gateway stores the data and feeds back a response instruction. And by summarizing multi-node timestamps, calculating the communication duration and the corresponding ratio, and when it is judged that the link state is poor, switching the functions of the two links. According to the method, through double-link redundancy design and dynamic switching, the problem of signal interference in a severe hydrological environment is effectively avoided, data loss and delay risks are reduced, the stability and timeliness of data transmission are guaranteed, and the actual requirements of scenes such as hydrological monitoring, flood control and disaster reduction are met.

This invention belongs to the field of hydrodynamics technology and relates to a method and system for accurate measurement of subsurface currents based on an acoustic Doppler current profiler. The method includes: measuring a target water area using an acoustic Doppler current profiler; extracting at least one boundary feature parameter at the measurement point; constructing and pre-training a physics-data fusion model; inputting the effective velocity data above the measurement blind zone from the original velocity profile data and the boundary feature parameter into the pre-trained physics-data fusion model; and outputting the subsurface current velocity distribution within the measurement blind zone, as well as the key statistics and confidence intervals of this velocity distribution. This invention overcomes the shortcomings of existing physical models and data-driven models, providing a precise subsurface current measurement method that combines physical interpretability and environmental adaptability. It also provides a traceable and verifiable benchmark for model training and evaluation, significantly improving the accuracy of subsurface current measurement in complex environments.

The invention relates to the field of ocean monitoring, and discloses an ocean internal wave monitoring and early warning device for an ocean oil and gas platform, and the device comprises a seabed comprehensive observation platform which comprises a pedestal installed at the seabed, the top of the pedestal is provided with a seabed main frame, and the left side of the seabed main frame is provided with an acoustic Doppler flow velocity profiler 1. According to the device, the underwater data acquisition cabin is arranged to transmit data acquired by a seabed comprehensive observation platform to the underwater coupling communication cabin, inductive coupling transmission is carried out through a plastic-coated steel cable, and the data is transmitted to the sea surface coupling communication cabin and the battery cabin II; the two ends of the plastic-coated steel cable are in contact with seawater and grounded through the second mechanical rotating ring and the first mechanical rotating ring, a loop is formed, and finally data are transmitted to a shore-based data receiving center station through a 4G communication module arranged in the 4G communication master control cabin. According to the device provided by the invention, efficient seabed environment data monitoring, efficient data transmission and more detailed ocean data monitoring functions are realized.

The present application relates to offshore steel pipe pile damage monitoring technical field, specifically discloses a kind of for offshore wind power steel pipe pile damage monitoring method and system, for solving the stability of steel pipe pile by marine vortex-induced vibration constitutes serious threat, and the vibration possibly caused by continuous pile body deviation or bending problem;The first vibration characteristic parameter and the second vibration characteristic parameter of the present application are obtained in real time by equidistantly arranging monitoring network along the axial steel pipe pile, the first marine characteristic parameter of the current that meets steel pipe pile is obtained in real time by acoustic doppler current profiler, according to the calculation of performance attenuation factor in the performance attenuation factor calculation model by first marine characteristic parameter import, based on the first vibration characteristic parameter, second vibration characteristic parameter and performance attenuation factor constructs the double-dimension damage analysis model of steel pipe pile and analyzes the stable damage value of steel pipe pile, realizes the dynamic evaluation and prediction of steel pipe pile vibration damage, improves the safety of offshore wind power foundation.

The application provides a 10-meter buoy current correction method based on an external GNSS, a medium and a system, and belongs to the technical field of current correction.The application is characterized in that a heading angle is used to replace a built-in magnetic compass heading in real time;then a heading correction amount and a current velocity vector correction amount of each depth layer are jointly optimized by an artificial intelligence multi-task joint estimation correction model, loss weights are dynamically adjusted in combination with a channel credibility evaluation function, and a weak sensor link in terms of credibility is isolated through a fault isolation algorithm based on the maximum flow and minimum cut theorem of a flow graph;finally, sea current profile data with a data quality grade identifier are output through direction consistency verification and a flow velocity direction consistency index adaptive adjustment. Thus, the technical problem that, when a buoy integrates an acoustic Doppler current profiler, magnetic interference causes heading angle distortion and further causes a serious deviation of a sea current profile flow direction, and existing means cannot continuously and reliably correct the heading angle in complex sea conditions is solved.

The invention relates to the field of hydraulics and river dynamics, in particular to a riverbed structure feature characterization method based on riverbed three-dimensional point cloud data. The method comprises the following steps: firstly, acquiring a riverbed topographic image sequence by using image equipment according to a shooting strategy, and establishing a high-precision topographic point cloud model of a target river reach based on technologies such as a motion recovery structure; the underwater bed surface can be assisted by an acoustic Doppler flow velocity profiler and other devices to obtain data. And then, editing the point cloud model to ensure the accuracy of the surface morphology. Thirdly, calculating the ratio of the whole curved surface area to the projected area of the riverbed to obtain the area ratio of the whole bed surface; and finally, setting the size and the moving step length of a calculation region, circularly calculating a local area ratio, and counting a mean value and a variance of the local area ratio. According to the method, the transverse section and the longitudinal section are associated creatively, the difference of different riverbed structures is distinguished by introducing the mean value and the variance of the local area ratio, and the method can be uniformly applied to mountainous riverbeds, sandy sand wave riverbeds and vegetation riverbeds.

The invention provides a multi-vertical-line ADCP flow measuring system and method and a buoy assembly of the multi-vertical-line ADCP flow measuring system. The system comprises the buoy assembly, a multi-vertical-line ADCP sensor array and a control system. The buoy assembly is composed of a swim ring type floating body, a hollow bottom plate, a hollow column, a top plate, a hemispherical transparent cover, a fastener and a sealing ring, and is stable in structure and convenient to install and maintain. The multi-vertical-line ADCP sensor array comprises at least three acoustic Doppler flow velocity section meters which are arranged in an equilateral triangle mode, sound beams of the section meters point to different measuring vertical lines, and multi-point synchronous flow measurement is achieved. The control system integrates a data acquisition module, a control module and an energy storage management and communication module, is provided with a solar cell panel, and is fixed above the hemispherical transparent cover through an integrated bracket to realize green energy power supply. Therefore, three advantages of high measurement precision, high environmental adaptability and high intelligent degree of the system are realized, so that the equipment is suitable for a complex hydrological environment; remote monitoring is achieved through multiple wireless communication modes, and the intelligent water conservancy development requirement is met.

The invention provides an unmanned ship dynamic water area algorithm and system based on Beidou navigation, and belongs to the technical field of unmanned ships. The algorithm is executed by a shipborne edge computing platform, and comprises the following steps: resolving to obtain centimeter-level high-precision real-time pose information of the unmanned ship by fusing Beidou / GPS dual-mode RTK positioning data and inertial navigation system data; through a multi-source heterogeneous sensor fusion algorithm, data acquired by an acoustic Doppler flow velocity profiler, a side scan sonar, a water quality sensor, a laser radar and a visual sensor are processed in real time, and a global environment sensing model including flow velocity, water depth, water quality, underwater terrain and obstacle information is constructed. Through deep fusion of an algorithm and a system, the problems of insufficient navigation continuity and environmental perception fragmentation in a complex water area are solved, and the reliability, the safety and the efficiency of unmanned ship operation are remarkably improved.