89 results about "Acoustic Doppler current profiler" patented technology

The invention discloses an ocean submerged buoy system. In the system, buoys are connected with an underwater winch through a communication mooring cable; a plurality of profile measuring instruments are equidistantly arranged at the part of the communication mooring cable between the buoys and the underwater winch, which is adjacent to the buoys; the underwater winch is fixed on a main buoy body; a target detecting system and an ADCP (acoustic Doppler current profiler) are both arranged on the main buoy body; an anchor mooring mechanism comprises a glass floating ball, a response releaser and a ballast anchor which are connected in series through anchor chains; a control center controls the buoy system to regularly float out of the ocean surface and dive into the ocean; the target detecting system detects movable targets; when a movable target enters into a preset range, the control center controls the buoy system to dive into the ocean; and when floating out of the ocean surface, the buoys transmit various received data to a ground shore station. By the ocean submerged buoy system disclosed by the invention, the ocean detected data are transmitted in real time; and the influencestormy waves and other factors on the service life of the buoys is avoided.

The invention provides a method for fusing ocean current observation data of an unmanned undersea vehicle (UUV), which comprises the following steps of: 1, obtaining ocean current profile data, when the UUV underwater navigates at a certain depth, obtaining an ocean current profile with a certain water layer thickness at the upper part or lower part of the UUV; 2, filtering the ocean current profile data, filtering the obtained ocean current original data, eliminating a wild value, carrying out smooth correction on a measured random error; 3, carrying out time registering on the ocean current profile data, reducing asynchronous data into synchronous data under the same time moment; and 4, reducing position information of the UUV, starting from one known coordinate position of the UUV to reduce a coordinate position of the next time according to the navigation direction, the navigation speed and the navigation time of the UUV at the coordinate position; and 5, fusing the ocean current profile data, converting longitude and latitude position information obtained from the reduction of the position information into ASCII (American Standard Code For Information Interchange) codes, and inserting into corresponding positions of an ADCP (Acoustic Doppler Current Profiler) data packet. According to the invention, accurate and complete ocean current profile information can be obtained under a geodetic coordinate system.

The invention discloses a timed satellite communication submerged buoy, which comprises a plastic covered steel cable in vertical arrangement, wherein a first sensing coupling temperature-salinity chain, a second sensing coupling temperature-salinity chain, a main floating body and a deep ocean current and temperature-salinity measuring unit are arranged on the plastic covered steel cable; an acoustic Doppler current profiler, satellite communication buoys, a timed release device and a data and control electronic cabin are arranged on the main floating body; and submerged buoy measuring instruments are connected with the data and control electronic cabin through cables. The timed satellite communication submerged buoy has the advantages that one or a plurality of satellite communication buoys are arranged on the main floating body of the submerged buoy; observational data of submerged buoy instruments are transmitted to the satellite communication buoys under water through cables or in a cableless mode; when the set time is reached, the satellite communication buoys automatically float up to the water surface; and stored data is sent to a shore station through satellites, so that ocean observational data can be enabled to be obtained in time; the work state of the submerged buoy can be known; and huge help is realized on the reliability, the stability and the like of the submerged buoy.

The invention provides a river channel water flow real-time online monitoring method and device. A boat-mounted flow rate collection device is used for collecting flow rate data in the vertical direction of a river channel and transmitting the flow rate data to a GPRS wireless network, the flow rate data in the horizontal direction of the river channel is collected by a horizontal type flow rate collection device and transmitted to the GPRS wireless network by the horizontal type flow rate collection device, the water level data of the river channel is collected by a water level collection device and transmitted to the GPRS wireless network by the water level collection device, the GPRS wireless network is connected with the Internet network and transmits the flow rate data in the verticaldirection of the river channel, the flow rate data in the horizontal direction of the river channel and the water level data of the river channel to a central station through the Internet network, and analysis and storage are conducted on the received data by the central station, so that river channel water flow real-time online monitoring is achieved, obtained data information is processed in real time simultaneously, and the current river channel water flow data is obtained by conducting real time analysis and computing.

The invention discloses a multi-scale synchronous observation subsurface buoy for an ocean dynamic environment. The multi-scale synchronous observation subsurface buoy comprises an vertically arranged rope; the upper portion of the rope is provided with a first temperature-salinity chain, a second temperature-salinity chain, a micro-scale fixed point turbulence meter and a main floater. Both the first temperature-salinity chain and the second temperature-salinity chain comprise thermometers, bathythermographs and conductivity-temperature-depth systems. The main floater is located between the first temperature-salinity chain and the second temperature salinity chain. An acoustic Doppler velocity section plotter is installed on the main floater. The middle portion of the rope is provided with a reciprocation micro-scale turbulence section plotter. The reciprocation micro-scale turbulence section plotter is provided with a conductivity-temperature-depth system, a current meter, a shearing probe for observing the turbulence, and a fast temperature probe. The lower portion of the rope is provided with a deep ocean current and temperature-salinity measuring unit; and the deep ocean current and temperature-salinity measuring unit comprises a conductivity-temperature-depth system and a current meter. The multi-scale synchronous observation subsurface buoy can achieve the long-term continuous multi-scale synchronous observation of ocean dynamic environment parameters in macro-scales such as full-depth temperature, salinity and flow field, and micro-scales such as the turbulence.

The invention relates to a method for acquiring radial direction water velocity in an acoustic Doppler current profiler. The acoustic Doppler current profiler adopts an acoustic wave transducer as a sensor, an emitted acoustic impulse generates a scatter echo through an irregular scatterer in a water body, the acoustic wave transducer receives the scatter echo, and the radial direction water velocity is acquired through analysis. The method is characterized by comprising the following steps: firstly, setting a search scope and a count of radial direction water velocity according to the direction and degree of urgency of water flow in measurement environment; and secondly, designing a matching signal corresponding to radial direction velocity of each search point, carrying out matched filtering operation on the matching signal corresponding to each radial direction velocity and an echo signal received by the acoustic wave transducer, and searching a matched filtering result, wherein the radial direction velocity corresponding to a maximum value of the matched filtering result is the radial direction velocity to be measured.

The invention relates to a whole-bottom-material bottom-resting seabed submarine buoy and a measuring system thereof, and belongs to the field of submarine buoys. The submarine buoy comprises a main frame, a counterweight base, a floating body, a pressure shell, a release holder, an acoustic release, a power module, a controller, a radio beacon, an underwater acoustic communication machine, a conductivity-temperature-depth measuring meter, a deep water acoustic Doppler current profiler, a current meter and a gas sensor, wherein the main frame is provided with a plurality of supporting feet, and the counterweight base is provided with a plurality of supporting foot holes; the supporting feet are sleeved with springs and provided with limiting mechanisms, an anchor chain assembly is installed on the counterweight base, and the free end of the anchor chain assembly is connected in the release hook of the acoustic releaser; when the support feet are located in the supporting foot holes, the upper ends of the springs abut against the limiting mechanisms, the lower ends of the springs abut against the counterweight base, and the springs are in a compression state. When the release hook of the acoustic releaser is opened, and the springs provide an upward elasticity for helping the main frame to separate from the seabed mud where the main frame deeply falls, so that the recovery of the detecting instruments on the submarine buoy is achieved.

The invention relates to a method for inverting concentration of suspended particulate matters based on acoustics; the method comprises: receiving a back-scattering signal of an underwater scattering body to obtain echo strength by using an acoustic Doppler current profiler; according to a sonic equation, correcting the echo strength by considering acoustic wave geometric attenuation and absorptive attenuation to obtain volume back-scattering strength; according to the corrected volume back-scattering strength, finally inverting the concentration of suspended particulate matters with high time-space resolution in accordance with Rayleigh scattering principle. The method can provide precise concentration of suspended particulate matters.

A clamp-on type acoustic Doppler current profiler eliminates, among ultrasound echoes caused by two measurement lines of a longitudinal wave and a shear wave propagating in a piping, the ultrasound echo based on the longitudinal wave, thereby providing the measurement of a flow rate profile and/or a flow rate with a higher accuracy. The profiler includes a wedge mounted to the piping. The wedge includes an inclined surface at which an ultrasonic transducer can be mounted. The inclination is such that the ultrasound transducer receives only the ultrasound echo from the reflection of a shear wave component off the reflectors in the fluid.

Underwater vehicles may fix their position from GPS at the surface of the water and use bottom track for dead reckoning once it has descended to within tracking range of the bottom of a body of water. This disclosure describes a method and system for navigation through the water through depths where GPS is not available using current profiles from sonar systems including acoustic Doppler current profilers (ADCP). This extrapolation of earth referenced current profiles can provide a way to estimate vehicle motion below the surface before the vehicle reaches the bottom. Once bottom track is achieved, the corrected reference for vehicle motion improves the vehicle position estimate. A Kalman filter updates vehicle position and current profile estimates during descent, and the bottom track when the bottom comes within range to enable navigation of underwater vehicles.

The invention relates to an FPGA-based acoustic doppler current profiler signal processing method. The method comprises the steps: 1. performing system initialization; 2. emitting a pulse signal, acquiring a wave beam output signal after emitting the pulse signal, storing a digital signal in a DDR2 memory; 3. reading the digital signal data from the DDR2 memory, performing orthogonal base band modulation processing and duplex downsampling filtering processing on the digital signal data, and storing the result in the DDR2 memory; 4. reading the data after the duplex downsampling filtering processing from the DDR2 memory, and performing multiple correlation operation; 5. acquiring temperature, pressure and other signals by a low velocity AD circuit, and calculating the acoustic velocity in the current water body, and then reading the data after the multiple correlation operation to calculate the flow velocity and the echo energy; and 6. storing the result data in a TF card, and sending the data to a host computer to process and display. The invention also provides an FPGA-based acoustic doppler current profiler signal processing system. The FPGA-based acoustic doppler current profiler signal processing system has the advantages of being simple in structure, being low in power consumption, being low in cost, being small in volume, and being good in real-time.

The invention discloses an observation bracket for an acoustic Doppler current profiler, and belongs to a matched device for the acoustic Doppler current profiler. The observation bracket comprises a bracket body, wherein a mounting plate is fixedly arranged at the bottom of the bracket body; a first fixed plate and a second fixed plate are further arranged on the bracket body; the second fixed plate is positioned on the lower part of the first fixed plate; a protective device is further arranged outside the bracket body. According to the observation bracket, the protective device is fixedly connected with the bracket body, so that the observation bracket is more stable when being used, and is difficult to incline by water flow impact, survey ship navigation or the like, influence on work can be eliminated even through the observation bracket encounters aquatic plants, bamboo poles and ropes for cultivation, anchor ropes and the like, the accuracy of measurement data of the acoustic Doppler current profiler is ensured, and the profiler is more difficult to damage by the scouring of water flow; in addition, the observation bracket for the acoustic Doppler current profiler is simple in structure and wide in application range, and can be matched with various types of acoustic Doppler current profilers for use.

The invention discloses a drifting detection underwater robot device and a control method, and belongs to the technical field of detection underwater robots. A robot main body is of a torpedo-shaped structure; hydrologic detection equipment ADCP (Acoustic Doppler Current Profiler), ranging sonar and an emergency load rejection device are carried at the fore body of a robot; a pressure-resistant cabin is arranged at a middle cabin section; the pressure-resistant cabin is divided into an energy source cabin and a control cabin; two high-energy density lithium batteries are arranged in the energysource cabin and are correspondingly used for supplying power to a power system and a control system; a conformal antenna (comprising Beidou positioning and communication, radio and WiFi), DVL, a depthometer and ranging sonar are carried at the tail section; high-efficiency propellers are arranged on the left side and the right side of the tail of the robot; and vertical channel propeller is arranged at each of the front and rear of the robot. According to the surrounding environment and task instructions of the robot, the effect of selecting to start or close a drifting mode is intelligentlyrealized, so that low-power-consumption, long-voyage and long-time detection monitoring tasks are realized.

The invention relates to a posture balancing self-control device of a lowered acoustic Doppler current profiler (LADCP), which comprises a frame body, wherein the frame body is at least supported by four struts; brackets with shaft holes are symmetrically arranged in the frame body and one third far away from the top, and a balancing ring is fixed by the other end of a support shaft and provided with two clamping ring shaft holes; clamping rings are fixed at the other end of an inner ring shaft which is inserted into the clamping ring shaft holes; the joint position of the two clamping rings is provided with a bolt, a connecting line of the two clamping ring shaft holes is perpendicular to a connecting line of the two shaft holes, and the LADCP is clamped and fixed by the bolt. Obviously, the invention has reasonable structure and simple process and enables the LADCP to maintain the posture that the direction of an energy converter is perpendicular to the sea level all the time in the working process.

The invention discloses a method and a device for reducing power consumption of a signal processing unit of an acoustic Doppler current profiler. The device comprises a slave processor, a master processor, a power supply module, a communication module, a signal acquisition module, a control signal module and a storage module, wherein the slave processor controls power-on and power-off states of an electrifying module and the master processor of the signal processing unit according to a set working time point. The master processor needing massive data processing works intermittently, and only the slave processor with ultra-low power consumption works in idle time not reaching the set working time point. The slave processor is interrupted and awakened by the master processor, so that the energy-saving effect is realized. According to the invention, in consideration of the characteristics of large data size and discrete data processing time points of the signal processing unit of the acoustic Doppler current profiler, the working time periods of the master and slave processors are sequentially separated so as to guarantee the real time property of data processing. The method and the device have the advantages of effectively controlling heat dissipation, improving work stability and reliability of the signal processing unit and achieving an energy saving effect to enable the acoustic Doppler current profiler to work for a long time with power supply from a mobile battery.

The invention discloses a method for combined pulse speed measurement for an acoustic Doppler flow rate section plotter. An acoustic wave energy exchanger is adopted by the acoustic Doppler flow rate section plotter to serve as a sensor, scattering echoes are generated by sound wave pulses transmitted by the acoustic Doppler flow rate section plotter through an irregular scattering body in water, and after the scattering echoes are received by the acoustic wave energy exchanger, the radial water flow speed is obtained through analysis and processing. The method is characterized in that combined pulses serve as transmitting signals of the acoustic wave energy exchanger; after echo signals are received by the acoustic wave energy exchanger, the echo signals are multiplied by transmitted combined pulse signals; a result is analyzed through a low-pass filter wave and a following frequency spectrum, and therefore the radial flow speed needing to be measured is obtained.

The invention relates to an experiment device for testing dynamic behaviors of a pipe string in deep water. The device comprises a nitrogen cylinder, a nitrogen pressure reducing valve, a flow meter,a connection pipeline, a micro-pressure sensor, laser velocity measurement sensors, flexible joints, a water insulation pipe string, an acoustic Doppler flow velocity profiler, strain rosettes, a datacollection cable, a display, an ocean wave and current co-creating experiment flume, a pipe string holder, a test pipe string and a mechanical flow meter. The nitrogen cylinder generates high pressure airflow. Pressure of the high pressure airflow is reduced to required pressure through utilization of the nitrogen pressure reducing valve. The strain rosettes collect data that the high pressure airflow results in deformation of the test pipe string. The laser velocity measurement sensor collects integrated deformation of the pipe string. The micro-pressure sensor collects stress in an axial direction of the pipe string. The stress is displayed on the display. The device has the advantages that various occasion situations can be simulated, and the device is safe and reliable, is convenientfor operation and is accurate in measured data.

The invention relates to a method for optimizing and selecting transmitting frequency of an ADCP (acoustic Doppler current profiler) with environmental adaptability. The method comprises the followingsteps: S1, according the mathematic relation among a transducer receiving level in an ADCP transducer receiving level as well as a sound source level, one-way propagation loss, a target intensity level and a background noise level, acquiring a sonar equation of the transducer receiving level as well as the sound source level, the one-way propagation loss, the target intensity level and the background noise level; S2, according to the mathematic relation among transmitting frequency, acoustic diameter of a transmitting transducer, the wavelength of transmitting sound wave and the sound sourcelevel, acquiring a calculation formula of the sound source level; S3, according to the mathematic relation among the measuring distance, the attenuation coefficient of water for the sound wave and theone-way propagation loss, acquiring a calculation formula of the one-way propagation loss; and performing other steps to acquire the transmitting frequency. The echo signal-to-noise ratio of the ADCPby using the method can be increased by at most 20 dB compared with that of the ADCP with fixed transmitting frequency.

The invention provides a device for monitoring seabed shallow sediment erosion resuspension in an internal wave environment. The device comprises a snorkeling system, an observation platform and a supporting system, the snorkeling system comprises a glass floating ball combination, a mooring rope, a subsurface buoy, a Kelvar cable and a limiting cylinder. The observation platform comprises a middle supporting rod, a stabilizing circular ring, a supporting rod, an acoustic Doppler current profiler, a sediment capturer, a circular ring with a hole, an optical backscattering turbidity meter, a battery bin, a conductivity-temperature-depth meter, a supporting plate and an acoustic Doppler velocimetry. The supporting system comprises a buffering device, a vertical supporting rod and a gravity anchor. According to the technical scheme of the invention; the device aims to directly reach the seabed to collect and obtain accurate suspended sediment concentration information on the basis of notdestroying the seabed environment. The influence of the seabed on the internal solitary wave suspended sediments is discussed; and the device is good for evaluating the suspension quantity caused by internal solitary waves and the influence on the seabed deposition process, is good for further predicting the seabed evolution, is good for accurately describing the sediment movement and improving the sediment resuspension quantity prediction level in application, and also provides a new technology and means for sediment resuspension research.

Provided is a method of effectively improving the flow direction measurement precision of an acoustic doppler current profiler (ADCP), relating to an ADCP. The method comprises: firstly, establishing a mathematic model, analyzing the relation between magnetic north angle change and final flow direction change, and obtaining that an angle variable quantity is equal to a flow direction variable quantity when only the magnetic north angle change exists; and based on the above, using a least square method to fit errors of a flow direction influenced by magnetism, and using a fitting coefficient to compensate for ADCP actual measurement flow direction output. Compared with a standard flow direction, the root-mean-square value of the errors of a flow direction influenced by magnetism can be reduced by 70%. The method can effectively compensate for the flow direction error of an ADCP internal magnetic compass caused by environmental magnetic field interference in an azimuth scope of 0-360 DEG, thereby substantially improve flow direction measurement precision in an omnibearing scope, and have engineering guidance value for long-term fixed point flow measurement in sea observation.