718 results about "Shore" patented technology

The invention relates to the technical field of ships, in particular to a fault monitoring system and method for a ship power system, and the system comprises a multi-source data collection module which carries out the real-time collection of the operation parameters, environment parameters and equipment state parameters of the ship power system through a collection device. The fault early warning module is used for predicting the development trend of the fault after the fault diagnosis is completed; the early warning decision module generates early warning information of different levels according to the state evaluation result, the fault diagnosis result and the RUL prediction result, gives targeted operation and maintenance decision suggestions, and pushes the suggestions to a ship cockpit, a shore-based operation and maintenance center and an operation and maintenance personnel mobile terminal; 24-hour uninterrupted multi-parameter acquisition of the ship power system is realized through the multi-source sensor network, three types of parameters of operation, environment and state are covered, acquisition delay is reduced, and the problems of poor timeliness and incomplete parameter coverage of traditional manual inspection are solved.

The invention relates to the technical field of coast engineering, in particular to a beach change evolution inversion method combining numerical simulation and actually measured data, which comprises the following steps: S1, acquiring an actually measured shoreline data set of a current period; s2, establishing a wave-tidal current-sediment coupling numerical model; s3, outputting a simulated shoreline data set; s4, performing spatial matching on the actually measured shoreline data set and the simulated shoreline data set to generate a spatial discrete residual field; s5, taking the spatial discrete residual field as a constraint condition, and reversely solving an optimal hydrodynamic parameter combination; and S6, inputting the optimal hydrodynamic parameter combination into the wave-tide-sediment coupling numerical model, and outputting the beach evolution form in the future period. According to the method, dynamic coupling of the hydrodynamic parameters and the beach evolution process is realized by constructing an inversion optimization mechanism based on actual measurement data driving, and the accuracy of shoreline change simulation and the reliability of prediction are greatly improved.

The invention discloses a land-sea-air-space holographic sensing and collaborative decision-making system based on multi-mode edge intelligence. The system comprises a sensing layer which is used for carrying out three-dimensional monitoring on a ship driving process, the sea, the sky, a shore base and a space formed by the ship driving process, the sea, the sky, the shore base and the sea, the sky and the shore base; the network layer is used for constructing a global communication basis, preprocessing monitoring data, judging whether the ship has an abnormal condition or not, and realizing data transmission of the ocean, the sky, a shore base and a space formed by the ocean, the sky and the shore base; and the application layer is used for judging whether an abnormal condition exists in the ship driving process or not based on the data of the ocean, the sky, the shore base and the space formed by the ocean, the sky and the shore base transmitted by the network layer, performing collision early warning decision based on the abnormal condition, and performing dynamic channel capacity prediction. And navigation guidance and route tracking in extreme weather are carried out based on environmental risk early warning, underwater obstacle collision is avoided, and early warning information and decision information are fed back to a sensing layer.

The invention discloses a near-shore sea ice remote sensing extraction method based on FY-3 / MERSI satellite data, and the method comprises the following steps: S1, carrying out the preprocessing of an obtained MERSI image, and obtaining an MERSI image only containing sea ice and seawater; s2, establishing a coastal sea ice remote sensing recognition algorithm according to the difference of the spectral characteristics of sea ice and seawater in each channel of the MERSI image, and evaluating the precision and accuracy of the coastal sea ice remote sensing recognition algorithm; s3, according to a coastal sea ice remote sensing recognition algorithm, extracting coastal sea ice information from the MERSI image of each day; and carrying out 10-day averaging and monthly averaging on the daily sea ice data extracted in each month to generate a sea ice ten-day product and a monthly product. According to the invention, automatic identification of high-spatial-resolution sea ice information of a high-latitude offshore area in winter can be realized.

A method for simultaneous localization and mapping underwater. A robot is equipped with an IMU inertial unit and a sonar unit. When the robot submerges underwater, a buoy connected to the robot floats on the water surface, and the buoy moves in coordination with the movement of the robot. The position and observed velocity of the buoy are obtained by a shore-based lidar. During motion estimation in a SLAM algorithm, when an angular velocity is below a preset angular velocity threshold, the observed velocity of the buoy is decomposed into x-axis velocity and y-axis velocity, and updated as the two-dimensional operating velocity of the robot. The polar coordinates of an obstacle in a map under the coordinate system of the robot are associated with the polar coordinates of sonar data of a current frame by using the Mahalanobis distance. The polar coordinates of a new obstacle are converted to the world coordinate system and added to the map. The present invention has the advantages of not relying on underwater visibility, not requiring pre-installed devices, and possessing good generalization and stability.

The invention relates to the technical field of submarine cable fault positioning, in particular to a submarine cable fault positioning system based on underwater beacons. The method comprises the steps that an underwater acoustic beacon array unit monitors and collects submarine cable fault sound wave signals in real time based on underwater acoustic beacons; the fault signal processing analysis unit extracts submarine cable fault sound wave signal parameters based on a non-point source space sound source waveform analysis model, and generates multi-parameter fault sound source feature vectors; the sound source positioning analysis algorithm unit performs three-dimensional inversion positioning based on the multi-parameter fault sound source feature vector and the arrival time difference of the submarine cable fault sound wave signal to the underwater acoustic beacon, and obtains the spatial position information of the submarine cable fault point; and the data communication alarm management unit sends the spatial position information of the submarine cable fault point to a shore-based operation and maintenance system. The submarine cable fault positioning method is used for realizing a submarine cable fault positioning technology for quickly and accurately positioning and identifying spatial extension characteristics in a complex submarine environment.

The invention relates to the technical field of deep and far sea small island health monitoring, and discloses a deep and far sea small island health monitoring system and method. A non-intrusive data acquisition system composed of a sensor network, a shore-based camera device and a vibration sensor is adopted, and total-factor real-time monitoring of open sea environment parameters, reef images and the vibration state of a protective building is achieved. Through joint operation of a wave field distribution model and a structural damage prediction model, actually measured data and numerical simulation are combined, and the temporal-spatial resolution of wave parameters of the reef and the evaluation precision of the health state of a protective building are improved; the early warning threshold value is dynamically adjusted through deviation analysis of real-time association of historical disaster data and the current monitoring value, and the timeliness and accuracy of early warning of extreme events are improved; finally, through an automatic triggering mechanism of a multi-stage early warning signal, all-weather and high-reliability safety monitoring guarantee is provided for deep and far sea islands, meanwhile, the manual maintenance cost is reduced, and a remarkable technical synergistic effect is achieved.

The invention relates to a ship berthing position detection method and system based on shore end laser radars, and the method comprises the steps: deploying a plurality of laser radars at a shore end, and collecting original point clouds in parallel through an asynchronous thread model; constructing a rigid transformation matrix based on the radar installation attitude parameters, and further generating fusion point cloud data under a unified world coordinate system; then extracting 3D geometric edge points in a preset range of the front edge of the wharf as near-shore point cloud data, and further calculating the minimum ship-shore distance; based on the ship bow direction and a preset segmentation threshold value, the coastal point cloud data are segmented into ship bow area point cloud and ship stern area point cloud in the x-axis direction, the coordinate mean value of the ship bow area point cloud and the ship stern area point cloud is calculated and compared with an expected position in a wharf operation system, and berthing accuracy is judged; and the drift distance is calculated in real time, the drift distance, the attitude angle and the change rate of the attitude angle are compared with corresponding preset threshold values respectively for graded early warning and drift alarm, and high-precision ship berthing position dynamic detection is achieved.

The invention discloses a ship response system based on AI large model data fusion, and belongs to the technical field of ships, and the system comprises a dual-mode positioning module which is used for carrying out the centimeter-level positioning of a ship in a target sea area according to a GNSS system and an INS system, and obtaining the centimeter-level positioning ship position data; the data synchronization module is used for acquiring and synchronizing ship multi-source data according to the centimeter-level positioned ship position data to obtain ship situation data; and the edge-cloud collaboration module is used for monitoring the ship in real time according to the ship situation data and an edge-shore-based collaboration mechanism and dynamically adjusting the navigational speed and the fuel supply plan to stop the ship according to the sea condition. The problems that in the prior art, comprehensive and accurate comprehensive information is difficult to form, hidden dangers cannot be found in time, and accidents cannot be prevented in advance are solved.

The invention discloses a floating wind power platform self-energized carbon capture and deep sea sealing integrated system, which comprises a floating platform foundation, which comprises a plurality of buoy parts, and the buoy parts are integrated through connecting parts; the double-path carbon capture subsystem comprises an air carbon capture module and a seawater carbon capture module; the air carbon capture module introduces air into the adsorption module through negative pressure, and selectively adsorbs CO2 in the air; the seawater carbon capturing module is used for separating out CO2 from seawater in an electrochemical separation mode; the carbon sequestration subsystem is used for compressing, liquefying and sequestration the CO2 conveyed by the double-path carbon capture subsystem; and the wind power function subsystem comprises a wind power generation tower and power distribution equipment for supplying power to each subsystem. The platform is reasonable in configuration and high in function integration degree, has the advantages of wind energy driving, autonomous operation, continuous carbon capture, on-site storage and the like, is particularly suitable for deep and far sea areas without seabed pipe networks and far away from shore-based power grids, and can be used for application scenes such as wind power plant carbon compensation and ocean carbon removal.

The invention discloses a deep and far sea wind power foundation platform and load integrated system under extreme environment conditions, and belongs to the technical field of offshore wind power platforms. The system comprises a basic platform body, a multi-dimensional monitoring subsystem, an environment-load coupling analysis subsystem, an intelligent regulation and control execution subsystem, a safety early warning decision subsystem and a shore-based collaborative management subsystem. Through synchronous acquisition of extreme marine environment, basic platform structure load and operation state data, distributed multi-type sensor layout and high-frequency sampling, data acquisition comprehensiveness and timeliness are realized, monitoring data are fused, a coupling model is constructed, 24-hour load change is predicted, and the real-time performance of the system is improved. According to the method, the attitude of the platform is dynamically adjusted, bearing configuration is optimized, emergency protection is started, the limitation of traditional separation analysis and fixed regulation and control is broken through, and the risk disposal and operation and maintenance efficiency is improved through risk quantification and grading early warning, remote monitoring and intelligent scheduling of a shore-based collaborative management subsystem and four-level early warning accurate matching coping strategies.

The invention relates to a sandy coast back shore ecological restoration multi-objective optimization method based on an NSGA-II algorithm, and the method comprises the following steps: S1, selecting a damaged sandy coast, carrying out the background investigation, and calculating a wave climbing value; s2, determining a vegetation arrangement range of the damaged sandy coast; s3, beach shoulder sand supplement of beach shoulder width is conducted on different areas of the damaged sandy coast, and sand dune sand supplement of an artificial sand dune is conducted; s4, calculating the wind erosion prevention efficiency and the wave erosion prevention efficiency of the dominant vegetation; s5, constructing a sandy coast back shore ecological restoration multi-objective optimization function and constraint conditions; s6, solving the multi-objective optimization function based on an NSGA-II algorithm to obtain an optimal vegetation configuration scheme set; s7, based on actual conditions, selecting an optimal vegetation configuration scheme for planting; and S8, detecting vegetation data after planting, and starting a reseeding program when the survival rate of vegetation is lower than a threshold value. Compared with the prior art, the method has the advantages that the fitness of the multi-power environment is improved, and then the windproof and wave-resistant effects are optimized.

The invention belongs to the technical field of ship management, and provides a combined intelligent ship water diversion system integrating differential positioning, a laser radar and a camera. In the shore end RTK-inertial navigation depth fusion positioning module, extended Kalman filtering fusion is carried out on data acquired by shipborne equipment, so that continuity of accurate positioning is realized; the construction of a color high-precision map is realized through a laser radar-monocular vision color high-precision modeling module, details such as wharf fender materials and signboard characters can be better distinguished, and the problem of shoreline modeling defects is solved; visualization of obstacles is achieved through the multi-scene dynamic obstacle detection and fusion module, meanwhile, through cooperation of multi-source data, the precision and stability of ship positioning are greatly improved, higher precision and reliability are achieved, and the precision of a guide instruction is improved; through cooperation of the 5G private network and the visualization module, the data transmission efficiency is improved, the timeliness is improved, and transmission delay can be avoided.

The invention relates to the technical field of underwater navigation and positioning, and particularly discloses a wide-area very-low-frequency radio navigation and underwater sound combined underwater navigation and positioning method, which comprises the following steps that: a very-low-frequency navigation transmitting station transmits a very-low-frequency radio navigation time service signal; the semi-submersible acoustic beacon receives a very-low-frequency radio navigation time service signal; performing position calibration and time synchronization; the semi-submersible acoustic beacon emits an underwater acoustic navigation signal, and the underwater carrier calculates the three-dimensional coordinates of the underwater carrier according to the received underwater acoustic navigation signal. According to the invention, a shore-based very-low-frequency radio navigation and underwater sound combined navigation mode is adopted, and a very-low-frequency radio navigation time service signal has a certain underwater entry depth, so that the problem of time synchronization between semi-submersible acoustic beacons is solved, and auxiliary calibration of the positions of the semi-submersible acoustic beacons is provided; the semi-submersible acoustic beacon emits an underwater navigation signal to realize navigation and positioning of a deepwater underwater carrier, and reliable navigation service with wide area coverage, high precision and low power consumption is provided for the underwater carrier.

The invention belongs to the technical field of photovoltaic power generation, and particularly relates to a floating type photovoltaic array power generation performance evaluation method, which comprises the steps of constructing an offshore area environment model; a Boussinesq model is adopted to calculate a real near-shore wave field; constructing a matching surface on the outer side of the array, extracting wave field time domain information, and converting the wave field time domain information into a frequency domain component; solving the six-degree-of-freedom motion response of the array through a boundary element method by taking the component as a boundary condition; calculating the dynamic attitude of the assembly, the solar incident angle, the out-of-plane irradiance, the working temperature and the instantaneous output power in real time based on the motion response; and finally evaluating the wave-induced power generation loss. According to the method, the Boussinesq model and the boundary element method are coupled in a domain nested mode, balance is achieved between calculation efficiency and precision, key environmental factors such as non-constant water depth, topographic relief and shoreline effect are synchronously considered, 'hydrodynamic force-light receiving-power generation 'chain coupling is achieved for the first time, and reliable support is provided for engineering design and performance evaluation of a near-shore floating type photovoltaic array.

The invention relates to the technical field of ship navigation and data safety, solves the technical problem that an existing ship data safety guarantee system has defects in the aspects of data trust evaluation and data correction, and particularly relates to a safety guarantee method for credible interaction of inland ship shore-based driving control data under a zero-trust architecture. Comprising the following steps: standardizing operation data to obtain ship sensing data and shore-based data with the same dimension; based on an evidence theory, taking the ship sensing data and the shore-based data as independent evidence sources to perform fusion processing so as to obtain a trust evaluation result for quantitatively representing data credibility; and performing consistency correction on the ship sensing data and the shore-based data based on a least square method. According to the method, scientific and rigorous trust evaluation is realized, mathematical optimality of data fusion is guaranteed, and long-term reliability is ensured. Meanwhile, the credibility and the weight are directly associated with the equipment precision and historical data, so that an operator can flexibly adjust the system to adapt to different equipment.

The invention provides a network version digital ocean ball public application and development integration method and system. According to the method, intelligent buoys equipped with laser communication and scanning equipment and processors are used as dynamic nodes, a self-organizing communication network is constructed, and underwater positions and ocean current data are shared. And when multiple nodes detect abnormal targets at the same time, a collaborative verification mechanism is triggered. The system drives the nodes to adjust the layout through a dynamic sphere model, and at least three nodes are controlled to move towards the center of the target along a spiral path to form a multi-layer spherical monitoring structure. And finally, encoding and uploading the three-dimensional coordinate data to a shore-based platform to generate an updated digital ocean ball map. According to the technical scheme provided by the invention, accurate positioning and three-dimensional visual monitoring of the abnormal target in the marine environment are realized, the marine ecological monitoring performance and the space coverage precision are remarkably improved, and a three-dimensional data support is provided for marine environment protection and disaster early warning.

A shore-based automatic measurement and refined calculation method for river flow includes: performing adaptive segmented terrain fitting based on measured underwater and onshore topographic data of a river section to obtain a river section topographic polynomial group; real-time monitoring of the current river water level, determining the location of the river's land-water boundary and water depth in combination with the river section topographic polynomial group, and measuring the river surface velocity at fixed distances using a rotating velocity-measuring radar with an automated control device; converting the corresponding average velocity using the relationship between the open channel surface velocity and the cross-sectional average velocity, performing adaptive segmented fitting to obtain a river section average velocity polynomial group; dividing the river surface into several sections using vertical lines, and calculating the river depth at the vertical lines and the area between adjacent vertical lines in each section; calculating the average velocity of the centerline of each vertical line using a river section average velocity formula group, and calculating the river section flow by multiplying and summing the areas of each section with the average velocity. This invention has important practical value for real-time, online shore-based river flow measurement under complex water conditions.

The invention discloses a water surface multi-view visual cooperative detection system based on an unmanned ship cluster, relates to the technical field of industry, and aims to solve the problems that the unmanned ship cluster is poor in identification precision, response speed and system robustness; the system comprises a sensing system, a data processing system, a communication system and a shore-based control system, and is characterized in that the sensing system, the data processing system, the communication system and the shore-based control system are connected with the shore-based control system; the sensing system obtains information such as the position, the speed and the posture of a target through the hyperopia camera and the RTK positioning and inertial navigation system and transmits the information to the data processing system in real time. The method has the advantages that the target recognition precision, the response speed and the robustness of the system can be improved, the target detection efficiency in the water surface environment is low, and the requirement for efficient and accurate target detection and tracking in the water surface environment is met.

The invention belongs to the technical field of data processing, and particularly discloses a sea area three-dimensional utilization resource evaluation prediction method and system based on machine learning, and the method comprises the steps: firstly carrying out the repeated data elimination, abnormal value processing and standardization of multi-dimensional original data of a target sea area, and forming a standardized data set; dividing a plurality of sub-regions from three dimensions of horizontal space, vertical depth and hydrological power according to sea area characteristic parameters such as offshore distance and water depth; extracting sample data for each sub-region, and constructing and training an exclusive machine learning sub-model; calculating the distribution difference of prediction results of the sub-models by constructing a contrast learning loss function, and performing back propagation on updated parameters to realize distribution alignment; and finally, collecting current data, preprocessing, and inputting the current data into the updated sub-model to obtain a first prediction result. According to the method, the problems of low prediction precision and the like caused by the fact that sea area heterogeneity, sample sparseness and extreme environment influence are not considered in the prior art are solved, and accurate resource evaluation prediction in the whole sea area and multiple scenes can be realized.

The invention discloses a low-cost transportable system for UUV path planning and control experiments. The low-cost transportable system comprises a shore-based unit, a buoy unit, an underwater vehicle unit, a zero-buoyancy cable and a software stack, the UWB tag, the router, the GNSS and the rocker receiver are integrated in the buoy, a sealing waterproof design is adopted, and the buoy can stably float on the water surface and is in wired connection with the underwater vehicle through the zero-buoyancy cable; the three-dimensional position of the underwater vehicle is obtained, the upper computer and the UWB base station are deployed on a shore base, the upper computer interacts the calculated position with the router in the buoy through wireless communication, and a stable and efficient communication link is constructed. The system can be quickly arranged in indoor and outdoor environments, supports closed-loop path planning and control experiments, can effectively replace expensive USBL or indoor dynamic capturing and positioning systems, remarkably reduces experiment cost, and improves experiment flexibility and portability.

The present invention provides a method for extracting features of the nearshore wave breaking process based on time series video images; wherein, the method comprises: setting at least one pixel sampling area in a plane geographic coordinate system, collecting time series video images of ocean nearshore waves, quickly converting them into plane geographic coordinate images through a coordinate model, and then stacking cross-shore pixel values ​​of several pixel sampling areas within a set time to generate a cross-shore pixel value and time relationship sequence diagram, mining the time-varying signal of the wave propagating toward the shore, combining the geometric relationship between the camera angle of view and the plane projection of the wave breaking, and calculating key wave breaking features such as the wave breaking point position, wave breaking water depth, and wave breaking height; the method can continuously monitor the nearshore wave breaking features efficiently, automatically, and stably, effectively making up for the shortcomings of traditional monitoring and analysis methods, and providing strong technical support for the refined research and management of nearshore beach dynamic landforms.

The present invention belongs to the field of marine underwater positioning, navigation and timing. Disclosed are an underwater navigation and communication integrated position service system and method. The system comprises a buoy base station, a submerged buoy base station, a seabed base station and a shore-based operation and control unit, and the system utilizes a three-dimensional base station network observation mode combining the buoy base station, the submerged buoy base station and the seabed base station. The position service system and method in the present invention have the capabilities of underwater acoustic navigation and communication, satellite positioning and communication, atomic clock timekeeping, hydrological measurement and responding to instructions of a shore-based operation and control unit, have the functions of autonomous, real-time and online base station position and clock calibration and sound velocity field correction, have the functions of base station position and clock calibration, and sound velocity field correction and control based on the shore-based operation and control unit, and can expand the range and functions of underwater position services, and provide accurate positioning, navigation and timing services for water-surface / underwater users.

The invention provides a prediction method suitable for short-term rapid wave prediction during a construction period, which is suitable for the field of sea wave prediction and comprises the steps of planning a construction area, planning typical point locations, obtaining wave element information, constructing a data set, processing data, extracting features, constructing a time convolutional network prediction model, training, testing and optimizing the model and applying the model. According to the method, a point location latitude and longitude-wave element data set of an engineering sea area is constructed through an SWAN / WAVEWATCH mode, the influence of factors such as water depth topography, complex shorelines, islands, shoreline wave breakage and bottom friction on wave propagation can be considered, and it is guaranteed that data contain enough physical parameter information influencing waves; through the time convolution network, diversified activation function selection, systematic data processing and feature extraction, the analysis capability of the model is enhanced, the accuracy and rapidity of wave element prediction are improved, selection of a construction window period is facilitated, reliable support is provided for construction decision making, and thus the construction risk is reduced.

The invention relates to a multi-modal dynamic region chart generation loading and self-adaptive navigation method and system. The method comprises the following steps: acquiring multi-modal data information; generating a self-adaptive chart based on the static chart data and the dynamic environment information; based on the ship characteristic data and the navigation plan information, generating multi-target path information associated with a self-adaptive sea chart, and sending the multi-target path information to a ship end and a base shore end; when target path information fed back by the ship end and the base shore end is received, navigation information is generated based on the target path information; receiving feedback information from the ship end and the base shore end based on a preset receiving frequency, and updating navigation information; by integrating the static chart data, the dynamic environment information, the ship characteristic data and the navigation plan information, the navigation system with environment perception, path planning and closed-loop updating is constructed, the conversion from the static chart to dynamic adaptive navigation is realized, and the effect of improving the navigation safety and efficiency is achieved.

The utility model relates to a quadrilateral structure floating platform, and belongs to the technical field of ocean engineering, the quadrilateral structure floating platform comprises a floating platform, the floating platform comprises a first floating body module, a second floating body module and a third floating body module, and the two ends of the first floating body module are fixedly connected with the second floating body module and the third floating body module through bending modules; a first buoy is arranged at the top of the floating platform, a traction body is arranged on the floating platform, and the traction body and the floating platform are fixedly connected to form a quadrilateral structure. Before the floating platform is thrown to the sea surface, the first floating body module, the second floating body module, the third floating body module and the bending module can be separately transported on the shore, when the transportation equipment drags the traction body on the sea, water flow can freely pass through the hollow part, the resistance of the water flow to the floating platform is reduced, the hydrodynamic performance is good, and the floating platform can be conveniently unfolded in a preset sea area.

The invention discloses an estuary sediment transport simulation method considering environmental factor coupling, and belongs to the technical field of offshore marine deposition dynamics, and the method comprises the steps: processing the geographic data of a target sea area, constructing a non-structural computational grid region of the target sea area, and generating an initial terrain field; for a target sea area, setting boundary conditions and an initial field, and constructing a three-dimensional hydrodynamic numerical model; performing systematic verification and parameter calibration on the three-dimensional hydrodynamic numerical model in S2 by adopting multi-source observation data; based on the three-dimensional hydrodynamic force numerical model verified in S3, constructing a three-dimensional hydrodynamic force-sediment coupling numerical model considering environmental factor driving; and performing systematic verification and parameter calibration on the three-dimensional hydrodynamic force-sediment coupling numerical model in the step S4 by adopting multi-source observation data. According to the method, the real-time dynamic coupling relation between the environmental factors and the sediment settling velocity is established by modifying the sediment settling velocity equation, the flocculation effect of the estuary high-concentration fine-particle sediment is represented, and the accuracy of suspended sediment concentration simulation is improved.

The invention discloses an unmanned ship self-adaptive safety redundancy system for an inland river ultra-shallow water environment and a control method. The system is composed of four-stage closed-loop redundancy of sensing, decision making, execution and laws and regulations. A 0.1 m-stage shallow water three-dimensional map is constructed in real time by a dual-millimeter-wave radar and a high-frequency single-beam sounding sonar; the main and standby controllers process the quay wall effect, backflow and grounding nonlinear disturbance on line through a BLF-RBFNN fixed time convergence algorithm, and the upper bound of convergence time is 4.2 s and is irrelevant to the initial state; the variable-configuration double-pump jet-air cushion hybrid propulsion device adjusts the draft on line according to the water depth of 0.12-0.45 m, and is matched with the self-righting honeycomb composite ship body to automatically stop leakage and return within 60 seconds when the ship body is damaged; and when the ship-end double control fails, the ship-shore cloud collaborative digital twinborn body completes regulation-level minimum risk takeover within 10 seconds. Experiments prove that the path error is less than or equal to 0.08 m and the fault degradation success rate is 100% in a 0.15 m water tank and 0.35 m Yangtze River channel, and zero-grounding, zero-overturning and zero-regulation illegal sailing of the ultra-shallow water unmanned ship is realized.

The invention discloses a multi-element information acquisition and analysis system based on telemetering drifting buoys, and relates to the technical field of marine environment monitoring. A three-dimensional fluorescence spectrometer, a temperature-salinity-depth sensor, a positioning module and a miniature water sampler are carried on each telemetering drifting buoy; the system is used for collecting algae fluorescence spectrums, water quality parameters and position data in real time, inputting the data into a trained random forest model to output the red tide occurrence probability, triggering multi-level early warning in combination with a preset expert rule engine, linking air and shore-based equipment and a data storage system, and utilizing laboratory true value data obtained by a miniature water sampler to determine the red tide occurrence probability. And performing incremental training on the random forest model every day, thereby dynamically optimizing internal structure parameters of the model. The method effectively improves the prediction probability of the red tide.

The invention provides a joint optimization method for position deployment and beam forming of multiple active intelligent reflecting surfaces on the sea, which comprises the following steps: deploying an unmanned ship equipped with an active intelligent reflecting surface ARIS, generating random coordinates of the active intelligent reflecting surface ARIS, and forming an initial active intelligent reflecting surface ARIS position particle swarm matrix; in each iteration, joint optimization is carried out on the phase of the active intelligent reflector ARIS and the beam forming vector of the shore-based base station; generating a new active intelligent reflector ARIS position particle swarm matrix; and outputting the maximum sum rate, the optimal deployment position and the optimal phase corresponding to each active intelligent reflector ARIS, and the optimal beam forming vector of the base station end. The method has the advantages of being high in adaptability, high in expandability, wide in coverage range and remarkable in rate gain, and the sum rate of a maritime wireless communication system is remarkably improved.