1163 results about "Water depth" patented technology

The invention discloses a lake terrain prediction method based on machine learning fused multi-source satellite data, and relates to the technical field of machine learning, and the method comprises the steps: extracting the optical features of a target lake from an optical satellite image; extracting water features of each water body pixel in the target lake from the SWOT satellite data; performing space-time alignment and fusion on the optical features and the water features to obtain a fusion feature vector; the actually measured water depth point of the real water depth is matched to the geographic position of the corresponding pixel, and then the real water depth and the fusion feature vector of the corresponding pixel form a training sample; selecting a machine learning model and initializing the structure or parameters of the machine learning model; training the initialized machine learning model by using the training sample; utilizing the trained machine learning model to predict the water depth value of the corresponding pixel according to the fusion characteristic vector of each water body pixel; and determining the terrain of the target lake according to each water depth value. According to the method, the terrain of a large-scale lake can be efficiently predicted at low cost.

The invention discloses a multi-source data-combined pit-pond water depth calculation and storage capacity calculation method, which comprises the following steps of: acquiring actually measured water depth data, performing data preprocessing, and dividing the data into a training sample point set and a test sample point set; acquiring a multispectral remote sensing image of the reckoning area, and executing image preprocessing; unifying to the same coordinate system; fractal dimensions of each wave band and the combined wave band are calculated, and a water body region is segmented; establishing a mapping relation between the water depth values of the training sample points and the standardized multispectral apparent reflectance; establishing a water depth inversion model, and verifying the water depth inversion model by using the test sample point set; calculating discrete water depth points of the pit pond by using the optimal water depth inversion model; and establishing a minimum energy curved surface to obtain the water storage amount of a single pit pond, and accumulating to generate the total water storage amount. According to the method, actual measurement and remote sensing data are fused, the energy minimization water depth inversion model is constructed, accurate calculation of the water storage capacity of the pit pond is achieved, and the method has the advantages of being high in precision and high in applicability.

The invention relates to the technical field of exploration, and discloses a water depth inversion method and system based on a multispectral remote sensing image, which utilizes an independent verification sample set to carry out hierarchical precision evaluation, and analyzes model performance differences according to dimensions such as a water depth range and a substrate type. Error propagation of links such as atmospheric correction and water level correction is quantified through full-chain uncertainty analysis, an uncertainty quantification model of ensemble learning is constructed, and a pixel-level precision distribution diagram is generated. Therefore, according to the technical scheme, a closed-loop dynamic adaptation framework is formed by systematically integrating multi-temporal data dynamic modeling and an uncertainty quantification mechanism, a spatio-temporal variation compensation mechanism is embedded in the whole process from data acquisition to result verification, the interference of spatial-temporal heterogeneity of water optical characteristics on water depth inversion is effectively dealt with, and the accuracy of water depth inversion is improved. The problems of parameter mismatch and precision reduction of the water depth inversion model caused by dynamic change of optical characteristics of a coastal water body in seasonal and tidal scales are solved.

The invention discloses a marine surveying and mapping method based on multi-beam sounding correction, and belongs to the technical field of marine surveying and mapping. The method comprises the following steps: acquiring sounding echo signals, sound wave propagation time delay data and temperature data through a multi-beam sonar array, an acoustic chromatography transceiving array and a laser Raman probe; and fusing the data to construct a dynamic refractive index field model, correcting sound ray refraction distortion by adopting an adaptive variable step size algorithm, carrying out weight allocation and data fusion on space-time adjacent beams to obtain high-confidence water depth, and generating an isobath topographic map. The problem of refraction distortion is solved through multi-source data fusion, the sound ray tracking step length is dynamically optimized, noise interference is suppressed through weighted fusion, and the precision and reliability of topographic surveying and mapping in complex environments such as a deep sea hydrothermal region are remarkably improved.

The invention relates to the technical field of marine surveying and mapping and submarine topography modeling, and discloses a submarine topography and landform construction method based on multi-source water depth data fusion, which comprises a multi-source data acquisition module, a data preprocessing module, a feature extraction module, a fusion algorithm matching module, a three-dimensional modeling module and an uncertainty evaluation module. A historical submarine topographic map is converted into grid data, namely, submarine topography is discretized into digital representation of regular grid units, water depths of other sources are converted into the grid data, the precision of the water depths of different sources is evaluated by adopting a superposition comparison method, and an error distribution model is established to reasonably correct and fuse the water depth data of various sources. The innovation of the method lies in that topographic feature parameters including the gradient, the curvature matrix and the bionic optimization algorithm are introduced, the defect that a single algorithm is preset in a traditional method is overcome, and the precision of coral reef and fault zone complex areas is improved.

The invention relates to a sea area island remote sensing information change monitoring method and system, and relates to the technical field of remote sensing monitoring, and the method comprises the steps: obtaining a remote sensing image time sequence of a target sea area island, the remote sensing image time sequence comprises a plurality of remote sensing images, and each remote sensing image has an acquisition timestamp; collecting tide height information corresponding to the target sea area island at each collection timestamp, and water depth distribution information of the monitored sea area where the target sea area island is located; and performing correction processing on each remote sensing image according to the tidal height information and the water depth distribution information corresponding to each acquisition timestamp, and generating an island boundary contour change time sequence. The invention solves the problems that the traditional sea area island remote sensing monitoring adopts a single-moment image for analysis, the real coastline change and temporary boundary offset caused by tide cannot be distinguished, the boundary extraction precision is reduced due to shallow water area seabed reflection interference, the monitoring error is large, and the monitoring precision is low. The application precision requirements of sea area management, coastal zone protection and the like cannot be met.

The invention belongs to the technical field of ocean remote sensing, and discloses an ICESat-2 shallow sea sounding signal extraction method and system, and the method comprises the steps: carrying out the data preprocessing based on the obtained ICESat-2 sounding data; constructing an elliptical neighborhood direction adaptive model based on submarine topographic features, and determining the orientation of an elliptical neighborhood; constructing an elliptical neighborhood size adaptive model considering the depth change, and determining the size of an elliptical neighborhood; refraction correction and tide correction are carried out, and water depth correction of the seabed photon points is completed. Through the density clustering algorithm, accurate detection of the underwater topography of the shallow sea water area is realized, and a new analysis thought is provided for shallow sea water depth detection. The submarine photon point extraction problem caused by non-uniform point cloud density and weak connectivity of the photon counting laser radar ICESat-2 is solved, the sounding precision is remarkably improved, and the long-term requirements of the marine surveying and mapping field on the high-precision and low-cost sounding technology are met.

The invention belongs to the technical field of water conservancy monitoring, and discloses a water conservancy water level monitoring device and method, and the method comprises the steps: a monitoring point arrangement module of a monitoring mechanism reasonably arranges the number and positions of monitoring points; the flow velocity monitoring module monitors the water velocity; the meteorological data acquisition module acquires meteorological data; the echo sounder emits sound waves, and the water depth is calculated according to the sound wave propagation time and the sound velocity in water; the pressure water level gauge, the laser water level gauge and the radar water level gauge monitor the water level of water conservancy. The echo data analysis module analyzes the echo data; the comprehensive analysis module comprehensively analyzes the water level; the predictive analysis module predicts a water level trend and potential risks. The water level of water conservancy is monitored through various water level gauges, cross validation and high precision are achieved, and the sediment deposition thickness is accurately calculated by analyzing echo data; the comprehensive analysis module comprehensively evaluates the water level; the prediction analysis module integrates various monitoring equipment data and meteorological data, and predicts the water level trend and potential risks.

The invention discloses a submarine topography super-resolution reconstruction method based on window displacement multi-source fusion, and aims to solve the problem of precision attenuation caused by absence of multi-beam truth value evaluation and resolution improvement of an existing neural network submarine topography reconstruction method. The method comprises the following steps of: obtaining gravity anomaly, gravity vertical gradient, vertical line deviation component, submarine topography background and ship survey water depth multi-source data of a target sea area; constructing a residual U-Net attention neural network model, and performing training by taking multi-source data extracted by a 11 * 11 window and position codes as input; moving the trained model sampling window in a staggered manner according to a target resolution step length; extracting data points in the window during movement and injecting position codes; and outputting a high-resolution water depth predicted value based on the position code and the window data. The reconstruction precision is improved by fusing physical quantities, the multi-resolution robustness is guaranteed by a window displacement mechanism, and the medium-frequency feature reconstruction capability is enhanced by a residual U-Net attention model.

The invention discloses a bay environment simulation forecasting method and device, relates to the technical field of marine environment forecasting, and aims to solve the problem that in the prior art, forecasting precision and forecasting timeliness cannot be taken into account when environment simulation forecasting is carried out on a bay. The method comprises the following steps: based on coastline data, performing encryption processing on a target sub-region in a target gulf region by adopting a curve orthogonal grid, and generating a variable-resolution refined curve orthogonal grid from an inshore region to an open sea region; based on a refined curve orthogonal grid, according to a model simulation data format requirement, a variable-resolution grid file is manufactured and obtained; determining a model input file based on the water depth topographic data and the variable resolution grid file; and inputting the model input file into a preset three-dimensional oblique pressure ocean numerical model for calculation to obtain simulation forecast data. Therefore, the simulation precision requirements of different bay areas can be met, and the simulation calculation speed and the simulation calculation efficiency of the whole target bay area are ensured.

The invention relates to the technical field of ship energy efficiency analysis, and particularly discloses a digital twinning-based bulk carrier EEDI pre-evaluation and design optimization method and device, and the method comprises the steps: carrying out the multi-source data collection, building a ship full life cycle database, building a high-precision digital twinborn body based on transfer learning calibration, coupling target port tide time series data, and carrying out the design optimization. The influence of dynamic water depth and water flow changes on a ship navigation strategy is simulated, the whole-course navigational speed is optimized to reduce the total oil consumption, a hull biological pollution bottom growth model is introduced into energy efficiency evaluation, the energy efficiency attenuation trend of the whole life cycle of the ship is predicted, and an operation EEDI index is generated through multi-physics coupling simulation. And multi-target collaborative optimization is carried out in combination with maneuverability safety evaluation, so that the problems that traditional EEDI evaluation is separated from actual operation conditions and neglects tidal window matching and hull energy efficiency attenuation are solved, and accurate prediction and collaborative optimization of the energy efficiency and safety of the whole life cycle of the ship from a design stage are realized.

The invention provides an ICESat-2 turbid water area sounding correction and water depth inversion method based on optical characteristics of a water body. The method comprises the following steps: S1, obtaining photon data and an optical remote sensing image of a near-shore turbid water research area, and carrying out preprocessing operation on the data; s2, performing spectral sensitivity analysis by acquiring an ICESat-2 photon error value and combining optical characteristics of a water body; s3, constructing an ICESat-2 turbid water area sounding compensation model based on water optical characteristics, and selecting the model preferentially according to evaluation indexes; s4, synthesizing a multi-temporal image, and realizing model adaptive adjustment of different space weight distribution based on the spectral sensitivity difference of the turbid water area; s5, constructing an ICESat-2 and remote sensing image joint inversion water depth model based on turbidity partitioning; s6, spatial interpolation is carried out on a water depth inversion result, residual noise and adjacent pixel differences possibly occurring in the image are suppressed, and continuous water depth is obtained; according to the invention, large-range water depth inversion without field actual measurement work can be realized.

The invention belongs to the technical field of ocean geotechnical engineering, and discloses full-strain range soil body strength characteristic testing equipment and a testing method for simulating a deep sea temperature and pressure environment. The system comprises an integrated probe, a stepping motor, a linear module, a hollow probe rod, a torsion module, a loading platform, a sample box, a water depth simulation system and a temperature control system. The hydraulic source and the temperature controller are used for simulating the deep sea low-temperature and high-pressure environment, the simulation effect is good, soil sample visualization is achieved, static sounding and vane shear tests are combined by designing the integrated probe, the soil permeability coefficient, the consolidation coefficient, the undrained shear strength and the sensitivity are measured, the precision and the efficiency of soil parameter analysis are improved, and the method is suitable for popularization and application. And data complementation, efficiency optimization and precision improvement are realized.

The invention provides an arrangement method of a steel fishway structure capable of automatically pulling and stretching along with water level changes. The arrangement method comprises the steps that the water level difference of an inlet and an outlet of a fishway is monitored in real time; the buoyancy driving assembly is triggered according to the water level difference to drive the steel fishway subsections to move along the rails; calculating the telescopic length based on the water level difference and the fishway base length to ensure that the gradient is within the design range; the track motor is controlled to adjust the cable-stayed angles and gaps of the fishway sections; the gradient error is corrected in real time through the tilt angle sensor; the distribution density and the opening-closing angle of the guide plates are dynamically adjusted according to the flow speed and the water depth, and vortex is inhibited; the water temperature change is monitored, the thermal deformation compensation amount is calculated, and deformation is absorbed through the elastic sealing assembly. The fish passing rate can be increased, the adaptability and stability of the structure are enhanced, and the device is suitable for complex hydrological environments.

The invention relates to an internal solitary wave identification and amplitude inversion method in mode data based on machine learning, and belongs to the technical field of ocean observation. In combination with a Mask-RCNN and a variational auto-encoder, firstly, sea surface height data is preprocessed and imaged, texture features are extracted through a local binary pattern algorithm, a labeled data set is constructed, model training is performed, and internal solitary wave stripes and positions thereof are identified from the labeled data set; through extraction and processing of temperature field data, the temperature field at the water depth is inversed by using a variational auto-encoder; and extracting the amplitude of the internal solitary wave in the temperature field based on the internal wave identification result. According to the method, large-scale and refined ocean mode data can be efficiently and accurately processed, and the efficiency and accuracy of data processing are remarkably improved. The method has a wide application prospect, and especially in marine disaster early warning, marine scientific research and internal wave mechanics research, the automatic identification and amplitude extraction capability of internal waves can be greatly improved.

The invention relates to the technical field of data processing, and provides a resistance line-associated underwater bench blasting numerical simulation error correction method, which is characterized in that land and underwater measured data are matched through the same resistance line and similar material parameters, and the resistance line and the water depth are used as basic input of an error prediction model; a reference basis is provided for error correction of subsequent numerical simulation; calculating a target result in combination with a prediction error after initial simulation, comparing a simulation result with the target result during iterative simulation to generate an iterative error, and analyzing and determining sensitivity coefficients of different error classifications in a resistance line and the iterative error so as to adjust material parameters to reduce an invalid iterative process; simulation results are processed according to stress areas in a zoning mode through an equidistant slicing method, adjustment precision is verified in combination with the root rate and the damage area, and the reliability of the simulation results is improved; and meanwhile, parameter data passing verification are input into a back propagation neural network, a correction parameter mapping library is constructed, and the design efficiency of an underwater blasting scheme is improved.

The invention discloses an underwater delta erosion and deposition evolution analysis method based on water depth data, and relates to the technical field of ocean engineering, the underwater delta erosion and deposition evolution analysis method comprises the following steps: collecting section actually measured water depth data, remote sensing data and hydrological data over the years of an underwater delta in a research area, and preprocessing to unify a coordinate system and an elevation datum; and establishing a water depth database of the underwater delta of the crossheading petals by utilizing the preprocessed actually measured water depth data, and covering all stages of the construction period and the discarding period. According to the method, multi-temporal remote sensing data and section actually-measured water depth data over the years are integrated, a space-time continuous database covering the whole period from the construction period to the discarding period is constructed, seven-parameter coordinate conversion and the Kriging interpolation technology are combined, a data missing area is effectively filled up, a continuous water depth surface with the spatial resolution smaller than or equal to 50 m is generated, and the method is suitable for large-scale popularization and application. Dynamic monitoring limitation caused by data faults in traditional research is broken through, erosion and deposition evolution analysis is changed from fragmented observation to systematic tracking, and data support is provided for accurate evaluation of seabed stability.

The invention relates to a water depth estimation method of a KAN network based on self-adaption and physical constraint, and belongs to the technical field of remote sensing data processing. Grades are divided according to different water body turbidity, different KAN expert networks are adopted for different grades to learn the complex nonlinear relation between B3 and B4 wave band reflectivity and water depth, and KAN initial model parameters corresponding to different grades of water bodies are obtained through independent self-adaptive training; taking the B3 and B4 wave band reflectivity after normalization processing as input, selecting a corresponding KAN network model according to the water turbidity grade, and outputting predicted water depth; and training the KAN network by using the physical constraint loss function L, and finally extracting an interpretable mathematical inversion formula of the wave band reflectivity and the water depth after the training is completed. Through deep fusion of B3 / B4 waveband spectral characteristics of the KAN, a remote sensing technical solution with high precision, low cost and strong adaptation is provided for dynamic monitoring of the water depth of the shallow water area.

The invention relates to the technical field of ship motion control, and particularly discloses a ship dynamic positioning control method and system for a full-water-depth sea area, and the method comprises the steps: S1, measuring the water depth in real time, and calculating the water depth-to-draft ratio through combining with the ship draft; s2, according to the water depth-to-draft ratio, a water depth self-adaptive ship body dynamic model is updated; s3, calculating real-time optimal control force by utilizing an optimal quadratic index according to the updated water depth self-adaptive ship body dynamic model; and S4, performing dynamic positioning control according to the real-time optimal control force. The dynamic positioning system can be compatible with control requirements of deep water and shallow water operation areas, and the problems of control drift, instability divergence and the like caused by inertia increase, damping increase and thrust loss of a ship body in a shallow water area are solved.

The invention discloses an intelligent water depth measurement method for waterway maintenance of a water transportation project, and particularly relates to the technical field of water conservancy projects. Historical sounding data, meteorological and hydrological parameters, real-time sonar echo data and unmanned surveying ship path information of the target channel area are acquired; a multi-source sounding data fusion model is constructed, and heterogeneous data fusion is realized by adopting wavelet domain feature extraction, remote sensing delay compensation and a graph attention mechanism; constructing a water depth evolution characteristic spectrum based on multi-scale spatial domain characteristic extraction; modeling a water depth propagation relationship between the sounding units by using a graph neural network; projecting the evolution graph to a section grid, and outputting a continuous water depth prediction value in combination with residual error correction and a rolling prediction strategy; identifying a water depth deviation by comparing with a designed navigation depth, and constructing a risk map layer; the method has the advantages of high prediction precision, strong adaptability, good response real-time performance and the like, and can be widely applied to scenes of channel siltation monitoring, scouring early warning, shipping maintenance management and the like.

The invention relates to a method and system for determining the water content of a safe shutdown boundary of a submarine mixed transportation pipeline, and the method comprises the steps: carrying out a physical property parameter test, and taking the physical property parameter as a multiphase flow simulation input parameter; carrying out submarine pipeline shutdown simulation on the basis of the physical property parameter test data, and obtaining oil section temperatures and spatial distribution characteristics at different water depth positions in the pipeline; carrying out an oil-water layering characteristic experiment under a temperature control condition to obtain an oil-water emulsion layering characteristic; sampling oil sections with different layer heights in the oil-water layering characteristic experiment, and testing the water content and simulating the yield / slip characteristic at the oil section temperature based on the temperature distribution of the oil sections; according to the yield / slip stress of the oil sections with different layer heights, carrying out segmented calculation and weighted accumulation to obtain an overall starting stress; on the basis of the overall starting stress, the safe shutdown boundary moisture content is determined in combination with pressure boundary conditions. The method can effectively guide the safe transportation stopping and restarting of the submarine pipeline, optimizes the replacement operation after the transportation stopping of the submarine pipeline, and improves the operation safety and economy.

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 discloses a water area and resource quantity monitoring and predicting method and system based on a remote sensing technology, and belongs to the technical field of water resource monitoring. The method comprises the following steps: determining a water area range according to historical data of a research area and an on-site survey condition, and determining a research area range; the method comprises the following steps: respectively acquiring ground data and water depth and water surface elevation data by using an unmanned aerial vehicle and an unmanned ship, respectively processing to obtain a land DEM and a water area DEM, and fusing to form an all-terrain DEM; downloading satellite image data of the research area, and performing geographical registration on the satellite image data; in the geographically registered satellite image data, describing the boundary of the water area through visual interpretation; superposing the water area boundary to an all-terrain DEM, obtaining the elevation of each point on the water area boundary line, calculating the average elevation of the water area boundary, and calculating the water area and the water resource amount to obtain the historical water area and the water resource amount; and on the basis of the obtained historical water area and water resource quantity, utilizing an ARIMA model to predict future water resource quantity and water area.

The invention provides a multi-parameter-based offshore piling underwater sound source level prediction method and device.According to the method, multiple sets of historical monitoring data are obtained, each set of historical monitoring data comprises multi-parameter information and a corresponding single impact sound exposure level, and the multi-parameter information comprises impact energy, hammer weight, pile diameter and water depth; establishing a prediction relation model according to the multiple groups of historical monitoring data; and acquiring multi-parameter information corresponding to the single impact sound exposure level of the to-be-predicted project, and substituting the multi-parameter information into the prediction relation model to obtain the single impact sound exposure level of the to-be-predicted project, so that the impact energy, hammer weight, pile diameter and water depth of the to-be-predicted project, which are easy to acquire, are input, and the single impact sound exposure level of the to-be-predicted project is obtained. And the calculation is simple and convenient, so that the sound source level of the underwater noise generated by piling can be quickly predicted in the early stage of a project.

The invention relates to the field of laser water depth detection, in particular to a water surface fluctuation compensation method for laser sounding, and solves the problems of insufficient precision and water surface fluctuation interference in a traditional sounding technology in an extremely shallow water area. The measured water depth is corrected through the turbidity sensor, the IMU zero offset compensation sensor and the laser displacement sensor, and the purpose of improving the measurement accuracy is achieved. According to the scheme, the stability and precision of depth sounding of the extremely shallow water area are remarkably improved, and the method has high environmental adaptability and wide application prospects.

The utility model discloses a water depth adjusting device of a test pool, and relates to the technical field of deepwater test pools. Comprising a floating bottom body, a lifting mechanism, a jacking device and a distributed detachable platform, each lifting mechanism comprises a winch, a steering pulley and a steel wire rope, one end of the steel wire rope is connected with the winch, and the other end of the steel wire rope bypasses the steering pulley at the bottom of the deepwater experiment pool and is connected with the floating bottom body; the jacking device comprises an air cylinder, a connecting shaft, a guide wheel and a base, the air cylinder located on the base is connected with the guide wheel through the connecting shaft, and the guide wheel is connected with the guide sliding groove of the floating bottom body in a clamped mode; the jacking devices are symmetrically arranged on the two sides of the floating bottom body. The distributed detachable platform is laid on the floating bottom body through the connecting support. The device can meet the water depth requirement in an ocean engineering experiment, meet the ground elevation requirement in a civil engineering experiment and a wind tunnel experiment, and meet the requirement that the floating bottom does not move, rotate or get stuck in the operation process of experimental equipment.

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 belongs to the technical field of underwater navigation, and particularly relates to a multi-AUV (Autonomous Underwater Vehicle) collaborative SLAM (Simultaneous Localization and Mapping) method based on multi-beam water depth measurement data, which comprises the following steps: a plurality of AUVs synchronously run in a task area, and a multi-beam depth sounding sonar is respectively used for acquiring local water depth data and generating an internal water depth sub-graph set; each AUV performs sparse processing on the internal water depth sub-graph; the AUV receiving the sub-graph performs interpolation reconstruction on the sparse sub-graph by using a GPR algorithm; each AUV constructs a collaborative SLAM factor graph containing a pushing factor, an internal water depth closed-loop factor, an external water depth closed-loop factor and an inter-AUV distance observation factor based on self navigation data, the internal water depth sub-graph and the external water depth sub-graph; and solving the factor graph through a distributed optimization algorithm, and outputting an optimized pose and a global map of each AUV. According to the method, the positioning precision and reliability of the underwater SLAM are remarkably improved.

The invention provides a seawater chlorophyll a concentration three-dimensional remote sensing detection method, medium, equipment and product, and relates to the technical field of ocean remote sensing. The method comprises the following steps: acquiring satellite remote sensing data and photon counting laser radar data of a to-be-detected area; obtaining a seawater chlorophyll a concentration profile based on the diffusion attenuation coefficient; the method comprises the following steps: constructing an improved VGGNet model which comprises a multi-branch VGGNet, replacing standard convolution in the VGGNet with depth separable convolution, and introducing an SE attention mechanism into a backbone network; the time and position variables, the satellite remote sensing data, the photon density, the backscattering coefficient, the diffusion attenuation coefficient and the water depth serve as input variables of the model, the seawater chlorophyll a concentration profile serves as a target variable, and the model is trained; and inputting new satellite remote sensing data into the trained model to generate three-dimensional distribution prediction of the seawater chlorophyll a concentration. The method can better extract the features in the data, improves the prediction precision of the model, and is suitable for a complex water body environment.

The invention provides a pumped storage power station seepage optimization method and system based on water level fluctuation data. The method comprises the following steps: firstly, based on a satellite geographic map and water depth data, constructing an upper reservoir three-dimensional structure model; then arranging water body particles in the model, and forming seepage holes according to the permeability coefficient to form a seepage field simulation model; then, through seepage simulation at different water levels, water particle flow characteristics of the surface edge of the reservoir are extracted; further comparing the simulation characteristics with the actual water flow characteristics, evaluating the credibility of the model according to the goodness of fit, and optimizing the model if the credibility does not reach the standard; and finally, performing seepage early warning analysis by using the optimization model. Through precise three-dimensional modeling, dynamic seepage simulation and feature matching verification, the accuracy of seepage prediction is improved, and a scientific basis is provided for safe operation of a power station.