阅读说明：本技术 深海自持式剖面浮标水下轨迹记录系统 (Deep sea self-sustaining profile buoy underwater track recording system ) 是由 李醒飞 赵邵鹏 于 2019-09-03 设计创作，主要内容包括：本发明涉及一种深海自持式剖面浮标水下轨迹记录系统,包括：传感器模块,用于采集浮标的剖面数据,并将剖面数据传送给数据处理模块；定位模块,包括惯导系统及GPS系统两部分构成,用于获取浮标的漂流速度、方向、姿态及在海面时的地理位置信息,并将这些信息传送给数据处理模块；数据处理模块,用于处理传感器模块和定位模块采集到的数据,包括对惯导系统采集到的浮标加速度信息及位置、姿态信息进行解算,待浮标浮出水面时将数据传送给数据发送模块；数据传送模块；卫星系统；地面控制中心。(The invention relates to a deep sea self-sustaining profile buoy underwater trajectory recording system, which comprises: the sensor module is used for collecting profile data of the buoy and transmitting the profile data to the data processing module; the positioning module comprises an inertial navigation system and a GPS system, and is used for acquiring the drifting speed, direction and posture of the buoy and the geographical position information on the sea surface and transmitting the information to the data processing module; the data processing module is used for processing the data acquired by the sensor module and the positioning module, resolving the acceleration information, the position information and the attitude information of the buoy acquired by the inertial navigation system, and transmitting the data to the data sending module when the buoy floats out of the water; a data transfer module; a satellite system; and a ground control center.)

1. A deep-sea self-sustaining profile buoy underwater trajectory recording system comprises:

the sensor module is used for collecting profile data of the buoy and transmitting the profile data to the data processing module;

the positioning module comprises an inertial navigation system and a GPS system, and is used for acquiring the drifting speed, direction and posture of the buoy and the geographical position information on the sea surface and transmitting the information to the data processing module;

the data processing module is used for processing the data collected by the sensor module and the positioning module, resolving the acceleration information, the position information and the attitude information of the buoy collected by the inertial navigation system, and transmitting the data to the data sending module when the buoy floats out of the water surface, and the method comprises the following steps:

before the buoy submerges, the initial position of the buoy is accurately positioned through a GPS system, an inertial navigation system is initially aligned, in the submerging and floating processes of the buoy, the positioning system is switched to the inertial navigation system, the inertial navigation system comprises 3 three-axis gyroscopes and 3 three-axis accelerometers, in the submerging and floating processes, the gyroscopes collect buoy angular motion information, the accelerometers collect line motion information of the buoy, and the information is transmitted to a data processing module through a serial port. After the buoy floats out of the water surface, the position information is calibrated through the GPS, and the inertial navigation system is initially aligned again to prepare for next submergence.

The data transmission module is used for packaging the buoy data processed by the buoy data processing module, transmitting the packaged data to the satellite system and receiving a control command transmitted by the satellite system;

the satellite system is used for transmitting the data sent by the buoy to the ground control center through a satellite service queue, acquiring a control command of the ground control center and transmitting the control command to the buoy through the satellite service queue;

and the ground control center is used for processing and calculating the transmitted data and reconstructing the underwater track of the buoy according to the calculation result.

2. The system of claim 1, wherein the sensor module is used for collecting profile data of the buoy and transmitting the profile data to the data processing module, and the sensor module is provided with a CTD sensor for collecting temperature, salinity and pressure parameters of different profiles.

3. The system of claim 1, wherein the ground control center is configured to perform processing calculation on the transmitted data, reconstruct the underwater trajectory of the buoy according to the calculation result, and use the temperature, salt and depth data collected by the CTD sensor to correct the underwater trajectory.

Technical Field

The invention relates to a deep sea self-supporting section buoy system. In particular to a method for acquiring an underwater drifting track of a deep sea self-supporting section buoy.

Background

The deep sea self-contained profile buoy is also called as Argo buoy and is named after the International Argo program. The working principle is based on the Archimedes principle, the volume of the buoy is changed through an oil sac at the bottom of the buoy, so that the buoyancy borne by the buoy is changed to control the floating and submerging of the buoy, and parameters such as temperature, salinity and pressure of different sections are collected for scientific research.

The vertical section data time sequence acquired by the Argo buoy can reflect large-scale seawater temperature and salt changes, and has important significance for researching seawater heat salt reserves, transportation, ocean seawater characteristics and the like. The real-time position information of the buoy in the 'wave following and flow following' process directly reflects the flowing state of seawater and has important significance for researching ocean circulation, mesoscale vortex, turbulence and the like.

The GPS technology is a relatively mature technology for acquiring real-time position information of a target at present. However, since water is a poor conductor of light waves and electromagnetic waves, the conventional radio navigation technology and GPS technology cannot be applied to the acquisition of underwater real-time position information of the deep-sea self-sustaining section buoy, and thus cannot reconstruct an underwater motion trajectory of the section buoy.

Therefore, the track acquisition of the Argo buoy is mainly performed before submerging, after surfacing and in the recovery positioning stage, namely, geographical position information and profile data are transmitted back through a satellite system when the Argo buoy is above the sea surface. And generating a map layer corresponding to the buoy number according to the received buoy data, displaying the mark points on the map layer, connecting the mark points by using arrows according to the sequence of the mark points to form a buoy track map, and calculating the section distance, the drifting speed, the drifting direction and the like of the buoy according to the buoy track map. The track obtained by the method can only reflect the two-dimensional information of the buoy drifting along with the wave on the ocean surface, and can not accurately reflect the position information of the buoy running underwater.

Disclosure of Invention

The invention aims to solve the defects and provides a method for acquiring an underwater drifting track of a deep sea self-sustaining section buoy. In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:

a deep-sea self-sustaining profile buoy underwater trajectory recording system comprises:

the sensor module is used for collecting profile data of the buoy and transmitting the profile data to the data processing module;

the positioning module comprises a strapdown inertial navigation system and a GPS system, and is used for acquiring the drifting speed, direction and posture of the buoy and the geographical position information on the sea surface and transmitting the information to the data processing module;

the data processing module is used for processing the data collected by the sensor module and the positioning module, resolving the acceleration information, the position information and the attitude information of the buoy collected by the strapdown inertial navigation system, and transmitting the data to the data sending module when the buoy floats out of the water surface, and the method comprises the following steps:

before the buoy dives, the initial position of the buoy is accurately positioned through a GPS system, the strapdown inertial navigation system is initially aligned, in the process of submerging and floating of the buoy, the positioning system is switched to the strapdown inertial navigation system, the strapdown inertial navigation system comprises 3 three-axis gyroscopes and 3 three-axis accelerometers, in the process of submerging and floating, the gyroscopes collect buoy angular motion information, the accelerometers collect line motion information of the buoy, and the information is transmitted to the data processing module through a serial port. After the buoy floats out of the water surface, the position information is calibrated through the GPS, and the strapdown inertial navigation system is initially aligned again to prepare for next submergence.

The data transmission module is used for packaging the buoy data processed by the buoy data processing module, transmitting the packaged data to the satellite system and receiving a control command transmitted by the satellite system;

the satellite system is used for transmitting the data sent by the buoy to the ground control center through a satellite service queue, acquiring a control command of the ground control center and transmitting the control command to the buoy through the satellite service queue;

and the ground control center is used for processing and calculating the transmitted data and reconstructing the underwater track of the buoy according to the calculation result.

Preferably, the sensor module is used for collecting profile data of the buoy and transmitting the profile data to the data processing module, and the sensor module is provided with a CTD sensor for collecting temperature, salinity and pressure parameters of different profiles.

The ground control center is used for processing and calculating the transmitted data, reconstructing the underwater track of the buoy according to the calculation result, and correcting the underwater track by using the temperature, salt and depth data acquired by the CTD sensor.

Compared with the prior art, the invention has the advantages and positive effects that:

(1) the invention realizes the three-dimensional reconstruction of the underwater motion trail of the buoy;

(2) according to the method, the temperature, salt and depth data acquired by the CTD sensor are used for correcting the position information calculated by the strapdown inertial navigation system, and the z-axis position information of the underwater movement track of the buoy is corrected, so that the precision is improved;

(3) the underwater position acquisition of the invention can be completely independent of external systems and environments.

Drawings

FIG. 1 is a schematic diagram of an underwater trajectory recording system in accordance with an embodiment of the present invention.

FIG. 2 is a schematic diagram of a trajectory data solution process according to an embodiment of the present invention.

Detailed description of the invention

The technical solution in the embodiments of the present invention is clearly and completely described below with reference to the drawings in the embodiments of the present invention.

The embodiment of the invention provides a deep sea self-supporting profile buoy underwater trajectory recording system, which can perform three-dimensional reconstruction on an Argo buoy underwater drifting trajectory and has important significance for researching ocean circulation, mesoscale vortex, turbulence and the like.

Referring to fig. 1, the present example provides a deep-sea self-sustaining profile buoy underwater trajectory recording system. The method comprises the following steps: the system comprises a power module, a sensor module, a positioning module, a data processing module, a data transmission module, a satellite system, a ground processing center and the like. The power module, the sensor module, the positioning module, the data processing module and the data sending module are carried on the self-supporting section buoy to complete buoy underwater data acquisition, data processing and data sending after the buoy emerges from the water surface; the satellite system is used as a transfer system, receives the data packet sent by the buoy and transfers the data packet to the ground processing center; the ground processing center processes the buoy data, and finally draws the following detailed description of the working flow of the whole buoy trajectory recording system:

(1) the buoy supplies power and starts a power management program.

(2) The GPS system of the buoy positioning module is started, the precise positioning of the buoy is realized through the Beidou satellite, and the current position information is transmitted to the ground control center through the satellite service queue of the satellite.

(3) And starting initial alignment of a strapdown inertial navigation system of the buoy positioning module, and enabling the GPS system to enter a low-power-consumption mode.

(4) And (3) the buoy oil bag contracts and begins to submerge, and the strapdown inertial navigation system acquires angular acceleration and acceleration information at fixed intervals before the buoy oil bag floats out of the water surface. And entering a low power consumption mode when not collecting.

(5) And the buoy data processing module is used for carrying out accuracy verification on the angular acceleration information and the acceleration information, screening effective data, carrying out data fusion and resolving attitude angle, speed and position information. And storing and backing up the calculation result.

(6) The buoy submerges to a preset depth and hovers.

(7) The buoy continues to submerge to the maximum depth and the CTD module of the sensor is activated. And expanding the buoy oil sac, floating the buoy upwards and collecting temperature, salinity and pressure parameters of corresponding depth at fixed time intervals. And entering a low power consumption mode when not collecting. The data processing module processes, stores and backs up data.

(8) The buoy floats out of the water surface, and the GPS system enters a normal working mode. Relocation is done via a satellite system.

(9) The buoy data transmission module transmits the buoy data to the ground processing center through the satellite system.

(10) And the ground processing center calculates and filters the buoy data and draws the underwater three-dimensional drifting track of the buoy.

(11) And (5) repeating the steps (2) to (10) to finish the measurement and the track drawing of the next section. And recovering the buoy until the power supply is exhausted.

Referring to fig. 2, the present example provides a detailed solution to the buoy trajectory under water. The method comprises the following steps: the method comprises the processes of initial alignment before diving, strapdown inertial navigation system data acquisition, data screening, data fusion, position calculation, track reconstruction and the like.

The detailed calculation process of the underwater trajectory of the buoy is explained as follows:

(1) modeling the state of the buoy system, and performing initial alignment on the buoy strapdown inertial navigation system by using a self-adaptive fading Kalman filtering algorithm.

(2) The 3 triaxial gyroscopes and the 3 triaxial accelerometers are used for collecting angular acceleration information and acceleration information which are respectively transmitted to the data processing module through the 3I/O ports and the 3 AD sampling channels.

(3) And the data processing module is used for carrying out validity detection on the acquired information and screening valid data.

(4) And fusing the screened effective data by using an extended Kalman filtering algorithm.

(5) And resolving the fused data, resolving information such as the attitude, the speed, the position and the like of the buoy at the current moment, and storing and backing up the information.

(6) After the buoy floats out of the water surface, the data is transmitted back to the ground processing center through the satellite system, and the underwater three-dimensional drifting track of the buoy is drawn.