阅读说明：本技术 Ladcp与usbl组合观测装置及其使用方法 (LADCP and USBL combined observation device and use method thereof ) 是由 郭景松 周欣 张志新 曲大鹏 于 2021-10-12 设计创作，主要内容包括：本发明提供了一种LADCP与USBL组合观测装置及其使用方法,涉及海洋监测设备的技术领域,包括缆绞车系统、安装框架、LADCP系统、USBL信标和修正系统；通过采用硬件支撑平台能够使得LADCP系统、USBL信标和惯导系统均安装于安装框架上,利用缆绞车系统带动LADCP系统沿着垂直剖面布放或回收；利用LADCP系统获得海流单个小剖面的流速,同时USBL信标能够定位水下位置信息,修正系统能够获取安装框架所在海水中的数据信息,从而根据LADCP获得的流速和修正系统获取的海流数据计算得出绝对海流速度；缓解了现有技术中存在的LADCP的运动速度无法准确给定,导致海流速度计算误差较大的技术问题。(The invention provides a combined observation device of LADCP and USBL and a use method thereof, relating to the technical field of ocean monitoring equipment and comprising a cable winch system, a mounting frame, an LADCP system, a USBL beacon and a correction system; the LADCP system, the USBL beacon and the inertial navigation system can be arranged on the installation frame by adopting a hardware support platform, and the LADCP system is driven to be arranged or recovered along the vertical section by utilizing a cable winch system; the LADCP system is used for obtaining the flow velocity of the ocean current in a single small section, meanwhile, the USBL beacon can position underwater position information, and the correction system can obtain data information of the installation frame in the ocean water, so that the absolute ocean current velocity is calculated according to the flow velocity obtained by the LADCP system and the ocean current data obtained by the correction system; the technical problem that the calculation error of the ocean current velocity is large due to the fact that the movement velocity of the LADCP in the prior art cannot be accurately given is solved.)

1. A LADCP and USBL combined observation device is used for being installed on a scientific investigation ship and is characterized by comprising: the system comprises a cable winch system, a mounting frame, an LADCP system, a USBL beacon and a correction system;

the LADCP system, the USBL beacon and the correction system are all installed on the installation frame, the cable winch system is arranged on the scientific investigation ship and connected with the installation frame, the cable winch system is used for driving the installation frame to penetrate into the sea bottom along the vertical direction so as to drive the LADCP system to be laid or recovered along the vertical section, the LADCP system is used for obtaining the flow velocity of a single sea current section, the USBL beacon is used for positioning underwater position information, and the correction system is used for obtaining data information of the sea where the installation frame is located, so that the absolute sea current velocity is calculated according to the flow velocity obtained by the LADCP and the sea current data obtained by the correction system.

2. The LADCP and USBL combined observation device of claim 1, wherein the correction system comprises a thermohaline depth gauge and an inertial navigation system;

the temperature, salinity and depth measuring instrument and the inertial navigation system are both arranged on the installation frame, the temperature, salinity and depth measuring instrument is used for measuring the temperature value, salinity and depth value of a seawater profile of the installation frame in the distribution and recovery process, and the inertial navigation system is used for measuring the rotation angle of the LADCP system in the distribution and recovery process.

3. The LADCP and USBL combined observation device of claim 2, further comprising a water sampler;

the device comprises a mounting frame, a plurality of water sampling devices and a plurality of water sampling devices, wherein the mounting frame is used for mounting the mounting frame, and the water sampling devices are used for sampling seawater at a plurality of depth positions.

4. The LADCP and USBL combined observation device of claim 3, wherein the water sampler comprises a water sampling bottle and a water sampling controller;

the water sampling bottles are arranged in a plurality of numbers and are respectively connected with the water sampling controller, and the water sampling controller is used for respectively adjusting each water sampling bottle to be sequentially opened so as to sample seawater at a plurality of depth positions through the plurality of water sampling bottles.

5. The LADCP and USBL combined observation device of claim 4, wherein the mounting frame comprises a bearing head connector and a fixing bracket, and an inertial navigation system mounting fixture, an upper emission LADCP mounting fixture, a water collection controller mounting base, a water collection bottle mounting base, a lower emission LADCP mounting fixture, a temperature and salinity depth measuring instrument mounting base and a USBL beacon mounting fixture which are arranged inside the fixing bracket;

the bearing head connector is positioned at the end part of the fixed bracket, and the cable winch system is connected with the fixed bracket through the bearing head connector;

the LADCP systems are arranged in two groups, and the two groups of LADCP systems are respectively arranged on the upper emission LADCP mounting clamp and the lower emission LADCP mounting clamp;

the inertial navigation system is mounted on the inertial navigation system mounting clamp, the thermohaline depth measuring instrument is mounted on the thermohaline depth measuring instrument mounting base, and the USBL beacon is mounted on the USBL beacon mounting clamp;

the quantity of water sampling bottle mounting base with the quantity one-to-one of water sampling bottle, it is a plurality of water sampling bottle mounting base along the circumference of fixed bolster is evenly arranged, every the water sampling bottle is vertical installation respectively in on the water sampling bottle mounting base, and every the entry of water sampling bottle is located the one end that the fixed bolster is close to the bearing head connector, water sampling controller mounting base is located the one end that the fixed bolster is close to the bearing head connector, water sampling controller install in water sampling controller mounting base, so that water sampling controller can respectively with the entry linkage of water sampling bottle.

6. The LADCP and USBL combined observation device of claim 5, wherein the fixed bracket comprises a first mounting bracket, a second mounting bracket, a third mounting bracket and a frame connector;

the first mounting bracket, the second mounting bracket and the third mounting bracket are sequentially connected through the frame connector, and the first mounting bracket is connected with the bearing head connector;

the inertial navigation system mounting clamp is positioned in the middle of the first mounting bracket, and the upper transmitting LADCP mounting clamp and the USBL beacon mounting clamp are respectively positioned on two sides inside the first mounting bracket;

the water collection controller mounting base is positioned in the middle of the second mounting bracket, and the water collection bottle mounting bases are uniformly arranged along the circumferential direction of the second mounting bracket;

the lower emission LADCP mounting fixture and the thermohaline depth measuring instrument mounting base are positioned inside the third mounting bracket, and the lower emission LADCP mounting fixture and the upper emission LADCP mounting fixture are correspondingly arranged along the vertical direction.

7. The LADCP and USBL combined observation device of claim 6, further comprising a weight block;

the installation frame still includes balancing weight installation pole, balancing weight installation pole is located inside the third installing support, the balancing weight install in on the balancing weight installation pole, the balancing weight is used for balancing weight installation pole is located the inside position of installation frame.

8. The LADCP and USBL combined observation device of any one of claims 1-7, wherein the cable winch system comprises a winch, a cable, a telescopic crane, a driving end, a guide ring and a carrier head;

two ends of the cable are respectively connected with the winch and the bearing head, and the bearing head is connected with the mounting frame;

winch, flexible driving crane hang and the drive end all is located on the scientific investigation ship, the one end that the flexible driving crane hung with the guide ring is connected, the drive end with flexible driving crane hangs and is close to the one end of guide ring is connected, the arrangement direction that the flexible driving crane hung with the extending direction of cable is the same, the drive end is used for driving flexible driving crane hangs reciprocating motion, in order to drive the guide ring stretches out the deck outside of scientific investigation ship, the guide ring with the cable is connected, the cable is used for along with the guide ring is the vertical arrangement in the sea water.

9. The LADCP and USBL combined observing device of any one of claims 1-7, further comprising a telescoping mechanism and a transducer array;

the transducer array is connected with one side, close to the sea, of the scientific investigation ship through the telescopic mechanism, the telescopic mechanism is used for adjusting the position of the transducer array in the sea, and the transducer array is used for positioning position information of the USBL beacon under the water.

10. A method for using a combined LADCP and USBL observing device according to any of claims 1 to 9, comprising the following steps:

assembling the LADCP and USBL combined observation device;

testing a cable winch system, an LADCP system, a USBL beacon, a thermohaline depth measuring instrument and an inertial navigation system;

completing the test;

starting a dynamic positioning system of the scientific investigation ship to enable a ship body of the scientific investigation ship to be in a state of unchanging position and direction;

opening the telescopic rod to enable the transducer array to extend to an operating state;

starting a cable winch system, and releasing the LADCP and USBL combined observation device to a position 50 meters underwater;

testing positioning and communication data information between the transducer array and the USBL beacon, and detecting the data quality of the LADCP system, the thermohaline depth measuring instrument, the inertial navigation system and the water collection controller;

after the test is finished, laying the LADCP and USBL combined observation device; wherein the descending speed range is 20-60 m/min;

the sample is distributed to a position 50 meters away from the sea bottom and stops descending, and the tracking data collected by the LADCP system at the position is recovered after 5 minutes;

in the recovery process, a plurality of water collecting bottles are controlled by a water collector controller to collect water in a layered manner;

the LADCP and USBL combined observation device is recovered to the sea surface, the LADCP and USBL combined observation device is driven to be recovered to the deck of the scientific investigation ship, the telescopic rod is recovered, and the dynamic positioning system of the scientific investigation ship is closed;

and summarizing the USBL positioning data, the LADCP ocean current data, the sound velocity profile data derived by the temperature and salinity depth measuring instrument and the angle data of the inertial navigation system for data processing.

Technical Field

The invention relates to the technical field of ocean monitoring equipment, in particular to a combined observation device of LADCP and USBL and a using method thereof.

Background

In the related art of calculating the ocean Current velocity by a lacp (Lowered Acoustic Doppler Current Profiler), the lacp is usually bundled with a CTD (reduced-temperature depth Profiler), and is lifted up and down together with a CTD underwater unit, and is Lowered from the surface of the sea to the bottom of the sea at a certain speed, and then lifted up from the bottom of the sea to the surface of the sea, thereby obtaining a series of single small flow velocity profiles. These flow velocity profiles require post-processing, overlay calculations to obtain the flow velocity profile over the entire measurement depth.

The single profile flow rate measures the speed of the seawater relative to the lacp instrument, and to obtain the absolute speed of the seawater, the speed of the lacp must be obtained. The speed of the LADCP is difficult to set because the LADCP moves in the water with the hull and the water flow. The existing scheme provides a reference speed for calculating the movement speed of the LADCP according to the ship speed during operation, the speed of the LADCP near a bottom tracking part of a bottom layer, the speed measured by the LADCP on an upper layer ship and the like. The existing method for calculating the movement speed of the LADCP has certain errors, so that the movement speed of the LADCP cannot be accurately and objectively given.

The existing ocean current velocity calculation scheme usually calculates the ocean current velocity through the LADCP, but the movement velocity of the LADCP cannot be accurately given, so that the ocean current velocity calculation error is large and inaccurate.

Disclosure of Invention

The invention aims to provide a combined observation device of LADCP and USBL and a using method thereof, which are used for solving the technical problem that the calculation error of the ocean current velocity is larger because the movement velocity of the LADCP can not be accurately given in the prior art.

The invention provides a combined observation device of LADCP and USBL, which is used for being installed on a scientific research ship and comprises: the system comprises a cable winch system, a mounting frame, an LADCP system, a USBL beacon and a correction system;

the LADCP system, the USBL beacon and the correction system are all installed on the installation frame, the cable winch system is arranged on the scientific investigation ship and connected with the installation frame, the cable winch system is used for driving the installation frame to penetrate into the sea bottom along the vertical direction so as to drive the LADCP system to be laid or recovered along the vertical section, the LADCP system is used for obtaining the flow velocity of a single sea current section, the USBL beacon is used for positioning underwater position information, and the correction system is used for obtaining data information of the sea where the installation frame is located, so that the absolute sea current velocity is calculated according to the flow velocity obtained by the LADCP and the sea current data obtained by the correction system.

In a preferred embodiment of the present invention, the correction system comprises a thermohaline depth measuring instrument and an inertial navigation system;

the temperature, salinity and depth measuring instrument and the inertial navigation system are both arranged on the installation frame, the temperature, salinity and depth measuring instrument is used for measuring the temperature value, salinity and depth value of a seawater profile of the installation frame in the distribution and recovery process, and the inertial navigation system is used for measuring the rotation angle of the LADCP system in the distribution and recovery process.

In the preferred embodiment of the invention, the device also comprises a water sampler;

the device comprises a mounting frame, a plurality of water sampling devices and a plurality of water sampling devices, wherein the mounting frame is used for mounting the mounting frame, and the water sampling devices are used for sampling seawater at a plurality of depth positions.

In a preferred embodiment of the invention, the water sampler comprises a water collecting bottle and a water collecting controller;

the water sampling bottles are arranged in a plurality of numbers and are respectively connected with the water sampling controller, and the water sampling controller is used for respectively adjusting each water sampling bottle to be sequentially opened so as to sample seawater at a plurality of depth positions through the plurality of water sampling bottles.

In a preferred embodiment of the invention, the mounting frame comprises a bearing head connector, a fixing bracket, an inertial navigation system mounting clamp, an upper transmitting LADCP mounting clamp, a water collecting controller mounting base, a water collecting bottle mounting base, a lower transmitting LADCP mounting clamp, a temperature and salt depth measuring instrument mounting base and a USBL beacon mounting clamp, wherein the inertial navigation system mounting clamp, the upper transmitting LADCP mounting clamp, the water collecting controller mounting base, the water collecting bottle mounting base, the lower transmitting LADCP mounting clamp, the temperature and salt depth measuring instrument mounting base and the USBL beacon mounting clamp are mounted in the fixing bracket;

the bearing head connector is positioned at the end part of the fixed bracket, and the cable winch system is connected with the fixed bracket through the bearing head connector;

the LADCP systems are arranged in two groups, and the two groups of LADCP systems are respectively arranged on the upper emission LADCP mounting clamp and the lower emission LADCP mounting clamp;

the inertial navigation system is mounted on the inertial navigation system mounting clamp, the thermohaline depth measuring instrument is mounted on the thermohaline depth measuring instrument mounting base, and the USBL beacon is mounted on the USBL beacon mounting clamp;

the quantity of water sampling bottle mounting base with the quantity one-to-one of water sampling bottle, it is a plurality of water sampling bottle mounting base along the circumference of fixed bolster is evenly arranged, every the water sampling bottle is vertical installation respectively in on the water sampling bottle mounting base, and every the entry of water sampling bottle is located the one end that the fixed bolster is close to the bearing head connector, water sampling controller mounting base is located the one end that the fixed bolster is close to the bearing head connector, water sampling controller install in water sampling controller mounting base, so that water sampling controller can respectively with the entry linkage of water sampling bottle.

In a preferred embodiment of the present invention, the fixing bracket includes a first mounting bracket, a second mounting bracket, a third mounting bracket, and a frame connector;

the first mounting bracket, the second mounting bracket and the third mounting bracket are sequentially connected through the frame connector, and the first mounting bracket is connected with the bearing head connector;

the inertial navigation system mounting clamp is positioned in the middle of the first mounting bracket, and the upper transmitting LADCP mounting clamp and the USBL beacon mounting clamp are respectively positioned on two sides inside the first mounting bracket;

the water collection controller mounting base is positioned in the middle of the second mounting bracket, and the water collection bottle mounting bases are uniformly arranged along the circumferential direction of the second mounting bracket;

the lower emission LADCP mounting fixture and the thermohaline depth measuring instrument mounting base are positioned inside the third mounting bracket, and the lower emission LADCP mounting fixture and the upper emission LADCP mounting fixture are correspondingly arranged along the vertical direction.

In the preferred embodiment of the present invention, the present invention further comprises a weight block;

the installation frame still includes balancing weight installation pole, balancing weight installation pole is located inside the third installing support, the balancing weight install in on the balancing weight installation pole, the balancing weight is used for balancing weight installation pole is located the inside position of installation frame.

In a preferred embodiment of the invention, the cable winch system comprises a winch, a cable, a telescopic crane, a driving end, a guide ring and a bearing head;

two ends of the cable are respectively connected with the winch and the bearing head, and the bearing head is connected with the mounting frame;

winch, flexible driving crane hang and the drive end all is located on the scientific investigation ship, the one end that the flexible driving crane hung with the guide ring is connected, the drive end with flexible driving crane hangs and is close to the one end of guide ring is connected, the arrangement direction that the flexible driving crane hung with the extending direction of cable is the same, the drive end is used for driving flexible driving crane hangs reciprocating motion, in order to drive the guide ring stretches out the deck outside of scientific investigation ship, the guide ring with the cable is connected, the cable is used for along with the guide ring is the vertical arrangement in the sea water.

In the preferred embodiment of the invention, the system further comprises a telescoping mechanism and a transducer array;

the transducer array is connected with one side, close to the sea, of the scientific investigation ship through the telescopic mechanism, the telescopic mechanism is used for adjusting the position of the transducer array in the sea, and the transducer array is used for positioning position information of the USBL beacon under the water.

The invention provides a use method of a combined observation device based on LADCP and USBL, which comprises the following steps:

assembling the LADCP and USBL combined observation device;

testing a cable winch system, an LADCP system, a USBL beacon, a thermohaline depth measuring instrument and an inertial navigation system;

completing the test;

starting a dynamic positioning system of the scientific investigation ship to enable a ship body of the scientific investigation ship to be in a state of unchanging position and direction;

opening the telescopic rod to enable the transducer array to extend to an operating state;

starting a cable winch system, and releasing the LADCP and USBL combined observation device to a position 50 meters underwater;

testing positioning and communication data information between the transducer array and the USBL beacon, and detecting the data quality of the LADCP system, the thermohaline depth measuring instrument, the inertial navigation system and the water collection controller;

after the test is finished, laying the LADCP and USBL combined observation device; wherein the descending speed range is 20-60 m/min;

the sample is distributed to a position 50 meters away from the sea bottom and stops descending, and the tracking data collected by the LADCP system at the position is recovered after 5 minutes;

in the recovery process, a plurality of water collecting bottles are controlled by a water collector controller to collect water in a layered manner;

the LADCP and USBL combined observation device is recovered to the sea surface, the LADCP and USBL combined observation device is driven to be recovered to the deck of the scientific investigation ship, the telescopic rod is recovered, and the dynamic positioning system of the scientific investigation ship is closed;

and summarizing the USBL positioning data, the LADCP ocean current data, the sound velocity profile data derived by the temperature and salinity depth measuring instrument and the angle data of the inertial navigation system for data processing.

The invention provides a combined observation device of LADCP and USBL, which is used for being installed on a scientific research ship and comprises: the system comprises a cable winch system, a mounting frame, an LADCP system, a USBL beacon and a correction system; the LADCP system, the USBL beacon and the correction system can be installed on the installation frame by adopting a hardware support platform, the cable winch system is arranged on a scientific investigation ship and is connected with the installation frame, and the cable winch system can drive the installation frame to go deep to the seabed along the vertical direction, so that the LADCP system is driven to be laid or recovered along the vertical section; specifically, the LADCP system is used for obtaining the flow velocity of the ocean current in a single small section, meanwhile, the USBL beacon can be used for positioning underwater position information, and the correction system can be used for obtaining data information of the installation frame in the ocean water, so that the absolute ocean current velocity is calculated according to the flow velocity obtained by the LADCP system and the ocean current data obtained by the correction system; the method has the advantages of accurately setting the movement speed of the LADCP, improving the accuracy of ocean current velocity calculation, and solving the technical problem that the calculation error of the ocean current velocity is larger because the movement speed of the LADCP cannot be accurately set in the prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of an overall structure of a combined observation device of an LADCP and an USBL according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a mounting frame of the combined observation device of the LADCP and the USBL according to the embodiment of the present invention;

fig. 3 is a schematic structural diagram of a water sampler of the combined observation device of the LADCP and the USBL according to the embodiment of the present invention;

fig. 4 is a schematic structural diagram of a cable winch system of the laccp and USBL combined observation device according to the embodiment of the present invention;

fig. 5 is a schematic structural diagram of the combined observation device of laccp and USBL provided by the embodiment of the present invention, which is located on a scientific research ship.

Icon: 100-cable winch system; 101-a winch; 102-a cable; 103-telescopic crane; 104-a drive end; 105-a guide ring; 106-a carrier head; 200-a mounting frame; 201-a load bearing head connector; 202-a fixed support; 212-a first mounting bracket; 222-a second mounting bracket; 232-a third mounting bracket; 242-frame connector; 203-an inertial navigation system mounting clamp; 204-launch laccp on mounting fixture; 205-a water collection controller mounting base; 206-water sampling bottle mounting base; 207-lower launch lacp mounting fixture; 208-a thermohaline depth gauge mounting base; 209-USBL beacon mounting fixture; 210-a counterweight mounting rod; 300-LADCP system; a 400-USBL beacon; 500-a correction system; 501-temperature salt depth measuring instrument; 502-inertial navigation system; 600-water sampler; 601-water sampling bottle; 602-a water collection controller; 700-a balancing weight; 800-a telescoping mechanism; 900-a transducer array; 110-scientific research ship; 111-dynamic positioning system.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to fig. 5, the combined observation device of laccp and USBL provided in this embodiment is configured to be installed on a scientific ship 110, and includes: a cable winch system 100, a mounting frame 200, a ladp system 300, a USBL beacon 400, and a correction system 500; the LADCP system 300, the USBL beacon 400 and the correction system 500 are all installed on the installation frame 200, the cable winch system 100 is arranged on the scientific investigation ship 110, the cable winch system 100 is connected with the installation frame 200, the cable winch system 100 is used for driving the installation frame 200 to go deep to the sea bottom along the vertical direction so as to drive the LADCP system 300 to be arranged or recovered along the vertical section, the LADCP system 300 is used for obtaining the flow rate of a single small section of ocean current, the USBL beacon 400 is used for positioning underwater position information, and the correction system 500 is used for obtaining data information of the ocean current in which the installation frame 200 is located, so that the absolute ocean current speed is calculated according to the flow rate obtained by the LADCP and the ocean current data obtained by the correction system 500.

It should be noted that the laccp and USBL combined observation device provided in this embodiment can utilize the cable winch system 100 and the mounting frame 200 to transport the laccp system 300, the USBL beacon 400, and the correction system 500 into seawater, where the USBL (ultra short baseline positioning system) beacon is an underwater positioning technology, and can provide accurate positioning information for underwater survey equipment; LADCP is a new ocean Current profile measuring mode appearing in the 90 s of the 20 th century, and is a specially-made ADCP (Acoustic Doppler Current Profiler), a correction system 500 can acquire the water depth and angle information of sea water in which the whole equipment is located, the movement of the river bottom is tracked by echo signals of the sea bottom is received and processed by an LADCP system 300, the relevant data of observed ocean Current is acquired by the LADCP system 300 and is used for calculating the ocean Current speed, a USBL beacon 400 can acquire the data of the movement of the position track of the LADCP system 300 along with time, the direction of the movement speed of the LADCP can be acquired by summarizing the data and correcting the azimuth angle, the movement speed of the LADCP can be determined by combining quality control, and the absolute ocean Current speed can be accurately calculated by combining the ocean Current data measured by the LADCP.

The combined observation device of laccp and USBL provided by the embodiment is used for being installed on a scientific investigation ship 110, and comprises: a cable winch system 100, a mounting frame 200, a ladp system 300, a USBL beacon 400, and a correction system 500; the LADCP system 300, the USBL beacon 400 and the inertial navigation system can be installed on the installation frame 200 by adopting a hardware support platform, the cable winch system 100 is arranged on the scientific investigation ship 110, the cable winch system 100 is connected with the installation frame 200, and the cable winch system 100 can drive the installation frame 200 to go deep to the seabed along the vertical direction, so that the LADCP system 300 is driven to be arranged or recovered along the vertical section; specifically, the flow velocity of a single small section of ocean current is obtained by using the LADCP system 300, meanwhile, the USBL beacon 400 can locate underwater position information, and the correction system 500 can obtain data information of the ocean current in which the mounting frame 200 is located, so that the absolute ocean current velocity is calculated according to the flow velocity obtained by the LADCP and the ocean current data obtained by the correction system 500; the method has the advantages of accurately setting the movement speed of the LADCP, improving the accuracy of ocean current velocity calculation, and solving the technical problem that the calculation error of the ocean current velocity is larger because the movement speed of the LADCP cannot be accurately set in the prior art.

Based on the above embodiments, further, in the preferred embodiment of the present invention, the modification system 500 includes a thermohaline depth measuring instrument 501 and an inertial navigation system 502; the temperature, salinity and depth measuring instrument 501 and the inertial navigation system 502 are both installed on the installation frame 200, the temperature, salinity and depth measuring instrument 501 is used for measuring the temperature value, salinity and depth value of the sea water profile of the installation frame 200 during the distribution and recovery process, and the inertial navigation system 502 is used for measuring the rotation angle of the LADCP system 300 during the distribution and recovery process.

Optionally, the thermohaline depth measuring instrument 501 is a water quality instrument dedicated for long-term online monitoring; the device is mainly used for long-term online observation of biogeochemical parameters in a coastal ecosystem; the measurement parameters include temperature, conductivity, pressure, salinity, depth and dissolved oxygen, in this embodiment, the temperature and salinity values of the seawater profile during the distribution and recovery process can be measured by using the temperature and salinity depth measuring instrument 501, and the working water depth value is provided for the LACDP system and the USBL beacon 400.

The inertial navigation system 502 (INS) is an autonomous navigation system that does not depend on external information or radiate energy to the outside, and the inertial navigation system 502 can obtain speed, yaw angle, and position information in a navigation coordinate system.

In this embodiment, after the LADCP system 300, the USBL beacon 400, the thermohaline depth measurement instrument 501, and the inertial navigation system 502 acquire data, a fitting curve may be determined according to the data information, specifically, the step of determining the fitting curve includes: determining the azimuth deviation of the motion data of the echo signals at the bottom of the sea and the position track data near the bottom layer, performing linear fitting on the azimuth deviation, determining a fitting curve, and performing deviation calculation on the azimuth between the instrument motion speeds measured by the USBL near the bottom layer and tracked by the LADCP bottom to obtain the azimuth deviation of the USBL near the bottom layer and the instrument motion speeds tracked by the LADCP bottom; and carrying out azimuth angle correction on the position track data of the whole depth profile according to the fitting curve.

In the preferred embodiment of the present invention, a water sampler 600 is further included; the plurality of water sampling devices 600 are provided, the plurality of water sampling devices 600 are respectively installed on the installation frame 200, and the plurality of water sampling devices 600 are used for respectively sampling seawater at a plurality of depth positions.

In the preferred embodiment of the present invention, the water sampler 600 includes a water sampling bottle 601 and a water sampling controller 602; the water sampling bottles 601 are provided with a plurality of water sampling bottles 601, the water sampling bottles 601 are respectively connected with the water sampling controller 602, and the water sampling controller 602 is used for respectively adjusting the opening of each water sampling bottle 601 in sequence so as to sample seawater at a plurality of depth positions through the water sampling bottles 601.

In this embodiment, the water collection bottles 601 may be cylindrical water collection bottles 601, the number of the water collection bottles 601 may be 24, wherein the collection volume of the water collection bottles 601 may be 10 liters, a non-pressure-maintaining airtight design is adopted, and the water collection controller 602 controls the water collection bottles 601 to complete seawater sampling, wherein the water collection controller 602 may employ a pressure switch element, and a plurality of water collection bottles 601 are radially mounted on the mounting frame 200, and the pressure switch element is used to perform on-off control on different water collection bottles 601, so that seawater sampling at different depths can be completed in the process of the mounting frame 200 rising; alternatively, the water sampler 600 may be a nan sen water sampler.

In a preferred embodiment of the present invention, the mounting frame 200 includes a bearing head connector 201 and a fixing bracket 202, and an inertial navigation system mounting fixture 203, an upper transmitting ladp mounting fixture 204, a water collecting controller mounting base 205, a water collecting bottle mounting base 206, a lower transmitting ladp mounting fixture 207, a thermohaline depth measuring instrument mounting base 208 and a USBL beacon mounting fixture 209 installed inside the fixing bracket 202; the bearing head connector 201 is positioned at the end part of the fixed bracket 202, and the cable winch system 100 is connected with the fixed bracket 202 through the bearing head connector 201; the LADCP systems 300 are provided with two groups, wherein the two groups of LADCP systems 300 are respectively arranged on an upper transmitting LADCP mounting clamp 204 and a lower transmitting LADCP mounting clamp 207; the inertial navigation system is installed on an inertial navigation system installation clamp 203, the thermohaline depth measuring instrument 501 is installed on a thermohaline depth measuring instrument installation base 208, and the USBL beacon 400 is installed on a USBL beacon installation clamp 209; the number of the water collection bottle mounting bases 206 corresponds to the number of the water collection bottles 601 one by one, the water collection bottle mounting bases 206 are uniformly arranged along the circumference of the fixed support 202, each water collection bottle 601 is vertically mounted on the water collection bottle mounting base 206, the inlet of each water collection bottle 601 is located at one end of the fixed support 202 close to the bearing head connector 201, the water collection controller mounting base 205 is located at one end of the fixed support 202 close to the bearing head connector 201, and the water collection controller 602 is mounted on the water collection controller mounting base 205, so that the water collection controller 602 can be connected with the inlet of the water collection bottle 601 respectively.

In this embodiment, the fixing bracket 202 may be a cylindrical frame structure, the fixing bracket 202 may have a structure including a plurality of cross beams and vertical beams, all underwater measurement devices are installed inside the fixing bracket 202, and the frame structure also provides safety protection for the underwater devices.

In the preferred embodiment of the present invention, the fixing bracket 202 includes a first mounting bracket 212, a second mounting bracket 222, a third mounting bracket 232, and a frame connector 242; the first mounting bracket 212, the second mounting bracket 222 and the third mounting bracket 232 are connected sequentially through the frame connector 242, and the first mounting bracket 212 is connected with the bearing head connector 201; the inertial navigation system mounting clamp 203 is positioned in the middle of the first mounting bracket 212, and the upper transmitting LADCP mounting clamp 204 and the USBL beacon mounting clamp 209 are respectively positioned on two sides inside the first mounting bracket 212; the water collection controller mounting base 205 is positioned in the middle of the second mounting bracket 222, and the water collection bottle mounting bases 206 are uniformly arranged along the circumferential direction of the second mounting bracket 222; the lower emission lacdp mounting jig 207 and the thermohaline depth gauge mounting base 208 are located inside the third mounting bracket 232, and the lower emission lacdp mounting jig 207 and the upper emission lacdp mounting jig 204 are correspondingly arranged along the vertical direction.

In this embodiment, the first mounting bracket 212, the second mounting bracket 222, and the third mounting bracket 232 form a main force-bearing structure of the mounting frame 200, the first mounting bracket 212, the second mounting bracket 222, and the third mounting bracket 232 may be connected by a plurality of frame connectors 242, the inertial navigation system mounting clamp 203 is installed in the middle of the first mounting bracket 212, the upper-emission LADCP mounting clamp 204 is installed on the right side, and the USBL beacon mounting clamp 209 is installed on the left side; the middle part of the second mounting bracket 222 is provided with a water collecting controller mounting base 205 and a water collecting bottle mounting base 206 which are mainly provided with a water collecting controller 602 and a water collecting controller 600; the middle of the third mounting bracket 232 is provided with a temperature and salinity depth measuring instrument mounting base 208, the right side is provided with a lower emission LADCP mounting clamp 207, and the left side is provided with a balancing weight 700.

In the preferred embodiment of the present invention, the present invention further comprises a weight block 700; the mounting frame 200 further includes a counterweight mounting rod 210, the counterweight mounting rod 210 is located inside the third mounting bracket 232, the counterweight 700 is mounted on the counterweight mounting rod 210, and the counterweight 700 is used for balancing the position of the counterweight mounting rod 210 inside the mounting frame 200; wherein, balancing weight 700 and installation frame 200 can be dismantled and be connected, and balancing weight 700's selection can be selected to different service environment.

In the preferred embodiment of the present invention, the cable winch system 100 comprises a winch 101, a cable 102, a telescopic crane 103, a drive end 104, a guide ring 105 and a carrier head 106; two ends of the cable 102 are respectively connected with the winch 101 and the bearing head 106, and the bearing head 106 is connected with the mounting frame 200; the winch 101, the telescopic travelling crane 103 and the driving end 104 are all located on the scientific investigation ship 110, one end of the telescopic travelling crane 103 is connected with the guide ring 105, the driving end 104 is connected with one end, close to the guide ring 105, of the telescopic travelling crane 103, the arrangement direction of the telescopic travelling crane 103 is the same as the extension direction of the cable 102, the driving end 104 is used for driving the telescopic travelling crane 103 to move in a reciprocating mode so as to drive the guide ring 105 to extend out of the deck of the scientific investigation ship 110, the guide ring 105 is connected with the cable 102, and the cable 102 is used for being vertically arranged in seawater along with the guide ring 105.

In this embodiment, the winch 101 may be a 8000 m straight pull type winch, and may provide a vertical lifting drive for the installation frame 200 and the overall equipment, the cable 102 may be a 9.53 mm armored coaxial cable, the 9.53 mm armored coaxial cable may include an electrical conductor, an insulating filler, and a metal armor layer, the metal armor layer may be made of high-strength galvanized steel wires and may bear most of the working tension of the cable, so as to cooperate with the winch 101 to achieve underwater retraction and extension of the overall equipment, the electrical conductor may achieve transmission of electric power, control and data signals between the seabed and the scientific investigation ship 110 of a scientific investigation instrument, and achieve control and data acquisition of the underwater equipment by the scientific investigation ship 110, one end of the 9.53 mm armored coaxial cable is connected to the indoor control system, and the other end is connected to the underwater equipment; the telescopic crane 103 can be used for safely transporting the installation frame 200 and the whole equipment to the sea surface outside an operation deck, the driving end 104 can adopt a hydraulic oil cylinder, the hydraulic oil cylinder can be used for pushing the telescopic crane 103 to reciprocate, so that the telescopic crane 103 can be driven to extend or retract to the deck, the guide ring 105 changes the horizontal trend of the 9.53 mm armored coaxial cable into the vertical trend, and the bearing head 106 is connected with the 9.53 mm armored coaxial cable and the installation frame 200.

In the preferred embodiment of the present invention, a telescoping mechanism 800 and a transducer array 900 are also included; the transducer array 900 is connected to the side of the scientific ship 110 close to the sea water through a telescopic mechanism 800, the telescopic mechanism 800 is used for adjusting the position of the transducer array 900 in the sea water, and the transducer array 900 is used for positioning the position information of the USBL beacon 400 under the water.

In this embodiment, the transducer array 900 and the USBL beacon 400 form a USBL system, and the transducer array 900 is composed of one transmitting transducer element and 4 receiving transducer elements; the USBL system transmits elementary transmitting acoustic signals, and transmits response signals after the USBL beacon 400 receives the transmitting elementary signals, and 4 receiving transducer elements of the transducer array 900 receive the response signals; the method comprises the steps of calculating the slant range of a target by measuring the sound wave propagation time from the USBL beacon 400 to the transducer array 900, calculating the pitch angle and the azimuth of the target by measuring the sound wave phase difference from the USBL beacon 400 to the transducer array 900, determining the relative position of the USBL beacon 400 relative to the transducer array 900, and calculating the coordinates of the USBL beacon 400 under water by combining the position, the attitude and the heading provided by an external GPS (Global positioning system), an attitude sensor and a compass.

It should be noted that the USBL system may utilize the dynamic positioning system 111 of the scientific research ship 110, the transducer array 900, and the indoor control system of the scientific research ship 110, and utilize the USBL system to position the underwater position of the ladp system 300 on the premise of ensuring that the position of the marine comprehensive scientific research ship is not changed. Wherein, the dynamic positioning system 111 is the own dynamic system of the scientific investigation ship 110, and comprises a scientific investigation ship dynamic system and a GPS navigation positioning system; the transducer array 900 can be installed in the middle of the scientific investigation ship 110 through a telescopic mechanism 800, the telescopic mechanism 800 is used for changing the underwater operation position of the transducer array 900, and the transducer array 900 is used for positioning the underwater position of the USBL beacon 400; wherein, the telescoping mechanism 800 retracts during the non-positioning operation, the transducer array 900 is flush with the ship bottom of the scientific investigation ship 110, and the telescoping mechanism 800 extends to extend the transducer array 900 out of the ship bottom bubble layer during the positioning operation; alternatively, the telescoping mechanism 800 may employ a telescoping rod.

In this embodiment, the assembling method of the LADCP and USBL combined observation device includes the following steps: 1. assembling equipment on the first mounting bracket 212, namely, firstly, horizontally placing the first mounting bracket 212 on a working deck, then opening an inertial navigation system mounting clamp 203, an upper transmitting LADCP mounting clamp 204 and a beacon mounting clamp, then mounting a LADCP system 300 on the upper transmitting LADCP mounting clamp 204, and mounting a USBL beacon 400 on a USBL beacon mounting clamp 209; temporarily not installing the 7 inertial navigation system; 2. the equipment on the second mounting bracket 222 is assembled by firstly mounting the water collection controller 602 on the water collection controller mounting base 205, and then sequentially mounting a plurality of water collection bottles 601 on the water collection bottle mounting base 206; 3. assembling equipment on a third mounting bracket 232, namely firstly mounting the temperature and salinity depth measuring instrument 501 on a temperature and salinity depth measuring instrument mounting base 208, then mounting the LADCP system 300 on a lower emission LADCP mounting clamp 207, and finally mounting an 8-weight block 700 on a weight block mounting rod 210; 4. connecting the second mounting bracket 222 and the third mounting bracket 232 by using a frame connector 242, wherein the third mounting bracket 232 is arranged at the lower part and the second mounting bracket 222 is arranged at the upper end when the mounting frame 200 is aligned with the vertical rod position; 5. the first mounting bracket 212 passes through the center of the bearing head connector 201 and then is mounted at the top end of the second mounting bracket 222, then is fixed by the frame connector 242, and finally is used for mounting the inertial navigation system by the inertial navigation system mounting clamp 203.

The application method of the combined observation device based on the LADCP and the USBL provided by the embodiment includes the following steps: assembling the LADCP and USBL combined observation device; testing the cable winch system 100, the LADCP system 300, the USBL beacon 400, the thermohaline depth measuring instrument 501 and the inertial navigation system 502; completing the test; starting a dynamic positioning system 111 of the scientific investigation ship 110 to enable the hull of the scientific investigation ship 110 to be in a state of unchanging position and direction; opening the telescoping rod to extend the transducer array 900 to the operational state; starting the cable winch system 100, and releasing the LADCP and USBL combined observation device to the position 50 meters underwater; testing positioning and communication data information between the transducer array 900 and the USBL beacon 400, and detecting the data quality of the LADCP system 300, the thermohaline depth measuring instrument 501, the inertial navigation system 502 and the water collection controller 602; after the test is finished, laying the LADCP and USBL combined observation device; wherein the descending speed range is 20-60 m/min; the sample is distributed to a position 50 meters away from the sea bottom and stops descending, and the tracking data collected by the LADCP system 300 at the position is recovered after 5 minutes; in the recovery process, a controller of the water sampler 600 is used for controlling a plurality of water sampling bottles 601 to perform layered water sampling; the LADCP and USBL combined observation device is recovered to the sea surface, the LADCP and USBL combined observation device is driven to be recovered to the deck of the scientific investigation ship 110, the telescopic rod is recovered, and the dynamic positioning system 111 of the scientific investigation ship 110 is closed; and summarizing the USBL positioning data, the LADCP ocean current data, the sound velocity profile data derived by the temperature and salinity depth measuring instrument 501 and the angle data of the inertial navigation system for data processing.

The application method of the combined observation device based on the LADCP and the USBL provided by the embodiment comprises a preparation step and a laying operation step; the preparation steps comprise: 1.1, placing the assembled LADCP and USBL combined observation device below a telescopic crane 103 of a cable winch system 100, penetrating a 9.53 mm armored coaxial cable through a guide ring 105, connecting the 9.53 mm armored coaxial cable with a bearing head 106, and finally connecting a bearing head connector 201 with the bearing head 106; 1.2, starting up 2 LADCP systems 300, an inertial navigation system, a USBL beacon 400 and a temperature, salinity and depth measuring instrument 501, and starting up a winch 101 and a telescopic crane 103; and carrying out laying operation after the equipment is tested normally. The laying operation steps comprise: 2.1, starting the dynamic positioning system 111 of the scientific investigation ship 110 to enable the scientific investigation ship 110 to be in a state of unchanging position and direction, and opening the telescopic mechanism 800 to extend the transducer array 900 to an operating state; 2.2, driving the telescopic crane 103 to extend out of the operation deck by using the driving end 104; the telescopic crane 103 lifts the mounting frame 200 and the whole equipment to the sea surface, and the winch 101 releases the 9.53 mm armored coaxial cable to 50 m underwater; 2.3, positioning and communicating the whole equipment between the test transducer array 900 and the USBL beacon 400 after the whole equipment is placed to 50 meters, and checking the data quality of all the measurement equipment; 2.4, after the test is finished at the position of 50 m of water depth, starting to arrange the whole equipment, stopping the downward arrangement when the descending speed is between 20 m/min and 60 m/min and is 50 m away from the sea bottom, and recovering the tracking data collected by the LADCP system 300 at the position after 5 min; 2.5, controlling the water collection controller 602 to complete layered water collection of the water collection bottle 601 in the whole equipment recovery process; 2.6, after the whole equipment is recovered to be above the sea level, the driving end 104 is recovered to drive the telescopic crane 103 to retract to the operation deck, the whole equipment enters the operation deck along with the operation deck, then the telescopic mechanism 800 is recovered, and the dynamic positioning system 111 of the scientific investigation ship 110 is closed; and 2.7, summarizing the USBL positioning data, the LADCP ocean current data, the sound velocity profile data derived by the temperature and salinity depth measuring instrument 501 and the angle data of the inertial navigation system, and carrying out USBL and LADCP combined observation data processing.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.