声学多普勒计程仪测速误差分析与补偿

主要分析了声学多普勒计程仪测速误差的主要来源,并针对载体的姿态误差提出有效的补偿方法,对多普勒计程仪的安装偏差、波束方向误差和电路设计误差等固定误差,通过标定试验给出多普勒计程仪的补偿系数,并验证其有效性.     

GPS单点测速技术在海浪测量中的应用研究

分析比对了GPS单点测速技术与其他已有测波手段的不同,讨论了基于多普勒频移的GPS测速方法,并分析了各类误差对测速精度的影响。分别利用原始多普勒值和导出多普勒值进行了静态测速试验和动态测速试验,将导出多普勒测速结果与RTK（RealTimeKinematic,实时动态测量系统）位置差分测速进行了比测。结果表明,使用静态数据采用高频导出多普勒值测速的精度可以达到亚厘米级每秒,而采用原始多普勒观测值进行测速因接收机型号的不同,结果差异较大;动态测速试验中,采用导出多普勒测速的方法与RTK位置差分测速的符合精度可达cm／s。     

基于GPS单点测速的海浪测量方法初探

首先分析比对了已有的测波方法,阐述了将GPS单点测速应用到测波中的优点.然后讨论了基于多普勒频移的测速方法,并分析了各类误差对测速精度的影响.最后利用静态数据进行动态测速模拟试验和实测动态数据测速与RTK (Real Time Kinematic,实时动态测量系统)位置差分测速进行—致性检验.结果表明,使用静态数据采用...     

基于遍历噪声修正的测速优化算法

研究了一种基于复相关测频原理的多普勒测速算法，针对该算法受信噪比影响较大的情况提出了一种基于遍历噪声修正的测速优化算法。仿真结果表明：该优化算法能减弱噪声对测速精度的影响，尤其在低信噪比的情况下，能有效提高多普勒测速精度。     

两种型号RDIADCP测速精度分析

关于多普勒海流剖面仪（ADCP）测速精度一直没有明确认识,基于差分ADCP底跟踪船速与差分GPS测量船速进行比较,统计分析了ADCP测速精度,并利用直线拟合的方法,给出了两种型号RDIADCP的测速误差。结果表明,不同航速下38kHzADCP测速精度较高,且不受船速影响;300kHzADCP底跟踪船速始终大于GPS船速,误差随船速呈线性增加。     

修正Kalman滤波技术在复杂环境DVL标定中的应用研究

声学多普勒计程仪的安装偏角误差和比例因子误差是影响水下自主导航精度的主要误差源,需要进行精确误差标定。然而任何声呐性能均与海洋环境密切相关,如何实现复杂环境精确标定是计程仪工程应用中面临的实际问题。为此,在分析真实测速数据统计分布基础上,提出了一种基于修正 Kalman 滤波预处理的误差校准方法,并与标准 Kalman 滤波预处理方法的校准性能进行了比对;试验结果验证了新方法的有效性,降低了对标定试验场地的要求,大幅提高了校准效率。     

非均匀温度状态下声学验潮仪潮高示值修正

本文主要介绍了非均匀温度状态下声学验潮仪潮高示值修正公式的推导、误差分析及应用验证。     

基于PAADCP 的海流流速的误差分析及校正方法

为了更加合理、有效地利用海流测速数据,必须进行误差分解和校正。通过分析相控阵声学多普勒海流剖面仪(PAADCP)测试海流流速的原理,提出了海试数据粗差区别与动态校正的算法,采用小波多尺度分析方法,降低了系统误差和随机误差,建立了海流流速的误差分析与校正方法。利用海试实测的垂向流速数据,分析了一般情况下的海流流速的误差,得到垂向流速的均值±0.02 m/s,误差精确度小于0.23 m/s,验证了方法的有效性及合理性。所得算法和方法对于海流测速数据的实时处理和后处理具有实用价值。     

船舶真风解算的误差影响分析及修正方法

从船舶真风解算的模型出发,依据误差传播定律,分析了相对风测量误差和航速误差对真风解算的影响。视风的测量误差会直接传递给真风;航速小于15 kn时,航速误差传递给真风解算的误差可忽略不计,航速大于15 kn时,真风误差会随航速的增大而增大。真风解算模型忽略了海流因素,当水流速度不可忽略时,船舶的运动轨迹受水流影响,分析了海流引起的误差模型,给出了选用不同航向航速源下的真风误差修正量。     

国内外多普勒计程仪发展现状和展望

声学多普勒测速计程仪（DVL）是利用多普勒效应研制的一种为水面、水下载体提供速度信息并计量航程的自主导航设备。对 DVL 的发展现状进行了分析,对美国 Teledyne RDI 公司目前在产的 4 款 DVL 系列化产品特征和性能进行了阐述。针对当前研究的关键技术难点,如大深度多普勒计程仪体积受限、水面航船空化造成能量衰减导致作用距离降低、航船姿态摇摆和安装误差、非典型海底地形等因素导致解算错误等问题进行了分析,从工程实用角度展望并分析了未来的研究发展趋势及面临的挑战,为高精度 DVL 产品的设计提供了有益参考。     

Methods for accurate estimation of net discharge in a tidal channel

Accurate estimates of net residual discharge in tidally affected rivers and estuaries are possible because of recently developed ultrasonic discharge measurement techniques. Ultrasonic measurement methods consist of: 1) the use of ultrasonic instruments for the measurement of a representative “index” velocity used for in situ estimation of mean water velocity and 2) the use of the acoustic Doppler current discharge measurement system to calibrate the index velocity measurement data. Methods used to calibrate (rate) the index velocity to the channel velocity measured using the Acoustic Doppler Current Profiler are the most critical factors affecting the accuracy of net discharge estimation. The index velocity first must be related to mean channel velocity and then used to calculate instantaneous channel discharge. Finally, discharge is low-pass filtered to remove the effects of the tides. An ultrasonic velocity meter discharge-measurement site in a tidally affected region of the Sacramento-San Joaquin Rivers was used to study the accuracy of the index velocity calibration procedure. Calibration data consisting of ultrasonic velocity meter index velocity and concurrent acoustic Doppler discharge measurement data were collected during three time periods. Two sets of data were collected during a spring tide (monthly maximum tidal current) and one of data collected during a neap tide (monthly minimum tidal current). The relative magnitude of instrumental errors, acoustic Doppler discharge measurement errors, and calibration errors were evaluated     

温盐深变化对波束脚印坐标的影响规律分析

在多波束测深中,温盐深剖面数据的准确性对测量精度起到非常重要的作用,而在实际测量中,温盐深误差又不可避免地存在。为了分析温盐深变化对波束脚印坐标的影响规律并将其影响值量化,本文在声速剖面间接测量数据的基础上,选择精度较高、适应性较强的声速经验公式推导其误差公式,计算温盐深变化所引起的声速误差值,并且在常梯度声线跟踪模型的基础上推导出声波旅行轨迹的水平位移和垂直位移误差公式,然后结合声速剖面计算出声速误差对波束脚印坐标的影响程度。实验结果表明,温度变化对声速的影响最大,盐度和深度依序次之;温度、盐度、深度3个参量的变化引起波束脚印Z坐标的变化量均大于X、Y坐标,最高可达变化前深度的0.6%。温度和盐度的变化引起的三轴坐标值变化量随入射角的增大而减小,而深度变化引起的三轴坐标值变化量几乎不随入射角的变化而变化。本文研究结果可为温盐深误差对多波束测深精度评估工作提供借鉴作用。     

ADCP测量悬沙浓度的可行性分析与现场标定

根据现场观测数据，对ADCP测量悬浮沙浓度的进行标定实验。结果表明，在观测期间悬沙粒径变化较小的条件下，后散射强度与水样悬沙浓度之间存在较好的相关性。悬沙浓度剖面标定公式中的参数C′可用剖面实测水样浓度来确定，该参数与浓度密切相关：同一剖面不同浓度之间有一定的波动，但同一浓度不同潮时的变化很小。使用同一剖面参数C′的平均值计算出的剖面悬沙分布误差较大（29％－43％），而按不同深度段分别标定，误差可以小于20％，能够满足沉积动力学研究的需要。     

受控三轴应力-应变下沉积物声速与物理力学性质的关系

对南海某海域深度100～400 m的海底浅层（约2 m埋深范围）沉积物柱状样在接近海底水压力下进行三轴应变-声学同步测量,结果表明沉积物纵波声速有两个特征:（1）从应变过程开始到结束,沉积物纵波声速不断变化;（2）平均声速随着平均静弹性模量的增加,由大变小又由小变大,存在声速最小值。这些结果与海底浅表层沉积物的物理力学性质、围压、颗粒的结合状态改变有关。此外,沉积物动弹性模量和孔隙度呈良好的负相关性,这与孔隙度增大含水量增大有关;动弹性模量是静弹性模量的10～100倍,这主要与三轴应变试验的应变数量级与声波振动产生的应变数量级的差异大有关。采用本论文实验测量的数据分别建立了双复合参数-声速和孔隙度-声速经验公式,分析结果表明双复合参数-声速公式声速预报误差约是孔隙度-声速公式的1/4,表明双复合参数-声速公式更加有效。     

Instantaneous energetics sediment transport model calibration

In this note we point out a bias error that affects calibrations of ‘Bagnold-type’ energetics sediment transport models. Calibrations based on instantaneous measurements of fluid velocity and suspended sediment concentration incur an inherent increase in correlation between measured and predicted sediment transport rates because the measured fluid velocity resides on both sides of the calibration equation. Random, fully uncorrelated velocity and suspended load time series tests comparing the energetics model with a similar model which divides both sides of the equation by the velocity, showed that having velocity on both sides increased the R² correlation coefficient from its expected near zero value to 0.45. This “false correlation” can be as high as 0.55 when there is a high mean concentration relative to the concentration variance and there are small mean velocities. In contrast, when there is relatively high variability in concentration in the presence of large mean velocities (e.g. suspension events of coarse grains under waves in the surf zone with an alongshore current), the “false correlation” reduced to 0.35. Comparisons with data from two swash experiments and a surf zone study showed a similar increase in “false correlation”. Associated with the “false correlation” was a 4-fold overestimate of the calibration coefficient used to tune the sediment transport model under simulated noisy field measurement conditions.     

Stone mobility and longshore transport at reshaping breakwaters

Physical model tests have been performed in two different wave flumes to analyse the threshold of stone movement and quantify the frequency and length of displacements due to head-on wave attacks at a reshaping breakwater. Data on stone movements were obtained from the observation of cumulative displacements at the end of each wave attack and from video records during the attack. Threshold conditions, frequency of movement and displacement length are expressed as function of a suitably modified stability number.A simple model is defined relating longshore transport due to oblique wave attack to stone mobility. The transport model is based on the assumption that movement statistics is affected by obliquity only through the appropriate mobility index and that stones move during up- and down-rush in the direction of incident and reflected waves. Without any calibration, results compare favourably with experimental data available in literature in the range of low mobility conditions where movement statistics was observed. A calibration is provided in order to obtain an accurate transport formula valid in a wide mobility range i.e. for reshaping breakwaters and up to gravel beaches.     

长江口沙波分布区桥墩局部冲刷深度计算公式的改进

利用多波束水深仪、浅地层剖面仪和多普勒流速仪对长江口苏通大桥南、北主墩区域现场测量,结果显示主墩周围最大冲刷深度为8.3 m和19.6 m。建墩前后河床形态变化显著,建墩后桥墩所在床面由平床改变为典型不对称沙波发育,平均波长为30.8 m和23.1 m,平均波高为4.2 m和9.4 m,陡坡朝向下游。基于实测水文条件和地形资料,以沙波起动流速和落急最大流速分别取代单向流作用下"平床"假定的桥墩局部冲刷计算公式中单颗粒泥沙的起动流速和墩前流速,获得河口涨落潮双向流作用下沙波底床桥墩局部冲刷计算公式。且该公式计算的苏通大桥南、北主墩局部冲刷深度为9.5 m和22.1 m,非常接近实测值。