基于GPS的水下导航算法误差仿真研究

首先介绍了水下导航算法,采用GPS和水下参量测算相结合的方案,即当运行器在水下运行时,利用电子罗盘测量运行器的相对航向,水流传感器测算运行器的相对速度大小,利用学习阶段计算出海水流速,在水下运行器潜行时进行船位推算导航,用GPS精准的定位信号进行导航误差的校正。此算法精度的高低很大程度上取决于用来进行水下参量测算的传感器和用来方位校准的GPS。文中从各个传感器的误差着手,通过模拟仿真详细分析了电子罗盘、水流传感器和GPS的误差对导航精度的影响,对工程应用具有实际的指导意义。     

摆式、液浮式和捷联式磁通门罗盘及其静动态使用精确度

本文首先以本公司按照美国军标要求(0.4°)研制的航空磁通阀为例说明摆式磁通门定向传感器的静态精度已经达到0·2°水平。进而通过原理分析和国内外各种结构线路对比,提出了研制达到或超过美国869型固态罗盘精度(校准后1°)的国产摆式二轴磁通门罗盘的综合措施,介绍了本公司为波浪轨迹浮标研制的 FQG—1型传感器的结构性能,接着探讨了美国136M 型海流计应用的液浮式磁通门罗盘的误差因素,并指出了保持其简易性和微型化而又加以精化的途径;最后从评述摆式和液浮式罗盘动态性能入手,阐明采用捷维式智能罗盘对提高海洋浮标等运动载体使用精度的的重要意义和这种先进技术至今不能应用到海洋仪器领域的原因,并介绍了本公司的海洋数据遥测浮标研制的 FQCX—1方位倾斜测量系统的原理、构成、性能、安装校正方法以及浮标装备效果。     

SZF2-1A型多参数波浪试验浮标波浪要素海上比测试验与初步分析

通过海上比测试验,对新研制的SZF2-1A型多参数波浪试验浮标系统的工作稳定性、波浪传感器测量准确性进行全面客观评价。采用MARKⅡ波浪骑士的测量数据作为参比,结果表明,试验浮标与波浪骑士所测数据具有良好的一致性:两种仪器间最大波高相关系数为0.96,均方根误差为0.33 m,有效波高相关系数为0.99,均方根误差为0.13 m,相对误差为6.0%,平均波高相关系数为0.98,均方根误差为0.088 m,相对误差为6.2%;两种仪器所测有效波高、平均波高对应周期的一致性比较好,相关系数分别达到0.86和0.87;两种仪器所测波向相关系数为0.77。总体上得出结论:试验浮标运行状态稳定,波浪传感器测量准确可靠。     

基于三轴加速度的波浪测量技术研究

以浮标为载体,以TMS320C6416型DSP处理器、三轴加速度传感器、电子罗盘为硬件电路核心,利用加速度频域二次积分的波高计算方法以及三轴加速度倾角补偿电子罗盘的波向测量方式,进行海洋波浪要素测量技术研究,获取了某一海域不同时段的波浪特征值。     

SZF型波浪浮标上U盘存储器的设计与实现

SZF型波浪浮标系统通过无线电台将采集的波浪数据实时地传输到岸站数据接收处理机上,同时将波浪原始数据保存到浮标上的存储器内。为解决浮标大容量海浪原始数据的存储问题,利用USB总线技术设计了一款U盘存储板卡。该U盘存储板卡采用基于Cortex-M3内核的ARM芯片,根据STM32F105 USB OTG接口特点,通过移植μC/OS-II实时操作系统技术进行任务调度,采用邮箱机制进行任务之间的通信,创新性地将通用U盘技术应用到基于单片机采集处理系统的海洋浮标上,实现了波浪浮标大容量、长时间的数据存储。实验测试结果表明,该U盘存储板卡具有存储速度快、准确性高、低功耗、高稳定性、便携性、通用性等特点,可用于多种需要数据存储的仪器设备中,其综合性能显著。     

FQCX-1捷联式方位倾斜智能测量系统及其动态性能优势

本文首先分析了国内外普遍采用的摆式罗盘在海洋浮标上进行瞬时采样时的动态工作误差,从而论证了大、中型浮标选用捷联式系统的必要性。其次研究了捷联式罗盘的基本要素,从而阐明了这种新型仪表应用于海洋浮标必须解决的问题和适用条件,第三介绍了根据国家海洋浮标网第一个大型浮标工程要求制定的捷联智能系统方案和针对性精化措施、FQCX—1系统构成、工作原理、计算机数学模型与程序框图;最后记述FQCX—1在10m浮标上的安装校正和应用效果,说明该仪器已达到或接近80年代国际先进水平,满足了这项“七·五”计划国家重大科技攻关工程对它的预定要求。     

ENDECO-956型方向波浪跟踪浮标系统及现场试验

ENDECO-956型波浪跟踪浮标系统,是美国环境设备公司设计生产的一种能够在恶劣的海况环境中测量波面起伏和波向的遥测浮标及实时处理波浪遥测数据的自动化装置.该装置通过浮标调频遥测系统,把实测资料发射到安装在陆上或船舶上的接收装置,再通过数据处理机得到波浪统计参量和方向能谱密度的数值.1982年11月我们在海上进行了首次试验,其后又进行了多次海上测波浪试验.试验结果表明该系统性能良好.现将该系统的结构、浮标的工作原理及现场试验结果分述如下:     

WaMoS Ⅱ测波雷达应用及对比分析

利用大万山海洋环境监测站WaMoS Ⅱ雷达测量的数据与同步SZF遥测波浪浮标、SLC9-2型直读式海流计的数据分别进行了对比分析。结果表明WaMoS Ⅱ测波雷达获取的有效波高、波峰周期、表面流速、流向等海洋物理要素的变化趋势与SZF遥测波浪浮标获取的波浪数据及SLC9-2型直读式海流计测到的海流数据有较好的一致性。其中,2012年6月16—22日雷达和遥测波浪浮标对比结果为:波高、周期的相关系数分别为0.71,0.38,平均相对误差分别为23.3%,12.5%。6月28—29日的对比结果为:流速、流向的相关系数分别为0.83,0.89,平均相对误差分别为14.5%,4.1%。其中,WaMoS Ⅱ系统测量的有效波高值需通过对比分析进行校准,本文利用的对比分析数据时间序列较短,但经校准后,有效波高值的相关性仍可升至0.75。     

基于ATmega16A的低功耗高精度桥式温度测量系统设计

当前温度测量应用越来越广泛,针对工农业及科研领域对低功耗及高精度测温的要求,系统描述了一个桥式测温系统的设计方案与工作原理。系统采用低功耗AVR单片机作为控制芯片,通过单臂分压将热敏电阻分压后的电压信号传入A/D转换芯片,再将A/D转换后的数字量送入单片机计算,从而得到热敏电阻阻值,最后通过曲线拟合算出所测温度值。系统能实现低功耗、高精度测温。     

具有运动补偿高精度海洋气象多参数模拟仪的研制

针对船舶气象仪的综合检查过程中检测周期长、人工排查效率低以及传统的自动气象站传感器信号模拟器的模拟精度低,没有相关运动补偿算法导致此类系统不适应海洋船舶应用环境的问题,对气象要素传感器的高精度信号采样电路、信号输出、软件滤波和运动补偿等方面进行了研究。通过分析传感器和船舶气象仪的原理,设计了各个气象参数的采样电路、信号模拟电路、触摸屏、GPS和电子罗盘采样与模拟电路,并在近海测试过程中进行了运动补偿模型测试,并基于STM32微控制器进行了该仪器的系统检测实验。研究测试结果表明：该系统具有低功耗、高可靠性、高精度的特点,能应用于海上环境,同时具有对船舶实时定位、气象要素实时模拟和采集、运动补偿多项功能。并且本系统精度在运动补偿后,系统测量方差为0.019 3 m/s,精度提高至接近真实值,均符合《海洋调查规范第3部分：海洋气象观测》的标准。     

基于单片机和模糊控制的浮标自动防碰撞系统

针对海洋观测浮标易受过往船只碰撞及恶劣天气的影响而损坏,提出了基于单片机和模糊控制的浮标自动防碰撞系统。该系统以C8051F340单片机作为核心控制芯片,设计了控制系统的软硬件,实现了信号的采集、处理、分析和传送。以距离、风速信号及其变化量作为输入变量,建立了相应的模糊控制规则和控制算法,设计了模糊控制器,为浮标长期、安全运行提供了保证,并为海洋测量仪器实现智能化控制奠定了基础。     

基于浮标数据的卫星雷达高度计海浪波高数据评价与校正

卫星雷达高度计是海浪有效波高（significant wave height,SWH）观测的重要手段之一,本文利用时空匹配方法对T/P、Jason-1、Envisat、Jason-2、Cryosat-2和HY-2A共6颗卫星雷达高度计SWH数据与NDBC（National Data Buoy Center,NDBC）浮标SWH数据进行对比验证,并对雷达高度计SWH数据进行校正。全部卫星雷达高度计SWH数据时间跨度为1992年9月25日到2015年9月1日,对比验证NDBC浮标共53个,包括7个大洋浮标。精度评价发现除T/P外,各卫星雷达高度计SWH的RMSE都在0.4~0.5 m之间,经过校正后,RMSE都有显著下降,下降程度最大为13.82%;对于大洋浮标,评价结果RMSE在0.20~0.28 m之间,结果明显优于全部NDBC浮标的精度评价结果;HY-2A卫星雷达高度计SWH在经过校正后数据质量与国外其他5颗卫星雷达高度计SWH数据质量差异较小。     

基于现场观测数据的HY-2A卫星有效波高校正研究

Significant wave height(SWH) can be computed from the returning waveform of radar altimeter, this parameter is only raw estimates if it does not calibrate. But accurate calibration is important for all applications, especially for climate studies. HY-2a altimeter has been operational since April 2012 and its products are available to the scientific community. In this work, SWH data from HY-2A altimeters are calibrated against in situ buoy data from the National Data Buoy Center(NDBC), Distinguished from previous calibration studies which generally regarded buoy data as "truth", the work of calibration for HY-2A altimeter wave data against in situ buoys was applied a more sophisticated statistical technique—the total least squares(TLS) method which can take into account errors in both variables. We present calibration results for HY-2A radar altimeter measurement of wave height against NDBC buoys. In addition, cross-calibration for HY-2A and Jason-2 wave data are talked over and the result is given.     

Evaluation of a high-resolution wave hindcast model SWAN for the West Mediterranean basin

This study aims to present an evaluation and implementation of a high-resolution SWAN wind wave hindcast model forced by the CFSR wind fields in the west Mediterranean basin, taking into account the recent developments in wave modelling as the new source terms package ST6. For this purpose, the SWAN model was calibrated based on one-year wave observations of Azeffoune buoy (Algerian coast) and validated against eleven wave buoys measurements through the West Mediterranean basin. For the calibration process, we focused on the whitecapping dissipation coefficient C_ds and on the exponential wind wave growth and whitecapping dissipation source terms. The statistical error analysis of the calibration results led to conclude that the SWAN model calibration corrected the underestimation of the significant wave height hindcasts in the default mode and improved its accuracy in the West Mediterranean basin. The exponential wind wave growth of Komen et al (1984) and the whitecapping dissipation source terms of Janssen (1991) with C_ds = 1.0 have been thus recommended for the western Mediterranean basin. The comparison of the simulation results obtained using this calibrated parameters against eleven measurement buoys showed a high performance of the calibrated SWAN model with an average scatter index of 30% for the significant wave heights and 19% for the mean wave period. This calibrated SWAN model will constitute a practical wave hindcast model with high spatial resolution (˜3 km) and high accuracy in the Algerian basin, which will allow us to proceed to a finer mesh size using the SWAN nested grid system in this area.     

Leveling the Sea Surface Using a GPS-Catamaran

In the framework of the TOPEX/Poseidon and Jason-1 CNES-NASA missions, two probative experiments have been conducted at the Corsica absolute calibration site in order to determine the local marine geoid slope under the ascending TOPEX/Poseidon and Jason-1 ground track (No. 85). An improved determination of the geoid slope was needed to better extrapolate the offshore (open-ocean) altimetric data to on-shore tide-gauge locations. This in turn improves the overall precision of the calibration process. The first experiment, in 1998, used GPS buoys. Because the time required to cover the extended area with GPS buoys was thought to be prohibitive, we decided to build a catamaran with two GPS systems onboard. Tracked by a boat at a constant speed, this innovative system permitted us to cover an area of about 20 km long and 5.4 km wide centered on the satellites' ground track. Results from an experiment in 1999 show very good consistency between GPS receivers: filtered sea-surface height differences have a mean bias of -0.2 cm and a standard deviation of 1.2 cm. No systematic error or distortions have been observed and crossover differences have a mean value of 0.2 cm with a standard deviation of 2.7 cm. Comparisons with tide gauges data show a bias of 1.9 cm with a standard deviation of less than 0.5 cm. However, this bias, attributable in large part to the effect of the catamaran speed on the waterline, does not affect the geoid slope determination which is used in the altimeter calibration process. The GPS-deduced geoid slope was then incorporated in the altimeter calibration process, yielding a significant improvement (from 4.9 to 3.3 cm RMS) in the agreement of altimeter bias determinations from repeated overflight measurements.     

Influence of the type of sea waves on the backscattered radar cross section at medium incidence angles

We consider the influence of the sea surface state on the backscattered radar cross section and the accuracy of the wind speed retrieval from the scatterometer data. We used a joint set of radars and buoys to determine the type of sea waves. Three types of sea waves were distinguished: developing wind waves, fully developed wind waves, and mixed sea. It is shown that the retrieval error of the near surface wind speed using a one-parameter algorithm is minimal in the case of fully developed wind waves. We compared these data with the results of radio-altimeter data analysis and showed that in both cases underestimation of the retrieval wind speed exists for developing wind waves and overestimation occurs for mixed sea. A variety of swell parameters (length of the dominating wave, swell height, swell age) significantly influence the backscattered radar cross section, leading to a growth in the mean square error of the retrieved wind speed during vertical sounding (radio-altimeter data), and only slightly influence the mean square error of the scatterometer data (medium incidence angles). It is necessary to include the information about the parameters of sea waves in the algorithms and take into account the regional wave properties to increase the accuracy of wind speed retrieval.     

使用参数化初猜测谱算法提取VV极化Sentinel-1 SAR图像的海浪要素并与ECMWF再分析数据以及浮标数据进行验证对比

The purpose is to study the accuracy of ocean wave parameters retrieved from C-band VV-polarization Sentinel-1Synthetic Aperture Radar(SAR) images, including both significant wave height(SWH) and mean wave period(MWP), which are both calculated from a SAR-derived wave spectrum. The wind direction from in situ buoys is used and then the wind speed is retrieved by using a new C-band geophysical model function(GMF) model,denoted as C-SARMOD. Continuously, an algorithm parameterized first-guess spectra method(PFSM) is employed to retrieve the SWH and the MWP by using the SAR-derived wind speed. Forty–five VV-polarization Sentinel-1 SAR images are collected, which cover the in situ buoys around US coastal waters. A total of 52 subscenes are selected from those images. The retrieval results are compared with the measurements from in situ buoys. The comparison performs good for a wind retrieval, showing a 1.6 m/s standard deviation(STD) of the wind speed, while a 0.54 m STD of the SWH and a 2.14 s STD of the MWP are exhibited with an acceptable error.Additional 50 images taken in China's seas were also implemented by using the algorithm PFSM, showing a 0.67 m STD of the SWH and a 2.21 s STD of the MWP compared with European Centre for Medium-range Weather Forecasts(ECMWF) reanalysis grids wave data. The results indicate that the algorithm PFSM works for the wave retrieval from VV-polarization Sentinel-1 SAR image through SAR-derived wind speed by using the new GMF C-SARMOD.     

Real time wave forecasting using wind time history and numerical model

Operational activities in the ocean like planning for structural repairs or fishing expeditions require real time prediction of waves over typical time duration of say a few hours. Such predictions can be made by using a numerical model or a time series model employing continuously recorded waves. This paper presents another option to do so and it is based on a different time series approach in which the input is in the form of preceding wind speed and wind direction observations. This would be useful for those stations where the costly wave buoys are not deployed and instead only meteorological buoys measuring wind are moored. The technique employs alternative artificial intelligence approaches of an artificial neural network (ANN), genetic programming (GP) and model tree (MT) to carry out the time series modeling of wind to obtain waves. Wind observations at four offshore sites along the east coast of India were used. For calibration purpose the wave data was generated using a numerical model. The predicted waves obtained using the proposed time series models when compared with the numerically generated waves showed good resemblance in terms of the selected error criteria. Large differences across the chosen techniques of ANN, GP, MT were not noticed. Wave hindcasting at the same time step and the predictions over shorter lead times were better than the predictions over longer lead times. The proposed method is a cost effective and convenient option when a site-specific information is desired.     

强风条件下海面拖曳系数和粗糙长度研究

进一步研究强风条件下海-气湍流动量交换以及海浪特征,有助于提高数值天气模式对台风强度演变、移动路径以及恶劣海况的预报能力。依照前人的方法将台风分为风向与浪向(1)相同,(2)相反,和(3)交叉3个扇形区,并结合台风路径数据,得到了浮标数据相对于台风的方位。分别对3种类型的浮标数据进行分析,进而发现了波浪高度和相速度随风速增加而变化的规律。并利用GWW参数化方案计算出摩擦速度(u_*)、拖曳系数(C_DN)和粗糙长度(z₀)。将这些结果与前人代表性的研究论文中所用观测数据和所得研究结论进行比较,结果表明二者有较强的一致性。该研究证明GWW参数化方案在强风条件下依然有很好的适用性。     

唐山近海海域波浪要素特征分析

本文基于唐山近海海域1#、2#浮标2017年4月至11 月实时海浪观测数据及部分风速风向数据, 对唐山近海海域波浪有效波高、有效波向、有效波周期等波参数特征进行了统计分析, 并利用origin 软件对波参数与风速、风向相关性进行了研究。研究结果表明： 1#、2# 浮标海域常浪向为SSW、SW、SSE, 常浪向有效波高均以0.2 ～ 0.4 m 小浪及3 ～ 4 s 短周期为主,有效波高1 m 以上较大波浪极少出现; 该海域波浪以风浪为主, 波浪破碎速度较快, 有效波高与风速相关性较强, 相关系数r 为0.71, 风向与波向、有效波高与周期基本无相关性, 该研究资料可为海上活动及防灾减灾提供技术依据。