用于深海作业的激光陀螺高精度定位定向系统的仿真与实验

定位定向技术是深海作业系统的主要关键技术之一。本文基于激光陀螺提出了一种用于深海作业的高精度定位定向系统研究方案,建立了一套相应的系统分析方法,对该方案的姿态、速度、位置误差进行了详细的仿真分析。进行了72 h静态定位定向实验,结果表明系统的俯仰角和横滚角误差小于0.006°,航向角误差小于0.035°,速度误差小于0.9m?s–1,定位误差小于29.9 km。实验结果与仿真分析结果基本一致,验证了该研究方案的可行性。和采用动力调谐陀螺的定位定向系统相比,本系统具有精度高和可靠性好等优点。     

基于嵌入式计算机的船舶定位系统研究

在对国内外相关技术分析基础上,设计了基于嵌入式计算机和光纤陀螺罗经的捷联式船舶定位、定向系统,此系统具有低成本、小体积、高精度的特点,可应用于民船,有很好的应用前景。     

全站仪内供电系统的保养

全站仪是由电子经纬仪与光电测距仪组合的仪器,是集自动测距、测角、计算、数据存储及数据传输于一体的自动化、数字化及智能化的三维坐标测量与定位系统,是一种当今广泛应用于大地测量、工程测量、数字化测图的电子测量仪器,是现代测绘行业最主要、最普通的测绘仪器,仪器的维护和供电系统的保养,已经成为测绘生产单位的一项工作。     

基于海面影像的立体摄影相对定向方法

海面影像的纹理信息少、匹配精度低致使现有的相对定向方法误差大,稳定性差;通过对其进行改进,有效地提高了相对定向参数标定的精度和稳定性。文中建议了几何模型,并以共面方程为控制方程,采用附有参数的条件平差法计算相对定向参数,同时发展了初始值计算方法,保证了迭代的收敛性。从两个方面入手提高相对定向参数标定的精度和稳定性,并给出了详细的计算流程:1)在摄影区域内近似均匀的选取特征点,并采用高精度的匹配方法进行影像匹配;2)在大量的共轭点对(不低于1 000个)中选取最优匹配点(不低于300个)进行相对定向参数计算。海面实测数据分析时通过迭代的方式在1 200个共轭点中逐渐剔除了粗差点和误差较大点,最终得到了由321个最优匹配共轭点计算出的精确相对定向参数,检验了所述方法的可行性。该研究解决了相对定向标定精度低、稳定性差的问题,提高了立体摄影海浪测量技术的可靠性,有利于其推广和应用。     

陀螺经纬仪的读数方法比较研究

介绍了陀螺定向测量中三种不同的数据采集方法，分析了各种方法的优缺点。作者认为传感器采集数据自动化程度高，精度高，特别是运用位置敏感探测器（PSD）采样数据量大，具有一定的抗干扰能力，但在运用传感器采样时必须注意克服非线性误差。     

基于余水位订正的海洋潮位推算关键技术研究

从分潮数目选择、调和常数稳定性优化两个关键环节入手,选择11个主要分潮用于潮位推算,并利用邻近长期站对中短期验潮站调和常数做差比订正,显著提高了中短期验潮站的潮位推算精度。     

全站仪的补偿与改正研究

为提高全站仪的测量精度,分析研究了全站仪的补偿与改正方法。基于全站仪三轴误差对角度测量的影响规律和双轴补偿器的工作原理,着重探讨了正确使用补偿装置对全站仪进行水平度盘和垂直度盘读数的补偿与改正。     

三角高程测量——垂直角观测的最佳时间

三角高程测量的精度一方面取决于仪器的精度和采用的方法,另一方面还取决于自然条件的影响,对测得的成果进行评差、改正才能大大的提高精度。在外业观测中,由于受自然条件的影响和局限,诸如地形起伏、大气折光、气流、云雾等因素对于我们的观测都是有害的。并且,这些因素不是人为的,对成果的影响很难确定。随着一些先进仪器的不断出现,从现行的规范标准对用全站仪诸类仪器进行三角高程测量可替代“四等水准测量”这一规定可看出：如果解决了垂直角观测这一受外界自然条件影响较大的难题,三角高程测量在特殊条件下可替代水准测量,其应用是很有前途的。     

TCM全站仪导航、定位、潮位改正海测一体化应用

TCM电动全站仪是一种具有自动照准预设方向、能自动纵转望远镜,EDM迅速准确连接,能用RS232接口输出数据的全新马达驱动的电子全站仪。其配置的自动跟踪目标装置ATR1与全站仪测距系统及视线同轴,即使对在仰角和倾角很大的测点目标也能追踪如常。TCM电动全站仪配置GRZ4 360°全反射棱镜,使得持标员无需顾及棱镜反射面是否对准全站仪。TCM电动全站仪有效工作距离在一般大气条件下,ATR1全反射棱镜的工作距离为1000m(可满足大比例尺海上测绘范围     

全站仪蓝牙无线控制的实现

着重介绍了使用蓝牙USB适配器和使用蓝牙串口适配器实现全站仪无线控制的方法。同时介绍了如何使用ASC II指令对Le ica全站仪进行在线控制,给出了建立在线控制类的解决方案。     

Gyromat 2000陀螺经纬仪的应用

结合Gyrom at 2000陀螺经纬仪工作原理,对其测量过程和影响测量精度的主要因素进行分析讨论。并通过实验得出有益的结论。     

Effects of coastal orientation and depth on the distribution of subtidal benthic assemblages

A better understanding of biological systems can only be gained if we understand what processes are important and how they operate to determine the distribution of organisms. Coastal orientation and depth can influence environmental conditions, including the degree of water motion and availability of light, which in turn may influence the horizontal and vertical patterns of organism distribution. Here, we used a mixed‐model design to examine the effects of coastal orientation and depth on the structure of benthic assemblages by comparing the abundance and distribution of macroalgae and invertebrates in shallow and deep waters on the opposing coasts of São Miguel. Generally, coastal orientation had little influence on the distribution of most taxa. In contrast, significant differences were generally associated with depth, although patterns were spatially variable at the scale of locations. This study suggests that depth, and processes operating at the scale of location, but not at the scale of the coast, have an important influence on these assemblages, and that failure to recognise such a scale of variability may hamper our ability to better understand the processes that structure these communities.     

Role of metal-organic complexes in the marine environment: A comparison of the copper and ligand titration methods

The differences in quality of the conditional stability constants deduced from ligand titration and metal titration methods are theoretically examined. The ecological role of the metal-organic complexes in seawater was considered on the basis of the concept of the metal buffering capacity index which is calculated from the conditional stability constant and the organic ligand concentration. The results of theoretical examination of the effect of metal contamination on the uptake of metals by phytoplankton indicate that the ecological significance of metal-organic complexes is essentially in the metal-buffering action. This means that the activities of free metal ions are maintained at a native constant level against relatively small perturbations by the addition or uptake of metals in the marine environment.     

Methods of setting depth range with credibility of conductor for deepwater drilling based on probability statistics

Becasuse of the deep water depth and long riser of deepwater drilling, the stability of subsea wellhead is threatened. Meanwhile, the setting depth of conductor directly affects the mechanical stability of subsea wellhead. Through analyzing the impact of different factors on the setting depth of conductor, we found that the bearing capacity growth factor of subsea soil has a great influence on the setting depth of conductor. However, the coefficient is a regional and empirical constant, which seriously affects the accuracy and reliability of the results. In this paper, probability statistics and geostatistics methods are employed to count the bearing capacity growth factor of target point's adjacent wells, as well as transplant and predict the target point through differential arithmetic, which can obtain the predictive value of target point's coefficient containing probability information. Finally, we can obtain the setting depth range with credibility of conductor. This is conducive to designers to calculate the setting depth of conductor with other uncertain factors taken into account, and reasonably control the potential risks.     

一种基于视觉的水下机器人动力定位方法

以7 000 m载人潜水器的工程需求为背景,以水下单目摄像机为视觉传感器,进行了水下机器人动力定位方法研究。该动力定位方法利用视觉系统测量得到水下机器人与被观察目标之间的三维位姿关系,通过路径规划、位置控制和姿态控制分解,逐步使机器人由初始位姿逼近期望位姿并最终定位于期望位姿,从而实现了机器人的4自由度动力定位。通过水池实验验证了提出的动力定位方法,并且机器人能够抵抗恒定水流干扰和人工位置扰动。同时,该动力定位方法还可以实现机器人对被观察目标的自动跟踪。     

基于蜂窝通讯模式的移动Agent定位、消息传递和迁移通信算法

为探讨位置追踪定位机制，根据移动Agent的定位、消息传递、迁移是该新型分布式网络技术重要组成部分，提出了基于蜂窝式通讯模式的方式，并给出了移动Agent定位、消息传递、迁移算法，该算法具有简单性、稳定性、可靠性等特点。     

用不同层次方法分析南海及其北部沿岸的地壳稳定性

论述了地壳稳定性的层次,一般从高到低,从大到小可分为3个层次。高层次着重从岩石圈块体运动和大区域的大地构造因素分析岩石圈块体的活动性;中层次着重从地壳块体运动和区域构造因素分析地壳块体的稳定性;低层次着重从地壳浅层的新构造运动和地震活动对工程建设的影响程度进行分析。从这个意义来说,地壳稳定性分析从大到小可分大区域、中区域和小区域3个层次,大区域地壳稳定性评价是概略评价,而小区域地壳稳定性评价则是详细评价,在此基础上对南海及北部沿岸不同层次的地壳稳定性进行了分析。     

Application of Headland Control for Stability of Beaches

- Studies on the erosion processes and protective measures at the downcoast of the Friendship Port in Mauritania have been successfully conducted by means of 3-D movable-bed model using light model-sand. The headland control was accepted for the stability of the beach. This paper mainly deals with the shape, orientation, size and erosion depth of the artificial headland. Various forms of headland projects, such as the normal groin, arch groins bending to upcoast ancj to downcoast, offshore breakwater, and T-shaped dike, have been experimentally investigated. Through a comparison of effects of these works on the beach processes, optimized headlands have been obtained, that is, unsymmetrical T-shaped dike or arch groin bending to the downcoast, which has been practically and successfully applied for the stability of beaches.     

Chemical speciation of trace metals in seawater: Implication of particulate trace metals

Chemical speciation of particulate metals in seawater was examined theoretically. Mass balance considerations showed that the apparent conditional stability constant, defined for organically binding metals in suspended particles, coincides with the conditional stability constant determined for the corresponding metal-organic complexes dissolved in seawater. This hypothesis suggests that some metals, which are present as organic complexes (e.g. copper), are directly associated with particulate organic matter. Metals, whose free ion is buffered by organic and/or inorganic ligands, may be used as indicators of the presence of particulate organic matter in the marine environment.     

Stability analysis on a porous seabed under wave and current loadings

The stability of a porous seabed under wave and current loadings is particularly important for engineers to design marine structures such as submarine pipelines, breakwaters, and offshore platform foundations. Most previous investigations of dynamic response of marine structures and seabed have only considered the influence of wave loading, but the important influence of current is ignored. Even if the influence of current is considered, the interaction mechanism of both loadings has not been clearly elaborated. Based on the Biot’s dynamic theory and combined two-dimensional nonlinear progressive wave and uniform current theory, the interaction mechanism of wave and current loadings and the influence of current on wave characteristic are analyzed by numerical computations. The influence of current velocity, different permeability, and stratification in seabed on the effective stresses and pore pressures of seabed is discussed in detail. Further, the stability of seabed is evaluated through the liquefaction analysis of seabed, which will provide important reference frames to improve the design and construction of marine structures.