1. A wave direction inversion method based on satellite navigation positioning is characterized by comprising the following steps:

laying a measurement buoy on the sea surface, and mounting a satellite navigation positioning receiving module on the measurement buoy;

the measuring buoy carrying the satellite navigation positioning receiving module makes heave motion along with the fluctuation of the sea surface, and receives navigation positioning information in real time through the satellite navigation positioning receiving module to obtain the motion track of the measuring buoy; wherein the motion track of the buoy is a simulated wave water particle motion track;

determining the projection displacement of each satellite navigation positioning receiving module in X, Y two directions of the horizontal plane according to the movement track of the buoy and the corresponding navigation positioning information;

from the projected displacement in X, Y, fitting X, Y projected lines in two directions yields the wave direction.

2. The wave direction inversion method based on satellite navigation positioning as claimed in claim 1, further comprising:

according to the projection displacement of waves in X, Y two directions on a horizontal plane and the components of a motion track in X, Y two directions, wave direction data fitting is carried out by adopting a data fusion method, and wave direction measurement errors of the buoy body caused by external interference are corrected.

3. The wave direction inversion method based on satellite navigation and positioning as claimed in claim 1, wherein the wave direction is obtained by fitting X, Y projection lines of two directions by least squares method.

4. The wave direction inversion method based on satellite navigation positioning as claimed in claim 1, wherein the data acquired by the satellite navigation positioning receiving module includes elevation data, longitude and latitude data, tide level information, self-noise and sea noise information.

5. The wave direction inversion method based on satellite navigation positioning as claimed in claim 4, characterized in that the tide level information obtained by the satellite navigation positioning receiving module is filtered out by high-pass filtering.

6. The wave direction inversion method based on satellite navigation positioning as claimed in claim 5, characterized in that the filtered data is processed by adopting an up-zero crossing method to obtain single wave information;

wherein the single wave information includes: the wave height is the wave peak value wave valley value of the single wave; and sequencing according to the wave heights, and counting the maximum wave height and the corresponding period, 1/10 the large wave height and the corresponding period, 1/3 the wave height and the corresponding period, and the average wave height and the corresponding period.

Background

Wave observation means have been diversified from the earliest visual observation mode to the present, and the existing wave observation means are divided into the following from the installation position of an observation sensor: below the water surface, near the water surface and above the water surface. The sensor principle can be divided into: optical, capacitance-resistance wavemeter (wave-measuring rod), pressure, acoustic, gravity, radar, wireless remote sensing, aerial photography, and the like. The secondary carrier can be classified into a contact type and a non-contact type.

Waves are one of the most fundamental elements of the ocean and are an important part of the research of ocean science and an important parameter of ocean engineering design. Sea waves are also one of the most difficult parameters to obtain in the meteorological elements of the hydrology. Sea waves have three elements: wave height, wave period and wave direction. At present, a plurality of methods for measuring wave height and wave period exist, but wave direction measurement is a worldwide technical problem, and generally wave buoy measurement based on the gravity acceleration principle is adopted. The buoy can move along with the waves, can truly measure the parameters of the surface waves, is not limited by the water depth, can particularly obtain the data of the sea waves under severe sea conditions, can work all the day and can be widely applied.

At present, the wave buoy method adopting the GPS or Beidou technology is adopted to measure waves, but only two parameters of wave height and wave period can be measured, and wave direction parameters are lacked, so that aiming at the problem, the invention provides a wave direction inversion method based on satellite navigation positioning.

Disclosure of Invention

The invention aims to provide a wave direction inversion method based on satellite navigation positioning.

The invention provides a wave direction inversion method based on satellite navigation positioning, which comprises the following steps:

laying a measurement buoy on the sea surface, and mounting a satellite navigation positioning receiving module on the measurement buoy;

the measuring buoy carrying the satellite navigation positioning receiving module makes heave motion along with the fluctuation of the sea surface, and receives navigation positioning information in real time through the satellite navigation positioning receiving module to obtain the motion track of the measuring buoy; wherein the motion track of the buoy is a simulated wave water particle motion track;

determining the projection displacement of each satellite navigation positioning receiving module in X, Y two directions of the horizontal plane according to the movement track of the buoy and the corresponding navigation positioning information;

from the projected displacement in X, Y, fitting X, Y projected lines in two directions yields the wave direction.

Further, still include:

according to the projection displacement of waves in X, Y two directions on a horizontal plane and the components of a motion track in X, Y two directions, wave direction data fitting is carried out by adopting a data fusion method, and wave direction measurement errors of the buoy body caused by external interference are corrected.

Further, the wave direction is derived by least squares fitting X, Y the projected lines in both directions.

Furthermore, the data acquired by the satellite navigation positioning receiving module comprises elevation data, longitude and latitude data, tide level information, self noise and ocean noise information.

Further, the tide level information acquired by the satellite navigation positioning receiving module is filtered out through high-pass filtering.

Further, processing the filtered data by adopting an upper zero crossing method to obtain single wave information;

wherein the single wave information includes: the wave height is the wave peak value wave valley value of the single wave; and sequencing according to the wave heights, and counting the maximum wave height and the corresponding period, 1/10 the large wave height and the corresponding period, 1/3 the wave height and the corresponding period, and the average wave height and the corresponding period.

According to the wave direction inversion method based on satellite navigation positioning, the motion track of a measurement buoy in space is analyzed through navigation positioning information received by a satellite navigation positioning receiving module in real time, the projection displacement of the receiving module in X, Y two directions on a horizontal plane is calculated, and the wave direction is obtained through fitting X, Y projection lines in two directions by a least square method.

According to the wave direction inversion method based on satellite navigation positioning, wave direction data fitting is carried out through a data fusion technology according to projection displacement of waves in X, Y two directions on a horizontal plane and components of a wave surface curve in X, Y two directions, so that wave direction measurement errors caused by external interference on a buoy body are corrected.

Drawings

FIG. 1 is a diagram of a motion trajectory of a wave water particle provided by an embodiment of the invention;

FIG. 2 is a diagram of the propagation motion of waves provided by an embodiment of the present invention;

fig. 3 is a diagram of a wave height and period statistical method according to an embodiment of the present invention.

Detailed Description

The technical solutions of the embodiments of the present invention are clearly and completely described below with reference to the drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

The manual optical wave measuring method is used in the last 90 th century in the history of ocean wave observation in China, the instrument belongs to the range of manual visual observation, the observation result is influenced by the subjective action of an observer, and the instrument is gradually replaced by an automatic wave observation instrument in recent years. The existing wave measuring instrument and method mainly comprise:

1. an optical wave-measuring buoy;

2. wave buoys (including GPS wave-measuring buoys);

3. a pressure type wave meter;

4. an acoustic wave meter;

5. a suspended wire wave rod;

6. provided is a radar wave meter.

Most of the methods can only measure wave height and period, and cannot measure wave direction, and only the wave buoy and the acoustic wave meter can realize wave direction measurement.

The optical wave measuring buoy is observed manually, and the optical wave measuring instrument mainly comprises a telescope sighting mechanism, a pitching fine-tuning mechanism, a direction indicating mechanism, a leveling mechanism, a buoy and the like.

The suspension wire wave measuring rod is generally used on an ocean platform, can only measure wave height and period, and has limitation in use.

The pressure type wave meter is arranged on the sea bottom for observation, and the pressure type wave meter used in the world can only measure the wave height and the wave period at present.

The pressure type wave meter is regarded as an ideal measuring instrument for waves in a severe environment sea area and is applied to a certain extent at present. Pressure oscillometers used domestically are almost exclusively dependent on imports such as WTR9 from Aandera Instruments, Norway, S4 from InterOcean Systems, and SeaPac 2100 from Woods Hole Group, USA. At present, none of the pressure wave detectors can measure wave direction, and the SeaPac 2100 of Woods Hole Group in the United states and the S4 of InterOcean Systems need to be additionally provided with an electromagnetic current meter to measure wave direction.

The acoustic wave meter can only measure the wave height and the wave period at present, and the AWAC (wave dragon) of Norwegian NORTEK can measure the wave direction internationally. The acoustic wave meter has the problem that the measurement error is too large under the condition of heavy waves at present, and the main reason is that when the sea state becomes large, the waves are broken to generate waves and bubbles are generated in water at the same time, so that the sound waves encounter the bubbles and the broken waves to generate reflected waves, and the measurement error becomes large.

In recent years, newly-appeared radar wave meters for banks are not ideal in use due to the defects of the principle, are in the stage of debugging and perfecting, and mainly have the defect of large error under the conditions of small waves and large waves.

At present, the wave buoy adopting the GPS or Beidou technology is used for measuring waves, basically only two parameters of wave height and wave period can be measured, wave direction parameters are lacked, and the wave direction inversion technology for simulating wave water mass points to do elliptic motion and wave surface curve motion by adopting the single-point satellite navigation positioning receiving module is provided for the first time.

Referring to fig. 1-3, the invention provides a wave direction inversion method based on satellite navigation positioning, comprising the following steps:

laying a measurement buoy on the sea surface, and mounting a satellite navigation positioning receiving module on the measurement buoy;

the measuring buoy carrying the satellite navigation positioning receiving module makes heave motion along with the fluctuation of the sea surface, and receives navigation positioning information in real time through the satellite navigation positioning receiving module to obtain the motion track of the measuring buoy; wherein the motion track of the buoy is a simulated wave water particle motion track;

determining the projection displacement of each satellite navigation positioning receiving module in X, Y two directions of the horizontal plane according to the movement track of the buoy and the corresponding navigation positioning information;

from the projected displacement in X, Y, fitting X, Y projected lines in two directions yields the wave direction.

The data acquired by the satellite navigation positioning receiving module comprise elevation data, longitude and latitude data, tide level information, self noise and ocean noise information, the influence of the tide level needs to be eliminated in the data processing process, and sea wave data are reserved.

The satellite navigation positioning receiving module can be used for receiving satellite signals of navigation positioning systems such as Beidou, GPS (global positioning system), GLONAS (navigation positioning information such as global navigation satellite system GLONASs and the like), GALILEO (Galileo satellite navigation system) and the like in real time. The acquisition of the satellite navigation positioning receiving module data needs to adopt a high-precision data source, and the specific technologies mainly include RTK, PPK, PPP and the like.

Wave motion refers to a form of motion of the main body of water of the wave. The periodic fluctuation (fluctuation) of the surface of the water body (such as sea water surface, lake water surface and the like) is caused by the friction force and uneven pressure generated by blowing wind on the water surface. When the wind stops, namely the wind wave is gradually converted into surge without the external force of the wind, the wind wave and the surge are coexisted under the ordinary sea condition. In limited water depth, when sea waves fluctuate, wave water mass points basically make circular motion by taking the balance position as the center, fluctuation up and down is shown on the surface of a water body, and the diameter of the circumference is equivalent to wave height. The size of the wave is closely related to the size of wind, blowing time, water surface openness and the like. The diameter of the circular motion of the water particle decreases with the increase of the depth, and when the circular motion of the water particle reaches a certain depth, the circular motion tends to zero, that is, the circular motion is in a static state, when the wave propagates towards the coast, the motion track of the water particle changes from circular to elliptical motion due to the friction of the sea bottom, the wave water particle makes elliptical motion in a limited water depth, and the vertical displacement amplitude of the wave linearly decreases with the increase of the water depth position Z as the water depth increases, as shown in fig. 1, the motion track of the wave water particle.

Referring to fig. 2, when adjacent water particles move to a peak in turn, the wave crest also moves forward, and wave propagation occurs. The wave can be seen as a superposition of sine waves in an infinite number of different periods, different phases, different amplitudes and different directions. As the sea waves are non-stationary random processes and have no ergodicity, experience shows that the sea wave information about 20 minutes can be used as a sample of the current sea wave state.

Referring to fig. 3, the wave height and the wave period are counted according to the method shown in fig. 3, first, a zero line is calculated for the sampling value, and the wave height and the wave period are counted by using an up-zero crossing method or a down-zero crossing method, so as to obtain the maximum wave height, the corresponding maximum wave period, the one-tenth wave height, the corresponding one-tenth wave period, the effective wave height, the corresponding effective wave period, the average wave height, and the corresponding wave period.

Example 1

According to the projection displacement of waves in X, Y two directions on a horizontal plane and the components of a motion track in X, Y two directions, wave direction data fitting is carried out by adopting a data fusion method, and wave direction measurement errors of the buoy body caused by external interference are corrected.

The wave direction is derived by least squares fitting X, Y the projected lines in both directions. Components of the motion trajectory in X, Y are resolved through the spatial motion trajectory as shown in fig. 3, and the projection of the normal on the wave surface curve on the horizontal plane is calculated through components in X, Y in two directions, and the horizontal projection is the wave direction.

According to the projection displacement of waves in X, Y two directions on a horizontal plane and the components of a motion track in X, Y two directions, wave direction data fitting is carried out by adopting a data fusion method, and wave direction measurement errors of the buoy body caused by external interference are corrected.

In the actual measurement process of the buoy, the buoy is influenced by wind, ocean current and an anchor system to the movement of the buoy, so that the buoy is distorted along with the elliptical movement locus of wave water mass points, X, Y analyzed by two methods of calculating the projection displacement of waves in X, Y two directions on a horizontal plane and the components of a wave surface curve in X, Y two directions and calculating the projection of a normal line on the wave surface curve on the horizontal plane is subjected to wave direction data fitting by a data fusion technology to correct wave direction measurement errors caused by external interference on the buoy body.

Example 2

Filtering tide level information acquired by a satellite navigation positioning receiving module through high-pass filtering, and processing filtered data by adopting an upward zero crossing method to acquire single wave information, wherein the single wave information comprises: the wave heights are the wave peak value and the wave valley value of the single wave, the wave heights are sorted according to the wave heights, and the maximum wave height and the corresponding period, the 1/10 large wave height and the corresponding period, the 1/3 (effective) wave height and the corresponding period, and the average wave height and the corresponding period are counted.

The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.