在航水位和流速一体化测量系统及其关键技术

System and key technologies of integrated measurement for navigational water level and flow velocity

为实现在航水位和流速的一体化测量,首先分析了现有测量方法和技术手段存在的不足,在此基础上构建了基于全球定位系统(global positioning system,GPS)、声学多普勒流速剖面仪(acoustic Doppler current profiler,ADCP)、姿态传感器(motion reference unit,MRU)等多传感器集成的在航水位和流速一体化测量系统。其次,给出了系统中多源数据的同步方法以及姿态改正模型,确保了多源数据的同步和同位;然后,通过对GPS高程信号和Heave信号进行融合以及对水位信号进行滤波处理,实现了在航水位的自适应提取;最后,采用动态后处理差分(post-processing kinematic,PPK)解结合罗经的方法,给出了地理坐标框架下的载体绝对速度和方位基准,进而通过旋转变换等方法获得了地理坐标框架下的流速和流向。该研究为水位、流速的一体化确定提供了一种新的途径。

In order to realize the integrated measurement of navigational water level and flow velocity, this paper firstly analyzes the shortcomings of existing measurement methods and techniques, and then builds an integrated multi-sensor measurement system of water level and flow velocity in the navigation based on global positioning system(GPS), acoustic Doppler current profiler(ADCP), motion reference unit(MRU) and others.Secondly, the synchronization method and the attitude correction model are given to ensure the synchronization and colocation of the multi-source data. Then, through the fusion of GPS elevation signal and Heave signal as well as filtering of water level signa,water level in the navigation can be adaptively extracted. In the end,through combining the post-processing kinematic(PPK) solution with the compass, the absolute velocity and azimuth reference of the carrier under the geographic coordinate frame are given, and then the velocity and flow direction in the geographic reference frame can be obtained through rotation transformation. The study provides a new way for the integrated determination of water level and flow velocity.