波浪浮标数据处理方法研究
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摘要
随着我国经济的快速发展和综合国力的逐步提高,许多重要部门对海洋监测提出了更高的要求。波浪浮标是一种常用的海洋监测设备,具有无人值守、自动测量的优点,目前被广泛应用于各个海洋监测站。它可以定点、定时、连续、准确地对海面波浪的高度、周期以及波浪传播方向等水文要素进行遥测。
本文在介绍国内外波浪浮标研究现状的基础上,指出了国内现有浮标的缺陷,分析了国外浮标在我国不适用的主要原因,提出了一套完整的波浪浮标系统设计方法和波浪浮标数据处理方法。主要是波浪浮标整体系统的总体设计方案,重点是波浪数据采集系统的设计方案,包括：微处理器单元、GPS单元、加速度传感器单元、电子罗盘单元以及嵌入式系统中软件的优化设计。此外,在介绍随机海浪模型,波高和波周期等海浪参数统计方法的前提下,重点介绍了基于加速度传感器的波浪浮标的测波原理和基于GPS传感器的波浪浮标的测波原理,然后比较了两种方法的优缺点,针对两种传感器提出了基于卡尔曼滤波器的信息融合新算法,以提高系统采集波面序列的精度。
最后在介绍海浪功率谱和方向谱估计方法的基础上,提出了基于我国近海水浅特征的波浪浮标系统的功率谱、方向谱和波向的计算方法。波浪浮标数据处理软件的设计核心是浮标协同测波数据处理系统。通过仿真实验验证了本波浪浮标系统及其软件的有效性。
With the improvement of the comprehensive strength of China's economic, marine monitoring is put forward higher requirements. Wave buoy is a small, unmanned, automatic measurement system, a common marine monitoring equipment.It is widely used in many marine monitoring stations. The system can measure the hydrological factors fixedly, regularly, continuously, accurately, such as wave height, wave period and wave direction of propagation and so on.
Firstly, based on the development process of domestic and international wave buoy, this paper pointed out the shortcomings of domestic wave buoy and analysed the unworthiness of foreign wave buoys.This paper presented a complete set of wave buoy system and the wave buoy data processing method, introduced the general design of the wave buoy specifically the design proposal of acquisition system, including the microprocessor module, GPS module, the acceleration sensor module and electronic compass module.Then the paper introduceed the random process model of the wave and the statistical methods of wave parameters such as wave height,wave period and so on. The paper focused on wave measurement principle based on accelerometer sensor and based on GPS sensor, compared two methods of similarities and differences.And the paper proposed the information fusion algorithm for two sensors based on Kalman filter, which improved the accuracy of wave surface sequence system collected effectively.
Finally, this paper introduced estimation method of wave power spectrum and wave directional spectrum, then proposed the method of calculating for power spectrum, directional spectrum and wave direction for this wave buoy system based on characteristics of the sea area of China. The paper described the data processing software design of the wave buoy, particularly wave buoy data coordination processing systems. The simulation verified the effectiveness of the wave buoy system and the software.
本文在介绍国内外波浪浮标研究现状的基础上,指出了国内现有浮标的缺陷,分析了国外浮标在我国不适用的主要原因,提出了一套完整的波浪浮标系统设计方法和波浪浮标数据处理方法。主要是波浪浮标整体系统的总体设计方案,重点是波浪数据采集系统的设计方案,包括：微处理器单元、GPS单元、加速度传感器单元、电子罗盘单元以及嵌入式系统中软件的优化设计。此外,在介绍随机海浪模型,波高和波周期等海浪参数统计方法的前提下,重点介绍了基于加速度传感器的波浪浮标的测波原理和基于GPS传感器的波浪浮标的测波原理,然后比较了两种方法的优缺点,针对两种传感器提出了基于卡尔曼滤波器的信息融合新算法,以提高系统采集波面序列的精度。
最后在介绍海浪功率谱和方向谱估计方法的基础上,提出了基于我国近海水浅特征的波浪浮标系统的功率谱、方向谱和波向的计算方法。波浪浮标数据处理软件的设计核心是浮标协同测波数据处理系统。通过仿真实验验证了本波浪浮标系统及其软件的有效性。
With the improvement of the comprehensive strength of China's economic, marine monitoring is put forward higher requirements. Wave buoy is a small, unmanned, automatic measurement system, a common marine monitoring equipment.It is widely used in many marine monitoring stations. The system can measure the hydrological factors fixedly, regularly, continuously, accurately, such as wave height, wave period and wave direction of propagation and so on.
Firstly, based on the development process of domestic and international wave buoy, this paper pointed out the shortcomings of domestic wave buoy and analysed the unworthiness of foreign wave buoys.This paper presented a complete set of wave buoy system and the wave buoy data processing method, introduced the general design of the wave buoy specifically the design proposal of acquisition system, including the microprocessor module, GPS module, the acceleration sensor module and electronic compass module.Then the paper introduceed the random process model of the wave and the statistical methods of wave parameters such as wave height,wave period and so on. The paper focused on wave measurement principle based on accelerometer sensor and based on GPS sensor, compared two methods of similarities and differences.And the paper proposed the information fusion algorithm for two sensors based on Kalman filter, which improved the accuracy of wave surface sequence system collected effectively.
Finally, this paper introduced estimation method of wave power spectrum and wave directional spectrum, then proposed the method of calculating for power spectrum, directional spectrum and wave direction for this wave buoy system based on characteristics of the sea area of China. The paper described the data processing software design of the wave buoy, particularly wave buoy data coordination processing systems. The simulation verified the effectiveness of the wave buoy system and the software.
引文
[1]褚同金,曹恒永,王军成等,中国海洋资料浮标,北京：海洋出版社,2001.107-111
[2]毛祖松,我国近海波浪浮标的历史、现状与发展,海洋技术,2007,26(2)：23-27
[3]俞聿修,随机波浪及其工程应用,大连：大连理工大学出版社,2000.1-301
[4]安志娟,高频地波超视距雷达海洋表面流探测方法研究：[硕士学位论文],西安；西安电子科技大学,2008
[5]王金平,SZF型波浪浮标数据采集系统及数据处理软件设计：[硕士学位论文],山东；中国海洋大学,2008
[6]Cygnal Integrated Products,Inc. C8051F020DataSheet[DB/OL] http://www.xhl.com.cnlxhl/down file/C8051F02x.pdf.
[7]王尔申,GPS接收机及其应用的关键技术研究：[硕士学位论文],大连；大连海事大学,2009
[8]隋军,重力加速度式波浪浮标量值溯源体系研究：[硕士学位论文],山东；中国海洋大学,2006
[9]张锁平,单点GPS浮标测波方法与数据质量控制研究,海洋技术,2008,27(3)：15-18
[10]陈为真,汪秉文,胡晓娅,基于时域积分的加速度信号处理,华中科技大学学报(自然科学版),2010,38(1)：1-4
[11]Smyth A,Wu Meiliang,Multi-rate Kalman filtering for the data fusion of displacement and acceleration response measurements in dynamic system monitoring,Mechanical Systems and Signal Processing,2007,21:706-723
[12]Yang J,Li J,Lin G,A simple approach to integration of acceleration data for dynamic soil-structure interaction analysis,Soid Dynamies and Earthquake Engineering,2006,26:725～734.
[13]张育玮,董东璟,李汴军等,利用GPS量测波浪研究,海洋工程,2009,27(4)：73-80
[14]齐占辉,张锁平,张东亮等,GPS接收机测量位移方法研究,海洋技术,2011,30(3)：35-39
[15]文圣常,余宙文,海浪理论与计算原理,北京：科学出版社,1984
[16]张锁平,齐占辉,GPS测波技术分析与初步实验研究,海洋工程,2010,29(3)：14-18
[17]何子述,夏威等,现代数字信号处理及其应用,北京：清华大学出版社,2009,244-286
[18]胡广书,数字信号处理,北京：清华大学出版社,2003
[19]陆晶晶,张为公,周耀群,基于GPS和加速度计的车速测量系统的开发与研制,测控技术,2007,26(8)：15-18
[20]杨承凯,曾军,黄华,多传感器融合中的卡尔曼滤波探讨,现代电子技术,2009,14：159-164
[21]Aboy M,Marquez OW,McNames J,et al,Adaptive modeling and spectral estimation of nonstationary biomedical signals based on Kal-man filtering,IEEE Trans Biomed Eng,2005,52,52:1485～1489
[22]贺成柱,海浪谱估计方法研究及SZF型波浪浮标数据分析软件设计：[硕士学位论文],山东；中国海洋大学,2007
[23]张玲华,郑宝玉,随机信号处理,北京：清华大学出版社,2003
[24]K.E.Steele,D.W.Wang,M.D.Earle et al,Buoy pitch and roll computed using three angular rate sensors,Coastal Engineering,1998,35:123～139
[25]Chen J Y,Huang M C and Lien Y S,The application of Butterworth low-pass filter to reduce low frequency noise of data buoy, Proceedings of the 18th Ocean Engineering Conference, Taipei,Taiwan,1996,1:898～906
[26]K.E.Steele,Pitch buoy mean wave directions from heave acceleration,bow magnetism,and starboard magnetism,Ocean Engineering,2003,30:2179-2199
[27]吴中,现场ηUV、PUV和UV波浪方向谱估计方法及比较,海洋工程,1994,12(4)：79-85
[28]吴中,钟瑚穗,严以新,由压力、流速估计波浪方向谱数据处理方法,海洋工程,1996,14(1)：39-46
[29]Steele K E, Teng C C and Wang D W C, Wave direction measurements using pitch-roll buoys, Ocean Engineering,1992,19:349～375
[30]管长龙,文圣常,张大错,分析海浪方向谱的扩展本征矢方法Ⅰ.方法的导出,海洋与湖沼,1995,26(01)：58-62
[31]管长龙,文圣常,张大错,分析海浪方向谱的扩展本征矢方法Ⅱ.方法的验证、比较和应用,海洋与湖沼,1995,26(03)：241-246
[32]赵栋梁,管长龙,吴克俭,文圣常,海浪方向谱估计方法的比较,海洋学报(中文版),1999,21(03)：119-125
[33]Hirotugu Akaike,Likelihood and the Bayes procedure,Trabajos de Estadistica Y de Investigacion Operativa,1980,31(1):143～166
[34]赵栋梁,黄娟,贝叶斯统计方法在海浪方向谱研究中的应用,海洋学报(中文版),2000,22(05)：31-40
[35]郑威,海浪方向谱反演的仿真研究[硕士学位论文],哈尔滨；哈尔滨工程大学,2009
[36]Longuet-Higgins,Cartwright and Smith N D,Observations of the directional spectrum of sea waves using the motion of a floating buoy, In Ocean Wave Spectra,1963,1:11～136
[37]K.E.Steele,C.C.Teng,D.W.C.Wang,Wave direction measurements using pitch-roll buoys,Ocean Engineering,1992,19:349～375
[38]M.D.Earle,K.E.Steele,D.W.C.Wang,Use of advanced directional wave spectra analysis methods,Ocean Engineering,1999,26:1421～1434
[39]M.J.Tucker,Interpreting directional data from large pitch-roll heave buoys,Ocean Engineering,1989,16(2):173～192
[40]A.Lygre,H.E.Krogstad,Maximum entropy estimation of the directional distribution in ocean wave spectra,Journal of Physical Oceanography,1986,16: 2052～2060
[41]Van der Vlugt,A J M and Holthuijsen L H. The WAVEC directional buoy under development, Proceedings of the Conference on Directional Wave Spectra Applications,14-16 September, Berkeley,CA,1981,1:50～60.
[42]赵曙东,SZF波浪浮标数据接收和处理系统：[硕士学位论文],山东；中国海洋大学,2007
[43]K.E.Steele, M.D.Earle, Directional ocean wave spectra using buoy azimuth,pitch,and roll derived from magnetic field components, Oceanic Engineering, 1991,16(4):427～433
[44]唐原广,王金平,SZF型波浪浮标系统,海洋技术,2008,27(02)：31-33
[45]A.Lygre, H.E.Krogstad, Maximum entropy estimation of the directional distribution in ocean wave spectra, Journal of Physical Oceanography,1986,16: 2052～2060
[46]Steele K E, Lau J C K and Hsu Y-H L.Theory and application of calibration techniques for an NDBC directional wave measurements buoy, IEEE Journal of Oceanic Engineering OE-10,1985,1:382-396
[47]Teng C C, Taft B A and Wang H T. Motion transfer functions for a slack-moored wave-following buoy[J],Proceedings of the Sixth International Offshore and Polar Engineering Conference,26-31 May, Los Angeles,1996,1: 371～376
[48]孙鑫,余安萍,VC++深入详解,北京：电子工业出版社,2006
[49]Earle M D,Bush K A, Strapped-down accelerometer effects on NDBO wave measurements, Proceedings of IEEE Conference of Oceans'82, September, Washington, DC,1982,1:838～843
[50]Huang M.C,Procedure of data buoy analysis,Report to Industrial Technology Research Institute,1996.
[51]李广弟,单片机基础,北京：北京航天航空大学出版社,2007
[2]毛祖松,我国近海波浪浮标的历史、现状与发展,海洋技术,2007,26(2)：23-27
[3]俞聿修,随机波浪及其工程应用,大连：大连理工大学出版社,2000.1-301
[4]安志娟,高频地波超视距雷达海洋表面流探测方法研究：[硕士学位论文],西安；西安电子科技大学,2008
[5]王金平,SZF型波浪浮标数据采集系统及数据处理软件设计：[硕士学位论文],山东；中国海洋大学,2008
[6]Cygnal Integrated Products,Inc. C8051F020DataSheet[DB/OL] http://www.xhl.com.cnlxhl/down file/C8051F02x.pdf.
[7]王尔申,GPS接收机及其应用的关键技术研究：[硕士学位论文],大连；大连海事大学,2009
[8]隋军,重力加速度式波浪浮标量值溯源体系研究：[硕士学位论文],山东；中国海洋大学,2006
[9]张锁平,单点GPS浮标测波方法与数据质量控制研究,海洋技术,2008,27(3)：15-18
[10]陈为真,汪秉文,胡晓娅,基于时域积分的加速度信号处理,华中科技大学学报(自然科学版),2010,38(1)：1-4
[11]Smyth A,Wu Meiliang,Multi-rate Kalman filtering for the data fusion of displacement and acceleration response measurements in dynamic system monitoring,Mechanical Systems and Signal Processing,2007,21:706-723
[12]Yang J,Li J,Lin G,A simple approach to integration of acceleration data for dynamic soil-structure interaction analysis,Soid Dynamies and Earthquake Engineering,2006,26:725～734.
[13]张育玮,董东璟,李汴军等,利用GPS量测波浪研究,海洋工程,2009,27(4)：73-80
[14]齐占辉,张锁平,张东亮等,GPS接收机测量位移方法研究,海洋技术,2011,30(3)：35-39
[15]文圣常,余宙文,海浪理论与计算原理,北京：科学出版社,1984
[16]张锁平,齐占辉,GPS测波技术分析与初步实验研究,海洋工程,2010,29(3)：14-18
[17]何子述,夏威等,现代数字信号处理及其应用,北京：清华大学出版社,2009,244-286
[18]胡广书,数字信号处理,北京：清华大学出版社,2003
[19]陆晶晶,张为公,周耀群,基于GPS和加速度计的车速测量系统的开发与研制,测控技术,2007,26(8)：15-18
[20]杨承凯,曾军,黄华,多传感器融合中的卡尔曼滤波探讨,现代电子技术,2009,14：159-164
[21]Aboy M,Marquez OW,McNames J,et al,Adaptive modeling and spectral estimation of nonstationary biomedical signals based on Kal-man filtering,IEEE Trans Biomed Eng,2005,52,52:1485～1489
[22]贺成柱,海浪谱估计方法研究及SZF型波浪浮标数据分析软件设计：[硕士学位论文],山东；中国海洋大学,2007
[23]张玲华,郑宝玉,随机信号处理,北京：清华大学出版社,2003
[24]K.E.Steele,D.W.Wang,M.D.Earle et al,Buoy pitch and roll computed using three angular rate sensors,Coastal Engineering,1998,35:123～139
[25]Chen J Y,Huang M C and Lien Y S,The application of Butterworth low-pass filter to reduce low frequency noise of data buoy, Proceedings of the 18th Ocean Engineering Conference, Taipei,Taiwan,1996,1:898～906
[26]K.E.Steele,Pitch buoy mean wave directions from heave acceleration,bow magnetism,and starboard magnetism,Ocean Engineering,2003,30:2179-2199
[27]吴中,现场ηUV、PUV和UV波浪方向谱估计方法及比较,海洋工程,1994,12(4)：79-85
[28]吴中,钟瑚穗,严以新,由压力、流速估计波浪方向谱数据处理方法,海洋工程,1996,14(1)：39-46
[29]Steele K E, Teng C C and Wang D W C, Wave direction measurements using pitch-roll buoys, Ocean Engineering,1992,19:349～375
[30]管长龙,文圣常,张大错,分析海浪方向谱的扩展本征矢方法Ⅰ.方法的导出,海洋与湖沼,1995,26(01)：58-62
[31]管长龙,文圣常,张大错,分析海浪方向谱的扩展本征矢方法Ⅱ.方法的验证、比较和应用,海洋与湖沼,1995,26(03)：241-246
[32]赵栋梁,管长龙,吴克俭,文圣常,海浪方向谱估计方法的比较,海洋学报(中文版),1999,21(03)：119-125
[33]Hirotugu Akaike,Likelihood and the Bayes procedure,Trabajos de Estadistica Y de Investigacion Operativa,1980,31(1):143～166
[34]赵栋梁,黄娟,贝叶斯统计方法在海浪方向谱研究中的应用,海洋学报(中文版),2000,22(05)：31-40
[35]郑威,海浪方向谱反演的仿真研究[硕士学位论文],哈尔滨；哈尔滨工程大学,2009
[36]Longuet-Higgins,Cartwright and Smith N D,Observations of the directional spectrum of sea waves using the motion of a floating buoy, In Ocean Wave Spectra,1963,1:11～136
[37]K.E.Steele,C.C.Teng,D.W.C.Wang,Wave direction measurements using pitch-roll buoys,Ocean Engineering,1992,19:349～375
[38]M.D.Earle,K.E.Steele,D.W.C.Wang,Use of advanced directional wave spectra analysis methods,Ocean Engineering,1999,26:1421～1434
[39]M.J.Tucker,Interpreting directional data from large pitch-roll heave buoys,Ocean Engineering,1989,16(2):173～192
[40]A.Lygre,H.E.Krogstad,Maximum entropy estimation of the directional distribution in ocean wave spectra,Journal of Physical Oceanography,1986,16: 2052～2060
[41]Van der Vlugt,A J M and Holthuijsen L H. The WAVEC directional buoy under development, Proceedings of the Conference on Directional Wave Spectra Applications,14-16 September, Berkeley,CA,1981,1:50～60.
[42]赵曙东,SZF波浪浮标数据接收和处理系统：[硕士学位论文],山东；中国海洋大学,2007
[43]K.E.Steele, M.D.Earle, Directional ocean wave spectra using buoy azimuth,pitch,and roll derived from magnetic field components, Oceanic Engineering, 1991,16(4):427～433
[44]唐原广,王金平,SZF型波浪浮标系统,海洋技术,2008,27(02)：31-33
[45]A.Lygre, H.E.Krogstad, Maximum entropy estimation of the directional distribution in ocean wave spectra, Journal of Physical Oceanography,1986,16: 2052～2060
[46]Steele K E, Lau J C K and Hsu Y-H L.Theory and application of calibration techniques for an NDBC directional wave measurements buoy, IEEE Journal of Oceanic Engineering OE-10,1985,1:382-396
[47]Teng C C, Taft B A and Wang H T. Motion transfer functions for a slack-moored wave-following buoy[J],Proceedings of the Sixth International Offshore and Polar Engineering Conference,26-31 May, Los Angeles,1996,1: 371～376
[48]孙鑫,余安萍,VC++深入详解,北京：电子工业出版社,2006
[49]Earle M D,Bush K A, Strapped-down accelerometer effects on NDBO wave measurements, Proceedings of IEEE Conference of Oceans'82, September, Washington, DC,1982,1:838～843
[50]Huang M.C,Procedure of data buoy analysis,Report to Industrial Technology Research Institute,1996.
[51]李广弟,单片机基础,北京：北京航天航空大学出版社,2007
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