基于ADCP测流的方向谱估计技术研究
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摘要
本文基于RD公司ADCP（声学多普勒流流速剖面仪）和Nortek公司AWAC（声学波浪流速剖面仪），研究基于ADCP测流的方向谱估计方法，并进行相关数据处理的算法研究。针对现有RD公司的波浪处理软件在波向估计算法，倾斜较大时倾斜修正门限，背景流较强时的背景流修正门限中出现的问题加以分析并进行改进。
ADCP的方向谱估计可以分解为高度谱估计和波向估计。其中高度谱可以分别利用ADCP波束速度值、ADCP测深值和ADCP上压力数据来估计，ADCP波向估计有2种方法，波束方向测点组成阵列估计和波束中心点处的水质点速度估计，影响ADCP方向谱估计的因素主要有：波向估计算法、倾斜较大时的ADCP测点位置修正和背景流较强时的方向谱估计值修正，研究了船载ADCP的方向谱估计方法，通过本文理论研究为后续的实测数据处理的算法研究提供了理论支撑。
波向估计是通过含有互谱的方程求逆计算得到的，因为求逆计算有很多种，所以波向估计算法不是唯一的。RD公司和Nortek公司使用的波向估计算法是傅里叶级数算法（DFTM）和迭代的最大似然算法（IMLM），但主要使用IMLM。IMLM算法在实测数据估计中可分辨单向和双向波浪，但无法抑制其他方向上噪声带来能量，本文针对IMLM算法的问题，引入了固定的方向分布模型，有效地解决了噪声带来能量分布，并将一种混合遗传算法（HGA）应用到模型参数求解中，HGA算法的参数估计性能好于遗传算法（GA），表现在跳出局部最优解和收敛更快。通过BBADCP（宽带声学多普勒流速剖面仪）和NBADCP（窄带声学多普勒流速剖面仪）的仿真分析表明，HGA算法的估计性能好于IMLM算法，HGA算法的方向谱估计误差更小。通过ADCP实测数据对比分析，本文IMLM算法，HGA算法估计结果与RD、Nortek公司的软件估计结果是一致的，证明了本文基于ADCP测流的方向谱估计的数据处理技术是正确的；HGA算法、IMLM算法都能准确地分析单向和双向波浪，但HGA算法有效消除了实测数据中噪声带来能量分布，使得波向估计更加准确。
当ADCP倾斜时，ADCP的测点位置发生偏移，导致方向谱估计出现较大误差，所以当倾斜较大时，首先要进行测点位置的倾斜修正。RD公司并没有给出测点位置修正方法，本文通过旋转矩阵计算给出测点位置修正方法，RD公司在倾斜修正中建议当姿态角大于10°进行修正。本文仿真表明方向谱估计误差不只跟姿态角有关，同时跟ADCP安放深度有关，并通过实测ADCP数据验证了本文仿真结论的正确性。针对RD公司的倾斜修正门限不考虑ADCP安放深度是不合理的，本文设定了一种新的倾斜修正门限，ADCP实测数据是否进行倾斜修正需要考虑数据的姿态角和安装深度。当倾斜带来的有义波高估计误差大于指定门限，需要进行修正，有义波高估计误差可以通过事先仿真得到，这样使得倾斜修正判断更加简单。本文设定的新的倾斜修正门限相对于RD公司的门限更加准确，保证了当ADCP存在较大倾斜时的方向谱估计准确性。
当背景流较强时，背景流会影响ADCP的方向谱估计准确性，方向谱估计值要进行背景流修正。RD公司的背景流修正方法中涉及背景流幅值、背景流流向、波浪方向和水深，但RD公司的背景流修正门限只考虑背景流幅值，即0.75m/s，是明显不严谨的，例如当背景流幅值为0.75m/s，背景流流向和波浪方向夹角为90°时，ADCP方向谱估计值在背景流修正后没有变化。针对RD公司倾斜门限并不精确，本文设定了一种新的背景流修正门限，ADCP实测数据是否进行背景流修正同时考虑了背景流幅值、背景流流向、波浪方向和水深，本文设定当背景流带来的有义波高估计误差大于指定门限时，需要进行修正，最后通过ADCP实测数据进行分析，结果表明本文的背景流门限相对于RD公司的门限更加准确，本文的背景流修正门限虽然会增添一定计算量，却在最大程度上保证当背景流较强时的ADCP方向谱估计值的正确性。
Based on RD ADCP(acoustic Doppler current profiler) and Nortek AWAC(acoustic waveand current profiler), the paper works on wave directional spectrum estimation based onADCP wave current measurement, the paper also works on data processing and softwaretechnology research. Considering the problems of RD software that on wave directionestimation algorithm, the threshold of tilt correction, the threshold of background currentcorrection, the paper analysis the problems and then makes improvement.
Wave directional spectrum estimation of ADCP can be decomposed into two parts: waveheight spectrum estimation and wave direction estimation. Velocity along the beam, measureddepth of ADCP, pressure data of ADCP are used in wave height spectrum estimation. Thereare two methods in wave direction estimation: estimation by velocity points array of ADCPand water particle velocity of ADCP beam center. The main factors that can affect ADCPwave directional estimation performance are: cross-spectrum estimation, wave directionestimation algorithm, measured points correction when ADCP is largely tilted, wavedirectional spectrum correction when background current is strong. The paper also works onwave directional spectrum estimation of ship borne ADCP. The theoretical research providestheoretical support for the follow-up data processing and software technology research.
Wave direction is estimated by inverse calculation of equation that containscross-spectrum. Considering inverse calculation has different methods, so wave directionestimation algorithm is not unique. Fourier series algorithm(DFTM), iterative maximumlikelihood algorithm(IMLM) are used by RD and Nortek, main use of IMLM, IMLM canestimate unidirectional wave and bimodal wave during test, it cannot suppress the noiseenergy of other directions. Considering the problem of IMLM, the wave direction distributionmodel is introduced to effectively solve the problem of noise energy. The paper uses a hybridgenetic algorithm (HGA) to estimate parameters of the model, the estimation performance ofHGA is better than the genetic algorithm(GA), it show that HGA jumps out of local optimalsolution and convergence faster. During the simulation analysis of BBADCP(broadbandacoustic Doppler current profiler) and NBADCP(narrowband acoustic Doppler currentprofiler), HGA works better than IMLM, it shows that wave directional spectrum error ofHGA is less than IMLM. During ADCP measured data analysis, the estimated result of IMLMand HGA of the paper is consistent with RD WAVESMON and Nortek Quickwave, it provesthat data processing technique of wave directional spectrum estimation based on ADCP current measurement of the paper is correct; HGA and IMLM can both accurately estimateunidirectional wave and bimodal wave, but HGA can effectively inhibit the wave energy ofthe noise in the measured data, HGA is more accurate in wave direction estimation.
When ADCP is largely tilted, the measured points of ADCP will obviously changelocations, and then wave directional spectrum estimation will has large error, so when it islargely tilted, ADCP needs correction for tilt before wave directional spectrum estimation. RDdoes not give correction method of measured points, the paper introduces the rotation matrixcalculation to derive correction method of measured points. When the tilt angle is bigger than10°, RD needs correction for tilt. During the simulation of paper, the wave directionalspectrum estimation error not only concerns with tilt angle, but also concerns with the ADCPdepth, the threshold of RD tilt correction is obviously not reasonable, during the test ofmeasured data, the simulation result is verified by the measured ADCP data. The paper sets upa new tilt correction threshold, that ADCP data is corrected or not considers the tilt angle andADCP depth, when the significant wave height change because of ADCP tilt is bigger than thespecified threshold, ADCP needs correction for tilt. The significant wave height change canbe gotten form simulation and it makes the tilt correction simpler. The tilt threshold of thepaper is more accurate than the threshold of RD tilt correction threshold.
When background current is strong, it will affect ADCP wave directional spectrumestimation, wave directional spectrum needs correction for background current. Backgroundcurrent correction of RD considers background current amplitude, background currentdirection, wave direction and water depth, but the RD background current correctionthreshold considers only background current amplitude, namely0.75m/s, and it is obviouslyunreasonable. For example, when the background current amplitude is0.75m/s, thebackground current direction and wave direction angle has90°difference, wave directionalspectrum of ADCP estimation before and after the correction does not change. The paper setsup a new background correction threshold, that the data of ADCP is corrected for backgroundcurrent or not is related to background current amplitude, background current direction, wavedirection, water depth. When the significant wave height change because of backgroundcurrent is bigger than a given value, it needs correction for background current. During theADCP measured data, the background current threshold of the paper is more accurate thanRD threshold. Although the background current correction threshold of the paper will adds theamount calculation, but the threshold of the paper ensures accuracy of ADCP wave directionalspectrum estimation when background current is strong.
ADCP的方向谱估计可以分解为高度谱估计和波向估计。其中高度谱可以分别利用ADCP波束速度值、ADCP测深值和ADCP上压力数据来估计，ADCP波向估计有2种方法，波束方向测点组成阵列估计和波束中心点处的水质点速度估计，影响ADCP方向谱估计的因素主要有：波向估计算法、倾斜较大时的ADCP测点位置修正和背景流较强时的方向谱估计值修正，研究了船载ADCP的方向谱估计方法，通过本文理论研究为后续的实测数据处理的算法研究提供了理论支撑。
波向估计是通过含有互谱的方程求逆计算得到的，因为求逆计算有很多种，所以波向估计算法不是唯一的。RD公司和Nortek公司使用的波向估计算法是傅里叶级数算法（DFTM）和迭代的最大似然算法（IMLM），但主要使用IMLM。IMLM算法在实测数据估计中可分辨单向和双向波浪，但无法抑制其他方向上噪声带来能量，本文针对IMLM算法的问题，引入了固定的方向分布模型，有效地解决了噪声带来能量分布，并将一种混合遗传算法（HGA）应用到模型参数求解中，HGA算法的参数估计性能好于遗传算法（GA），表现在跳出局部最优解和收敛更快。通过BBADCP（宽带声学多普勒流速剖面仪）和NBADCP（窄带声学多普勒流速剖面仪）的仿真分析表明，HGA算法的估计性能好于IMLM算法，HGA算法的方向谱估计误差更小。通过ADCP实测数据对比分析，本文IMLM算法，HGA算法估计结果与RD、Nortek公司的软件估计结果是一致的，证明了本文基于ADCP测流的方向谱估计的数据处理技术是正确的；HGA算法、IMLM算法都能准确地分析单向和双向波浪，但HGA算法有效消除了实测数据中噪声带来能量分布，使得波向估计更加准确。
当ADCP倾斜时，ADCP的测点位置发生偏移，导致方向谱估计出现较大误差，所以当倾斜较大时，首先要进行测点位置的倾斜修正。RD公司并没有给出测点位置修正方法，本文通过旋转矩阵计算给出测点位置修正方法，RD公司在倾斜修正中建议当姿态角大于10°进行修正。本文仿真表明方向谱估计误差不只跟姿态角有关，同时跟ADCP安放深度有关，并通过实测ADCP数据验证了本文仿真结论的正确性。针对RD公司的倾斜修正门限不考虑ADCP安放深度是不合理的，本文设定了一种新的倾斜修正门限，ADCP实测数据是否进行倾斜修正需要考虑数据的姿态角和安装深度。当倾斜带来的有义波高估计误差大于指定门限，需要进行修正，有义波高估计误差可以通过事先仿真得到，这样使得倾斜修正判断更加简单。本文设定的新的倾斜修正门限相对于RD公司的门限更加准确，保证了当ADCP存在较大倾斜时的方向谱估计准确性。
当背景流较强时，背景流会影响ADCP的方向谱估计准确性，方向谱估计值要进行背景流修正。RD公司的背景流修正方法中涉及背景流幅值、背景流流向、波浪方向和水深，但RD公司的背景流修正门限只考虑背景流幅值，即0.75m/s，是明显不严谨的，例如当背景流幅值为0.75m/s，背景流流向和波浪方向夹角为90°时，ADCP方向谱估计值在背景流修正后没有变化。针对RD公司倾斜门限并不精确，本文设定了一种新的背景流修正门限，ADCP实测数据是否进行背景流修正同时考虑了背景流幅值、背景流流向、波浪方向和水深，本文设定当背景流带来的有义波高估计误差大于指定门限时，需要进行修正，最后通过ADCP实测数据进行分析，结果表明本文的背景流门限相对于RD公司的门限更加准确，本文的背景流修正门限虽然会增添一定计算量，却在最大程度上保证当背景流较强时的ADCP方向谱估计值的正确性。
Based on RD ADCP(acoustic Doppler current profiler) and Nortek AWAC(acoustic waveand current profiler), the paper works on wave directional spectrum estimation based onADCP wave current measurement, the paper also works on data processing and softwaretechnology research. Considering the problems of RD software that on wave directionestimation algorithm, the threshold of tilt correction, the threshold of background currentcorrection, the paper analysis the problems and then makes improvement.
Wave directional spectrum estimation of ADCP can be decomposed into two parts: waveheight spectrum estimation and wave direction estimation. Velocity along the beam, measureddepth of ADCP, pressure data of ADCP are used in wave height spectrum estimation. Thereare two methods in wave direction estimation: estimation by velocity points array of ADCPand water particle velocity of ADCP beam center. The main factors that can affect ADCPwave directional estimation performance are: cross-spectrum estimation, wave directionestimation algorithm, measured points correction when ADCP is largely tilted, wavedirectional spectrum correction when background current is strong. The paper also works onwave directional spectrum estimation of ship borne ADCP. The theoretical research providestheoretical support for the follow-up data processing and software technology research.
Wave direction is estimated by inverse calculation of equation that containscross-spectrum. Considering inverse calculation has different methods, so wave directionestimation algorithm is not unique. Fourier series algorithm(DFTM), iterative maximumlikelihood algorithm(IMLM) are used by RD and Nortek, main use of IMLM, IMLM canestimate unidirectional wave and bimodal wave during test, it cannot suppress the noiseenergy of other directions. Considering the problem of IMLM, the wave direction distributionmodel is introduced to effectively solve the problem of noise energy. The paper uses a hybridgenetic algorithm (HGA) to estimate parameters of the model, the estimation performance ofHGA is better than the genetic algorithm(GA), it show that HGA jumps out of local optimalsolution and convergence faster. During the simulation analysis of BBADCP(broadbandacoustic Doppler current profiler) and NBADCP(narrowband acoustic Doppler currentprofiler), HGA works better than IMLM, it shows that wave directional spectrum error ofHGA is less than IMLM. During ADCP measured data analysis, the estimated result of IMLMand HGA of the paper is consistent with RD WAVESMON and Nortek Quickwave, it provesthat data processing technique of wave directional spectrum estimation based on ADCP current measurement of the paper is correct; HGA and IMLM can both accurately estimateunidirectional wave and bimodal wave, but HGA can effectively inhibit the wave energy ofthe noise in the measured data, HGA is more accurate in wave direction estimation.
When ADCP is largely tilted, the measured points of ADCP will obviously changelocations, and then wave directional spectrum estimation will has large error, so when it islargely tilted, ADCP needs correction for tilt before wave directional spectrum estimation. RDdoes not give correction method of measured points, the paper introduces the rotation matrixcalculation to derive correction method of measured points. When the tilt angle is bigger than10°, RD needs correction for tilt. During the simulation of paper, the wave directionalspectrum estimation error not only concerns with tilt angle, but also concerns with the ADCPdepth, the threshold of RD tilt correction is obviously not reasonable, during the test ofmeasured data, the simulation result is verified by the measured ADCP data. The paper sets upa new tilt correction threshold, that ADCP data is corrected or not considers the tilt angle andADCP depth, when the significant wave height change because of ADCP tilt is bigger than thespecified threshold, ADCP needs correction for tilt. The significant wave height change canbe gotten form simulation and it makes the tilt correction simpler. The tilt threshold of thepaper is more accurate than the threshold of RD tilt correction threshold.
When background current is strong, it will affect ADCP wave directional spectrumestimation, wave directional spectrum needs correction for background current. Backgroundcurrent correction of RD considers background current amplitude, background currentdirection, wave direction and water depth, but the RD background current correctionthreshold considers only background current amplitude, namely0.75m/s, and it is obviouslyunreasonable. For example, when the background current amplitude is0.75m/s, thebackground current direction and wave direction angle has90°difference, wave directionalspectrum of ADCP estimation before and after the correction does not change. The paper setsup a new background correction threshold, that the data of ADCP is corrected for backgroundcurrent or not is related to background current amplitude, background current direction, wavedirection, water depth. When the significant wave height change because of backgroundcurrent is bigger than a given value, it needs correction for background current. During theADCP measured data, the background current threshold of the paper is more accurate thanRD threshold. Although the background current correction threshold of the paper will adds theamount calculation, but the threshold of the paper ensures accuracy of ADCP wave directionalspectrum estimation when background current is strong.
引文
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