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《海洋技术学报》2018,(5)
针对水下对接过程中近距离引导和定位问题,以ARV (AutonomousRemotely Operated Vehicle)水下对接末端引导应用中对图片特征点的快速准确匹配为目标,提出结合引导灯信息的图片特征点匹配算法。在传统的ORB(Oriented FAST and Rotated BRIEF)特征点匹配算法利用关键点和描述子表征特征点的基础上,增加了相对位置信息。在特征点的提取阶段提取关键点、BRIEF描述子和相对位置信息,在匹配阶段同时考虑描述子和相对位置信息的匹配程度,提高了特征点匹配的准确率和鲁棒性。同时,在特征点提取阶段利用引导灯辅助精确计算图片的缩放尺度,使得特征点的提取更加精确、速度更快。通过实验,验证算法的有效性,证明了文中提出的算法提高了图片特征点匹配的准确率和鲁棒性,同时缩短了算法的运算时间,有利于保障定位算法的实时性,从而提升水下对接的成功率。 相似文献
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利用合成孔径雷达(SAR)图像研究海洋内波具有其他遥感探测及实地海洋测量不可替代的优势,然而从SAR数据中提取内波参数的方法却往往由于人工选取的位置不同使得反演的内波参数产生不同的偏差,为了尽量避免人工操作带来的误差并有效反演内波参数,文中提出了一种SAR图像海洋内波波向与波长参数估计的新方法。通过人工选取内波前导线上的3个位置点,计算机自动地获取内波的位置和内波的波向,提取内波断面,在此基础上利用EMD算法反演内波波长,结合内波区域海水密度剖面数据,进一步反演内波振幅参数。通过对实测SAR图像数据进行处理的结果可知,采用该方法对内波SAR图像进行处理,能很好地定位内波位置并获得传播方向及内波波长参数,结合海水密度剖面,实现了内波振幅参数反演。人工干预选取3个位置点,自动计算内波前导线弯曲弧度并自动计算5个内波剖面,减少了由于人工干预操作不同形成的偏差。 相似文献
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首先描述了Del Grosso算法和C.C.Leroy算法计算海洋声速及其特点(貌似不通);然后利用美国国家海洋数据中心发布的WOA09数据,分别采用Del Grosso算法和C.C.Leroy算法计算西太平洋海域某点的海洋声速剖面,结果表明两种算法具有相同的个位数字精度。与Del Grosso算法相比,C.C.Leroy算法效率更高,不需要深度与压强的转换。 相似文献
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针对水下机器人作业过程中的近距离引导水下对接问题,以自治缆控水下机器人(ARV)为研究对象,为实现快速、高精度的水下对接,设计了基于反射光源识别的单目视觉辅助水下对接方法。通过在对接口布置反光带并将其作为目标图像,设计了图像处理和特征点提取的算法,经过图像特征信息的分析处理,优化算法的时间复杂度,提高了特征点提取的准确率和识别效率。最后设计了传统的引导灯方案与反光带方案的对比试验,验证算法的可行性,证明在水下环境下识别反射光源的方法极大提升了位置估计的准确率,同时在计算速度上也有显著提高,弥补了传统水下对接方法中精度不足或计算量大的缺陷,更好地满足了ARV水下对接的需求,能为潜水器实现水下自主对接提供参考依据。 相似文献
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详细阐述了利用地球重力场模型位系数计算高程异常的数学模型。选取标准向前列递推法和跨阶次递推法作为缔合勒让德函数的计算方法,分析了两种算法的适用范围。以高精度的超高阶EIGEN-6C4重力场模型为例,选择全球范围内5°×5°的格网组成的2701个点和具有代表性的12个点计算高程异常,将计算结果和ICGEM网站计算结果比较验证了算法的可靠性,并绘制了全球范围内5m等高距的高程异常等值线图,实现了全球高程异常的可视化。 相似文献
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凸包计算是计算几何研究中的基本问题之一 ,在许多领域均有应用。本文对求解空间点集凸包的卷包裹算法的实现问题进行了讨论。提出了 2点优化措施 ,并解决了实现中可能出现的共面点及由此带来的退化问题。 相似文献
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平面二维流场中质点运动的可视化 总被引:2,自引:0,他引:2
对平面二维流场中质点运动的可视化进行了研究,提出了一种适用于三角形非结构化网格系统中质点运动轨迹的跟踪算法,利用数值计算方法的稳定性限制条件对质点位置的搜索算法进行了优化,极大地降低了算法的时间复杂度,提高了计算效率,采用Shepard插值法求解质点的速度,四阶龙格库塔方法积分质点的运动轨迹,选用Visual Fortran语言实现了质点运动的动态显示,将本文方法与平面二维潮流模型相结合,用于渤海潮流场中质点运动规律的研究,初步得出了渤海中质点运动和水效换的一些规律。 相似文献
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黄海、渤海TOPEX/Poseidon高度计资料潮汐伴随同化 总被引:1,自引:0,他引:1
首先将大约10a的TOPEX/Poseidon(T/P)高度计资料沿星下轨迹点做潮汐调和分析,提取得到各分潮的调和常数,利用伴随同化方法,同化到二维非线性潮汐数值模式中,模拟了黄海、渤海区域M2,S2,O1,K1等4个潮汐分潮,并根据计算结果给出了各分潮的同潮图.将计算值与观测值的进行偏差统计,结果表明计算值与验潮站资料符合良好.研究过程中做了两类试验:一类试验是针对不同的参数进行优化,一类试验是针对不同的资料进行同化.第一类试验表明:将开边界条件和底摩擦系数同时作为模型优化的控制参数,其结果明显优于单独优化开边界条件;第二类试验表明:同时同化高度计资料与验潮站资料,比单独同化其中任一种资料,对模式计算结果都有较好的改进.研究结果表明,采用伴随同化方法,利用T/P高度计资料和验潮站资料作为同化数据能有效改进模拟结果,用来反演黄海、渤海的潮波系统是可行的. 相似文献
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机载GNSS反射信号海面测高模型的研究 总被引:1,自引:0,他引:1
相对于岸基GNSS-R技术,机载GNSS-R优势在于其空间分辨率高、监测范围广,可对特定区域范围进行高分辨率监测,兼具了灵活的高度和方位调节的同时保障了更高的数据质量。本文主要研究了机载GNSS-R测高模型,依据岸基GNSS-R码测高原理,针对大气延迟、天线距离等进行修正,优化机载测高模型,同时采用DTU10全球海面平均高度及潮汐模型验证机载GNSS-R测高模型的精度。通过分析2011年11月11日,CSIC-IEEC在芬兰波罗的海的GNSS-R机载数据,针对不同仰角下的实验数据进行反演,成功地实现了亚米级机载海面高度反演,得出仰角大小会对测高结果精度产生较大影响的结论,定性分析了仰角大小所引起的误差范围。本文的结果证明了机载GNSS-R的海面测高的可行性。 相似文献
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The data of satellite altimetry are used to simulate the Black-Sea circulation. The altimetry data of the TOPEX/Poseidon and ERS satellites are prepared within the framework of the NASA Ocean Altimeter Pathfinder project. The additional data processing is performed to compute the dynamic level reflecting the circulation of the Black Sea. The altimetry sea-level is assimilated in an eddy-resolving model of circulation of the Black Sea based on primitive equations. The accuracy of the obtained fields of temperature and salinity is estimated by comparing with the data of large-scale hydrographic surveys according to the ComSBlack program. The prognostic capabilities of the proposed model are estimated by comparing the obtained results with the fields computed with the help of assimilation of the altimetry data. 相似文献
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A method has been developed to monitor the surface velocity field by combining repeated acoustic Doppler current profiler
(ADCP) observations and satellite altimetry data. The geostrophic velocity anomaly is calculated from the sea surface height
anomaly field estimated from the altimetry data by an optimal interpolation. It has been confirmed that this accurately observes
the smoothed velocity anomaly field when the interpolation scales are set according to the spatio-temporal sampling pattern
of the altimeter used. The velocity anomaly obtained from the altimetry data is subtracted from the repeated ADCP observations
to estimate temporal mean velocity along the ship tracks. Regularly sampled, nine-year time series of surface velocity can
then be obtained by adding the computed mean velocity and the altimetry anomaly components. This clearly illustrates surface
velocity fluctuations such as the movement of the Kuroshio axis due to its meandering and an increase of the interannual variability
of the Subtropical Countercurrent toward its downstream region.
This revised version was published online in July 2006 with corrections to the Cover Date. 相似文献
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针对基于测高重力异常反演海底地形理论众多、选取标准无法确定的情况,利用中国南海海域内的测高重力异常和船测水深数据研究比较了重力地质法(GGM)和SmithSandwell (SAS)法两种精度高、计算速度相对较快的海底地形反演理论。其中,GGM方法的密度差异常数Δρ由向下延拓技术确定为2.15 g·cm-3,SAS方法采用移去-恢复技术得到反演波段内重力异常和水深数据。结果表明:测线分布条件一定时,水深多在-1 000 m左右或反演区域岛礁、海山等复杂海底地形较多时选取SAS方法,水深主要在-3 000 m以深的区域或海底地形复杂程度不高时选取GGM方法则能获取更好的效果,其效果最优处与船测水深在检核点处的差值最优平均值能达-0.61 m,标准差可达14.67 m。 相似文献
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提出了基于聚类分析的多子波优化重定算法,即利用聚类分析对波形进行分类,然后在分类的基础上对每一聚类的波形分别采用β参数拟合算法和门槛算法对其进行重定,最后以误差平方和最小为依据选择最优的作为最后的结果。经过基于聚类分析的多子波优化算法重定后的卫星测高数据与验潮站数据进行了比较,发现该算法能在一定程度上改善近海卫星测高数据的精度,提高重定成功率,降低重定次数。 相似文献
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Brian D. Dushaw Peter F. WorcesterMatthew A. Dzieciuch 《Deep Sea Research Part I: Oceanographic Research Papers》2011,58(6):677-698
A frequency-wavenumber tidal analysis for deriving internal-tide harmonic constants from TOPEX/Poseidon (T/P) measurements of sea-surface height (SSH) has been developed, taking advantage of the evident temporal and spatial coherence and the weak dissipation of internal tides. Previous analyses consisted of simple tidal analysis at individual points, which gave inconsistent harmonic constants at altimeter track crossover points. Such analyses have difficulty in distinguishing between the effects of interference, incoherence, and dissipation. The frequency-wavenumber analysis provides an objective way to interpolate the internal tides measured along altimetry tracks to any arbitrary point, while leveraging all available data for optimal tidal estimates. Tidal analysis of T/P data from 2000 to 2007 is used to predict in situ time series measured during the 2001-2002 Hawaiian Ocean mixing experiment (HOME), the 1987 reciprocal tomography experiment (RTE87), and the 1991 acoustic mid-ocean dynamics experiment (AMODE), demonstrating both the temporal coherence and the lack of incoherent elements to this wave propagation. It has been conjectured that significant energy would be lost from mode-1 internal tides as they cross the 28.9°N critical latitude of parametric subharmonic instability (PSI). No apparent change in amplitude at 28.9°N was detected by this analysis, however. Further, after correcting for changes in background stratification, the amplitude of the mode-1 internal tide was found to decrease by less than 20% over the 2000 km between the Hawaiian Ridge and 40°N. A significant fraction of the variability of internal waves, that component associated with mode-1 internal tides, appears to be predictable over most of the world's oceans, using harmonic constants derived from satellite altimetry. 相似文献
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V. V. Knysh S. G. Demyshev G. K. Korotaev A. S. Sarkisyan 《Izvestiya Atmospheric and Oceanic Physics》2007,43(3):363-377
A method for combined assimilation of climatic hydrologic fields of temperature, salinity, and the climatic dynamic level of the Black Sea into a model of sea dynamics is proposed. The monthly mean fields of the dynamic sea level were obtained from the results of assimilation of satellite altimetry data into the model. The statistical characteristics of errors in the forecasts of the level, salinity, and temperature were assumed to be proportional to the statistical characteristics of the differences between monthly mean climatic fields of temperature, salinity, and sea level calculated by means of assimilating altimetry observations of the sea level and analogous climatic hydrologic fields. The climatic fields of currents are reconstructed and analyzed. The assimilation of the climatic altimetry level allows the reproduction (in current fields) of quasi-stationary synoptic anticyclonic eddies located along the periphery of the Black Sea Rim Current. 相似文献