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An ocean current inversion accuracy analysis based on a Doppler spectrum model 被引量:1
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作者 BAO Qingliu ZHANG Youguang +1 位作者 LIN Mingsen GONG Peng 《Acta Oceanologica Sinica》 SCIE CAS CSCD 2017年第9期101-107,共7页
Microwave remote sensing is one of the most useful methods for observing the ocean parameters. The Doppler frequency or interferometric phase of the radar echoes can be used for an ocean surface current speed retrieva... Microwave remote sensing is one of the most useful methods for observing the ocean parameters. The Doppler frequency or interferometric phase of the radar echoes can be used for an ocean surface current speed retrieval,which is widely used in spaceborne and airborne radars. While the effect of the ocean currents and waves is interactional. It is impossible to retrieve the ocean surface current speed from Doppler frequency shift directly. In order to study the relationship between the ocean surface current speed and the Doppler frequency shift, a numerical ocean surface Doppler spectrum model is established and validated with a reference. The input parameters of ocean Doppler spectrum include an ocean wave elevation model, a directional distribution function, and wind speed and direction. The suitable ocean wave elevation spectrum and the directional distribution function are selected by comparing the ocean Doppler spectrum in C band with an empirical geophysical model function(CDOP). What is more, the error sensitivities of ocean surface current speed to the wind speed and direction are analyzed. All these simulations are in Ku band. The simulation results show that the ocean surface current speed error is sensitive to the wind speed and direction errors. With VV polarization, the ocean surface current speed error is about 0.15 m/s when the wind speed error is 2 m/s, and the ocean surface current speed error is smaller than 0.3 m/s when the wind direction error is within 20° in the cross wind direction. 展开更多
关键词 Doppler spectrum model ocean surface current speed parameter sensitivity analysis measurement error
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Study on short-range numerical forecasting of ocean current in the East China Sea-Ⅲ Three-dimensional baroclinic anomaly forecasting model And its application
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作者 Zhao Jinping Shi Maochong and Li Shixin( Institute of Oceanology, Academia Sinica, Qingdao 266071, China)( Ocean University of Qingdao, Qingdao 266003, China) 《Acta Oceanologica Sinica》 SCIE CAS CSCD 1994年第3期311-324,共14页
A three-dimensional baroclinic numerical forecasting model for anomaly current field is developed forapplication in the Bohai Sea and the upper layer of the Huanghai Sea and the East China Sea. All the dynamical varia... A three-dimensional baroclinic numerical forecasting model for anomaly current field is developed forapplication in the Bohai Sea and the upper layer of the Huanghai Sea and the East China Sea. All the dynamical variables, including temperature and salinity, can be calculated predictively by using the model. The results of the numerical weather prediction are used as input fields,and various dynamic and thermodynamic boundary conditions areadopted. So, the model can be used as an operational numerical forecasting model for current fields. In this paper,the structure of the model is presented in detail, various tests for the performance of the model are made, and thedependence of the model on some parameters is discussed. The results of the numerical simulation using historicaldata and experimental forecasting tests are also presented. 展开更多
关键词 The Bohai Sea three-dimensional model ocean current forecasting anomaly velocity
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Study on short-range numerical forecasting of ocean current in the East China Sea——Ⅰ Basic problems of ocean current forecasting and structure of the models
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作者 Zhao Jinping, Chen Zhongyong and Shi Maochong Institute of Oceanology, Academia Sinica, Qingdao 266071, China Ocean University of Qingdao, Qingdao 266003, China 《Acta Oceanologica Sinica》 SCIE CAS CSCD 1993年第3期335-345,共11页
Ocean current forecasting is still in explorative stage of study. In the study, we face some problems that have not been met before. The solving of these problems has become fundamental premise for realizing the ocean... Ocean current forecasting is still in explorative stage of study. In the study, we face some problems that have not been met before. The solving of these problems has become fundamental premise for realizing the ocean current forecasting. In the present paper are discussed in depth the physical essence for such basic problems as the predictability of ocean current, the predictable currents, the dynamical basis for studying respectively the tidal current and circulation, the necessity of boundary model, the models on regions with different scales and their link. The foundations and plans to solve the problems are demonstrated. Finally a set of operational numerical forecasting system for ocean current is proposed. 展开更多
关键词 current forecasting ocean circulation operational numerical forecasting numerical model the East China Sea
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Ocean Data Assimilation Using Intermittent Analyses and Continuous Model Error Correction 被引量:2
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作者 BohuaHuang JamesL.KinterIII PaulS.Schopf 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2002年第6期965-992,共28页
A new data insertion approach is applied to the Derber and Rosati ocean data assimilation (ODA) system, a system that uses a variational scheme to analyze ocean temperature and provide ocean model corrections continuo... A new data insertion approach is applied to the Derber and Rosati ocean data assimilation (ODA) system, a system that uses a variational scheme to analyze ocean temperature and provide ocean model corrections continuously. Utilizing the same analysis component as the original system, the new approach conducts analyses to derive model corrections intermittently at once-daily intervals. A technique similar to the Incremental Analysis Update (IAU) method of Bloom et al. is applied to incorporate the corrections into the model gradually and continuously. This approach is computationally more economical than the original.A 13-year global ocean analysis from 1986 to 1998 is produced using this new approach and compared with an analysis based on the original one. An examination of both analyses in the tropical Pacific Ocean shows that they have qualitatively similar annual and interannual temperature variability. However, the new approach produces smoother monthly analyses. Moreover, compared to the independent 展开更多
关键词 data assimilation ocean general circulation model ocean current temperature profiles sea surface temperature
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An extended variable-grid global ocean circulation model and its preliminary results of the equatorial Pacific circulation 被引量:7
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作者 FANGGuohong WEIZexun +2 位作者 WANGYonggang CHENHaiying WANGXinyi 《Acta Oceanologica Sinica》 SCIE CAS CSCD 2004年第1期23-29,共7页
To investigate the interaction between the tropical Pacific and China seas a variable-grid global ocean circulation model with fine grid covering the area from 20°S to 50°N and from 99° to 150°E is... To investigate the interaction between the tropical Pacific and China seas a variable-grid global ocean circulation model with fine grid covering the area from 20°S to 50°N and from 99° to 150°E is developed. Numerical computation of the annually cyclic circulation fields is performed. The results of the annual mean zonal currents and deep to abyssal western boundary currents in the equatorial Pacific Ocean are reported. The North Equatorial Current,the North Equatorial Countercurrent, the South Equatorial Current and the Equatorial Undercurrent are fairly well simulated. The model well reproduces the northward flowing abyssal western boundary current.From the model results a lower deep western boundary current east of the Bismarck-Solomon-New Hebrides Island chain at depths around 2 000 m has been found. The model results also show that the currents in the equatorial Pacific Ocean have multi-layer structures both in zonal currents and western boundary currents, indicating that the global ocean overturning thermohaline circulation appears of multi-layer pattern. 展开更多
关键词 global ocean circulation model variable grid equatorial Pacific zonal currents lower deep western boundary current abyssal western boundary current
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Lateral Dynamic Analysis and Motion Control of a Jet Trencher in Ocean Currents
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作者 Xiang Li Tao Wang +1 位作者 Min Zhao Tong Ge 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2017年第1期26-31,共6页
In order to control the lateral motion of a jet trencher which is important for stable trenching operation,the oscillation characteristics of the jet trencher are researched. The jet trencher is simplified into a sing... In order to control the lateral motion of a jet trencher which is important for stable trenching operation,the oscillation characteristics of the jet trencher are researched. The jet trencher is simplified into a single degree of freedom model with restoring and damping force. The nonlinear mathematical model of the trencher laterally oscillating in ocean currents is established,and its approximate analytical solution is obtained.Results show that the analytical solution has small differences with numerical solution based on the fourth-order Runge-Kutta method and can effectively describe the underwater oscillation. A double-loop PID controller is designed to control the lateral motion displacement of the trencher to return to the center of the pipeline route which is effective and robust for the propulsion system. 展开更多
关键词 TRENCHER dynamic model analytical solution double-loop control ocean currents
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基于洋流模型的势博弈UWSN分簇路由算法
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作者 李华 汤敏丽 +1 位作者 魏连锁 谭永前 《计算机应用研究》 北大核心 2025年第5期1514-1522,共9页
为了解决水下无线传感器网络节点网络能耗不均和“能量热区”问题,提出一种基于洋流模型的势博弈水下传感器网络分簇路由算法。该算法首先采用基于竞争时间的簇头选举方式,通过综合考虑剩余能量和节点密度对竞争时间的影响来决定广播时... 为了解决水下无线传感器网络节点网络能耗不均和“能量热区”问题,提出一种基于洋流模型的势博弈水下传感器网络分簇路由算法。该算法首先采用基于竞争时间的簇头选举方式,通过综合考虑剩余能量和节点密度对竞争时间的影响来决定广播时间;同时,通过定义竞争半径函数,使距离基站更近的簇群规模更小;然后,构造基于势博弈的节点入簇模型,当该模型达到纳什均衡状态时,得到最优簇群划分方式,完成节点入簇;最后,在簇间数据传输阶段,基于节点深度与剩余能量设计了一种簇间路由选择机制,根据邻居簇头的深度和剩余能量决定各个邻居簇头的转发概率,进而选出最优传输路由。实验结果表明,该算法能有效解决能耗不均和节点“能量热区”问题,相较于LEACH、EEUC、UCUBG和IMCMR-UWSN算法,所提算法将网络生命周期延长了69%、52%、45%和29%,同时具有更高的网络吞吐量。结论表明,该算法在提高网络性能和延长生命周期方面具有显著优势,为水下无线传感器网络的设计与优化提供了新思路。 展开更多
关键词 水下无线传感器网络 洋流模型 竞争半径函数 势博弈
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基于海流能发电的三相PWM整流器模型预测直接功率控制技术研究
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作者 陈璐珈 张明亮 +2 位作者 夏益辉 罗潇 常思棋 《船电技术》 2025年第6期54-58,共5页
在海流能发电中,因海流流速变化较大,输出电压/频率不稳定,为了实现电能的稳定输出,需要进行整流控制。在介绍了PWM整流器基本结构和数学模型基础上,结合海流能发电特点,分析了模型预测直接功率控制方法,并将其与传统直接功率控制技术... 在海流能发电中,因海流流速变化较大,输出电压/频率不稳定,为了实现电能的稳定输出,需要进行整流控制。在介绍了PWM整流器基本结构和数学模型基础上,结合海流能发电特点,分析了模型预测直接功率控制方法,并将其与传统直接功率控制技术性能进行了仿真对比分析,结果表明直接功率控制用于海流能发电的整流控制技术是正确可行的。 展开更多
关键词 海流能发电 PWM整流 模型预测直接功率控制
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大型船舶进港运动仿真及轨迹跟踪方法
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作者 宋学斌 杨天驰 《中国航海》 北大核心 2025年第S1期183-189,共7页
受限水域内大型船舶的操控性能一直是国内外学者研究的热点问题,以一艘230 m垂线间长大型集装箱船为研究对象,基于船舶三自由度非线性MMG模型对运动仿真环境进行了构建;采用比例-积分-微分(PID)控制器对船舶的舵角和螺旋桨转速进行调节... 受限水域内大型船舶的操控性能一直是国内外学者研究的热点问题,以一艘230 m垂线间长大型集装箱船为研究对象,基于船舶三自由度非线性MMG模型对运动仿真环境进行了构建;采用比例-积分-微分(PID)控制器对船舶的舵角和螺旋桨转速进行调节,并且利用遗传算法(GA)对控制器增益参数进行了优化;模拟了船舶在港内环境中,按照预设轨迹在自动控制模式下抵达青岛港无人化集装箱码头前沿的全过程。研究结果对大型集装箱船舶的安全进港操控具有指导意义。 展开更多
关键词 船舶操纵 MMG模型 PID控制器 遗传算法 海流
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西太平洋洋流系统对海平面高度变化的响应:基于区域海洋模式(ROMS)试验
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作者 李振 覃国金 +2 位作者 朱广坤 李兴锐 张彧瑞 《海洋地质与第四纪地质》 北大核心 2025年第2期12-21,共10页
地质历史时期海平面变化叠加在板块运动之上,引起海岸线进退、沿海和陆架区域出露或淹没,从而影响全球大洋环流格局和区域海洋系统。本研究聚焦西太平洋对极端海平面升降的响应,使用区域海洋模式(ROMS)探讨末次盛冰期(LGM)情景下极端低... 地质历史时期海平面变化叠加在板块运动之上,引起海岸线进退、沿海和陆架区域出露或淹没,从而影响全球大洋环流格局和区域海洋系统。本研究聚焦西太平洋对极端海平面升降的响应,使用区域海洋模式(ROMS)探讨末次盛冰期(LGM)情景下极端低海平面SLdrop120(海平面下降120 m)和全球大陆冰盖融化情况下极端高海平面SLrise65(海平面上升65 m)对该区域温盐格局和主要洋流的影响。研究结果显示,海平面升降对该区域洋流系统有重要非线性影响,而对温盐格局影响主要体现在边缘海或靠近大陆边缘区域,且可以通过贯通性变化来解释这些差异。与现代海平面相比,极端低海平面导致近岸陆架海出露、台湾海峡关闭等,切断了西边界流入侵南海,导致东海的黑潮输运向外海方向移动,主轴断面流量减少。与前人考虑LGM冰期气候态的研究结果相比,此减少趋势说明LGM时期海平面降低和冰期气候驱动的效应相抵消。而高海平面则引起岸线向陆推移,渤海等近海海域面积增加、台湾海峡拓宽,使得西边界流向西拓展,对黑潮主流结构有分流作用。关于控制太平洋和印度洋交换的印尼贯穿流ITF,其西支路径因水深较浅而对海平面变化响应更明显。在极端低海平面情景下,卡里马塔海峡关闭、ITF的西支被切断,来自西支的淡水阻塞效应因此消失,这导致通过望加锡海峡的流量反而增加了2.31 Sv(1Sv=1×10^(6)m^(3)/s);相反,在高海平面情景下,西侧的卡里马塔海峡和望加锡海峡均变宽,同时托雷斯海峡打开,使得进入印度洋的流量比现在海平面情景增大。这些结果表明,西太平洋黑潮和印尼贯穿流对海岸线变迁的响应呈非线性规律,并强调了地质历史演化过程中海平面变化对区域洋流的重要作用。 展开更多
关键词 区域海洋模式(ROMS) 东海黑潮(KC) 印尼贯穿流(ITF) 大陆冰量变化 极端海平面升降
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深水井控失效水下油气泄漏溢散模拟
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作者 张杨 田得强 +2 位作者 任美鹏 王承龙 孙莹 《当代化工研究》 2025年第18期35-37,共3页
深水条件下井控失效存在引发油气泄漏的风险,为了解泄漏后果及制定救援措施,需对深水钻井井喷水下的油气泄漏扩散进行模拟。采用Fluent软件模拟水下3000 m处油气泄漏扩散过程,考虑了海水压力、温度和洋流流速等深水环境。结果表明:高泄... 深水条件下井控失效存在引发油气泄漏的风险,为了解泄漏后果及制定救援措施,需对深水钻井井喷水下的油气泄漏扩散进行模拟。采用Fluent软件模拟水下3000 m处油气泄漏扩散过程,考虑了海水压力、温度和洋流流速等深水环境。结果表明:高泄漏流量下的天然气在海面的扩散能力显著增强;高泄漏流量下原油在上升过程中形成的油团规模更大,受洋流水平拖拽作用更明显。研究结果为深海油气泄漏应急响应与井控策略制定提供了理论支撑。 展开更多
关键词 深水油气泄漏 VOF模型 溢散范围 洋流剪切
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Numerical study of current fields near the Changjiang Estuary and impact of Quick-EnKF assimilation 被引量:5
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作者 CHEN Xueen ZHAN Peng +1 位作者 CHEN Jinrui QIAN Hongbao 《Acta Oceanologica Sinica》 SCIE CAS CSCD 2011年第5期33-44,共12页
A 30-d current numerical simulation is running for the Yangshan Port,the Changjiang Estuary,the Hangzhou Bay and their adjacent seas using a finite volume coastal ocean model (FVCOM),with Changjiang River runoff and... A 30-d current numerical simulation is running for the Yangshan Port,the Changjiang Estuary,the Hangzhou Bay and their adjacent seas using a finite volume coastal ocean model (FVCOM),with Changjiang River runoff and wind effect being considered.At the open boundary,this model is driven by the water level obtained from prediction including eight main partial tides.After the harmonic analysis,the cotidal chart and the iso-amplitude line as well as the current ellipse distribution map are displayed to illustrate the propagation property of a tidal wave.Horizontal velocity of both the U and V components coincides with the actual measurement,which shows that the model result is credible to describe the hydrodynamic pattern in this sea area.On this basis,real-time current data from high-frequency radar is assimilated with the implementation of quick ensemble Kalman filter,which takes the variation tendency of the state vector to compute the analysis field,instead of integrating the field for N (the number of ensemble) times as it used to in the standard EnKF,aiming at raising the efficiency of computation,reducing the error of prediction and at the same time,improving the forecast effect. 展开更多
关键词 Yangshan Port finite volume coastal ocean model current quick ensemble Kalman filter ASSIMILATION
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Test Study on Current Force on Mooring Ships 被引量:1
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作者 Zhang, Furan Zhao, Jun Zhang, Xueqin 《China Ocean Engineering》 SCIE EI 1993年第2期225-242,共18页
In respect of an offshore berthing pillar, the test study result of current force acting on mooring ships is described in this paper. Empirical and semi-empirical relationships of current force coefficient are given a... In respect of an offshore berthing pillar, the test study result of current force acting on mooring ships is described in this paper. Empirical and semi-empirical relationships of current force coefficient are given according to the angle between the flow direction and the ship's longitudinal axis, which are coincident with the result of theoretical analysis. 展开更多
关键词 Flow of water Loads (forces) Mathematical models Numerical methods ocean currents Ship models SHIPS
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NUMERICAL SIMULATIONS OF OCEANIC ELEMENTS IN THE SCS AND ITS NEIGHBORING SEA REGIONS FROM JANUARY TO AUGUST IN 1998
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作者 任雪娟 钱永甫 张耀存 《Journal of Tropical Meteorology》 SCIE 2000年第2期132-140,共9页
Studies on oceanic conditions in the South China Sea (SCS) and adjacent waters are helpful for thorough understanding of summer monsoons in East Asia. To have a 3-dimensional picture of how the oceanic currents vary, ... Studies on oceanic conditions in the South China Sea (SCS) and adjacent waters are helpful for thorough understanding of summer monsoons in East Asia. To have a 3-dimensional picture of how the oceanic currents vary, the oceanic elements in the South China Sea (SCS) and its neighboring sea regions in January ~ August 1998 have been simulated by using the improved Princeton University Ocean Model (POM) in this paper. The main results are in good agreement with that of ocean investigations and other simulations. The results show that the SCS branch of the Kuroshio Current is an important part in the north SCS from January to August; the SCS warm current is reproduced clearly in all months except in winter; there always exists a large-scale anti-cyclonic vortex on the right of the Kuroshio Current from January to August. In the model domain, the surface currents of the SCS have the closest relations with the monsoon with an apparent seasonal variation. In addition, the developing characteristics of the SST in the SCS and its neighboring sea regions before and after the summer monsoon onset are also well simulated by the improved POM. Those are the foundation for developing a coupled regional ocean-atmospheric model system. 展开更多
关键词 regional ocean model ocean current SUMMER mons€
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有限宽洋流产生的感应磁场数值分析
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作者 王瑞坤 李腾飞 +2 位作者 刘健 魏宝君 石杰栋 《地球物理学进展》 CSCD 北大核心 2024年第2期770-780,共11页
为了定量计算有限宽洋流产生的感应磁场,建立分层洋流物理模型,提出了有限宽洋流产生的感应磁场的计算方法.依托于分层洋流物理模型,计算矢势,得出有限宽洋流产生感应磁场的数值解.当洋流宽度趋于无穷大时,数值结果与无限宽洋流模型的... 为了定量计算有限宽洋流产生的感应磁场,建立分层洋流物理模型,提出了有限宽洋流产生的感应磁场的计算方法.依托于分层洋流物理模型,计算矢势,得出有限宽洋流产生感应磁场的数值解.当洋流宽度趋于无穷大时,数值结果与无限宽洋流模型的解析结果一致,验证了方法的正确性.基于得到的数值表达式,分析海水宽度以及速度对感应磁场的影响规律.结果表明:对于常速洋流,宽度越大感应磁场在洋流中央的分布越稳定,在边缘处会减小,其次感应磁场在深度方向呈现线性分布的特点;对于水平速度衰减的洋流,洋流宽度以及速度的衰减程度对感应磁场的分布都有明显的影响,在合理的参数范围内,速度的衰减程度对感应磁场的影响更大;对于垂直速度衰减的洋流,感应磁场在深度方向存在一极大值,不同的洋流宽度以及速度衰减程度会对极值点的位置有明显的影响. 展开更多
关键词 有限宽洋流 感应磁场 多层洋流模型 洋流速度 海洋电磁探测
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时空注意力图卷积神经网络水下节点时钟同步算法
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作者 李华 邓金燕 《凯里学院学报》 2024年第3期71-80,共10页
时钟同步是水下无线传感器网络工作的核心机制.实时、准确的节点移动速度是构建高精度时钟同步算法的重要保障,针对同步过程由于节点移动速度难以估算导致同步精度低和能耗高等问题,提出一种基于注意力机制和图卷积神经网络相结合的时... 时钟同步是水下无线传感器网络工作的核心机制.实时、准确的节点移动速度是构建高精度时钟同步算法的重要保障,针对同步过程由于节点移动速度难以估算导致同步精度低和能耗高等问题,提出一种基于注意力机制和图卷积神经网络相结合的时钟同步算法.首先,利用深海拉格朗日洋流模型模拟节点的运动轨迹,由洋流模型粗略估计出节点的速度;对节点速度、水下环境信息集和时间占比进行融合处理,来作为图神经网络输入特征;其次使用注意力机制结合输入特征构建时空注意力权重矩阵,并根据特征数据自适应地调整权重矩阵;再联合图卷积神经网络捕捉节点速度之间、位移之间的空间性特征;在此基础上再堆叠标准卷积层进一步合并相邻时间的节点信息以获取时间相关性,然后构造节点移动模型进而实时有效地预测出节点移动速度,最后快速计算出节点动态的传播时延完成时钟同步.实验结果表明,本文算法在精度上分别比TSHL算法、D-sync算法、K-sync算法提升了26%、20%和11%,在能耗上也优于现有的时钟同步算法. 展开更多
关键词 时钟同步 洋流模型 注意力机制 图卷积神经网络
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浅谈OBN节点配重对点位偏移的影响
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作者 任宜林 薛立武 +2 位作者 宋立辉 井乔 封召鹏 《物探装备》 2024年第6期384-388,共5页
OBN是当前海洋地震采集的主流方法,其点位精度是评鉴地震采集资料的主要因素之一。在实际海上勘探作业中,使用GPS及其他定位系统按照设计坐标在海面投放节点,由于受到OBN节点自身重力、海水浮力、人工抛掷误差、船体运行速度、海浪洋流... OBN是当前海洋地震采集的主流方法,其点位精度是评鉴地震采集资料的主要因素之一。在实际海上勘探作业中,使用GPS及其他定位系统按照设计坐标在海面投放节点,由于受到OBN节点自身重力、海水浮力、人工抛掷误差、船体运行速度、海浪洋流等因素的影响,OBN的实际沉底点位往往偏离预设位置。本文以OBN节点自重为研究对象,研究不同的洋流方向流速对不同自重的节点点位偏移的影响,并将其与实际结合。 展开更多
关键词 OBN 力学模型 粘滞阻力 洋流 点位偏移
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Geomorphology visualization modeling and tidal current virtual reality for coastal ocean
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作者 MA Jingsong GE Chengdong HUANG Xingyuan 《Chinese Science Bulletin》 SCIE EI CAS 2001年第S1期87-90,共4页
The new technology of geomorphology visualization modeling and virtual reality for tidal current numerical simulation are the important methods utilized in coastal ocean research. In the project of studying the evolut... The new technology of geomorphology visualization modeling and virtual reality for tidal current numerical simulation are the important methods utilized in coastal ocean research. In the project of studying the evolutionary trend of radial sand ridges in South Yellow Sea of China, this method becomes the key to reveal the correlation betweenthe seabed topography and the hydrodynamic factor——tidal current. It is proved that using the geomorphology visualization and tidal virtual reality techniques, oceanog-raphers might be able to intuitively discover the interaction pattern of sand ridges and tidal current, predicting the development of sand ridge stability in the future. Furthermore,a prototypic software system——VROcean was designed andimplemented to examine the performance of the new visualization technology on the contrast to traditional methods. 展开更多
关键词 GEOMORPHOLOGY visualization model TIDAL current simu- lation virtual REALITY COASTAL ocean.
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未知海流干扰下基于滑模和强化学习的AUV环境最优定位控制
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作者 丁朗 田玉平 《工业控制计算机》 2024年第12期55-57,79,共4页
自主水下航行器(AUV)是海洋探索和开发的重要工具之一。当AUV执行海洋任务时,由于其本体水动力参数的不确定性和未知海流、内波等外在因素的干扰,AUV的精确定位控制具有很大的挑战性。针对欠驱动AUV环境最优艏向定位控制问题,提出了一... 自主水下航行器(AUV)是海洋探索和开发的重要工具之一。当AUV执行海洋任务时,由于其本体水动力参数的不确定性和未知海流、内波等外在因素的干扰,AUV的精确定位控制具有很大的挑战性。针对欠驱动AUV环境最优艏向定位控制问题,提出了一种基于强化学习补偿的滑模控制方法。首先,利用固定坐标系与AUV体坐标系间的转移关系,建立了考虑海流流速作用的三自由度欠驱动AUV数学模型。其次,根据环境最优艏向控制原理,设计了AUV的位置滑模控制器和姿态滑模控制器。为了克服AUV模型存在的不确定性和海流流速不确定性,采用深度确定性策略梯度(DDPG)算法设计了强化学习神经网络,对上述两种不确定性在滑模控制中造成的严重干扰进行自适应估计补偿。最后,在海流情况下进行模拟仿真,结果表明,所提出的方法能有效实现AUV环境最优定位控制,并对外界扰动具有良好的鲁棒性,精度明显优于经典滑模控制。 展开更多
关键词 自主水下航行器 滑模控制 强化学习 环境最优控制 海流干扰
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海流建模及其在路径规划中的应用 被引量:13
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作者 高博 徐德民 +1 位作者 张福斌 严卫生 《系统仿真学报》 CAS CSCD 北大核心 2010年第4期957-961,共5页
对水下航行器进行路径规划时,除了要考虑所规划的路径长度外,还需要考虑所规划路径满足航行器能量消耗约束,其中海流是影响航行器能量消耗的重要因素,为考虑海流对路径规划的影响,这里提出了一种利用B样条曲面对动态海流环境进行建模的... 对水下航行器进行路径规划时,除了要考虑所规划的路径长度外,还需要考虑所规划路径满足航行器能量消耗约束,其中海流是影响航行器能量消耗的重要因素,为考虑海流对路径规划的影响,这里提出了一种利用B样条曲面对动态海流环境进行建模的方法,并将海流对航行器能量消耗的影响作为约束函数应用到路径规划算法中,使航行器能够在路径的搜索过程中,综合考虑全局路径消耗和能量消耗,寻找能够实现目标函数最优的路径;另外考虑到海流各向异性、时变的特性,对路径规划算法进行改进,使航行器规划路径能够利用海流模型,避开局部湍流,并根据动态海流信息实时对所设计路径进行修正。通过仿真验证,将建立的海流模型应用到路径规划算法后,改进的路径规划算法可以利用海流减少航行器的能源消耗,根据海流的实时变化调整航行路径,航行器满足安全运动条件,并实现在满足能源消耗前提下的路径长度最优。 展开更多
关键词 B样条曲面 海流模型 能量消耗函数 路径规划
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