CN117949956A - Water depth value calculation method, device, equipment and storage medium - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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Abstract
The application provides a water depth value calculating method, a device, equipment and a storage medium.
Description
Technical Field
The present application relates to the field of signal processing, and in particular, to a method, an apparatus, a device, and a storage medium for calculating a water depth value.
Background
The single-beam depth finder is widely applied to the field of underwater sound detection and has the advantages of low cost and convenient use in engineering application. The single-beam sounding instrument transmits a single-frequency pulse sound wave, the sound wave signal propagates and reflects in water, the sounding instrument receives and collects echo signals, the echo signals are processed to obtain measurement frames, and the measurement frames are processed to obtain water depth values. In the current single-beam bottom detection common echo maximum peak detection method, an echo envelope signal, namely an index of the maximum sampling time of a measurement frame, is used as echo time delay, so that the water depth is calculated. However, because the underwater environment is complex and changeable, the echo signal is easy to be interfered by noise, and the conventional bottom detection method only depends on the maximum value of the echo signal to judge and calculate the water depth, so that the environment with large noise and fluctuation of the topography is difficult to cope with, and the water depth calculation is inaccurate.
Disclosure of Invention
The embodiment of the application provides a water depth value calculating method, a device, equipment and a storage medium, which are used for solving at least one problem existing in the related technology, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for calculating a water depth value, including:
acquiring historical frame data and current measurement frames, wherein the historical frame data comprises a preset number of historical measurement frames, and the historical measurement frames and the current measurement frames are acquired based on echo signals acquired by transmitting single-frequency pulse sound waves;
fitting the first sampling index of each history measurement frame to determine an index estimation value;
filtering a second sampling index of the current measurement frame through the index estimation value to determine a target sampling index;
And calculating the target water depth value of the current measurement frame according to the target sampling index.
In one embodiment, the filtering, by the index estimation value, the second sampling index of the current measurement frame, and determining the target sampling index includes:
Determining an index value range according to a preset coefficient and the index estimation value;
determining candidate sampling indexes corresponding to a preset number of maximum intensity values from the current measurement frame;
determining a target candidate sampling index according to the index value range and the candidate sampling index;
And iterating according to the target candidate sampling index to determine a target sampling index.
In one embodiment, the determining a target candidate sample index from the index value range and the candidate sample index includes:
according to the index value range, carrying out first filtering on candidate sampling indexes which are positioned outside the index value range to obtain a first filtering result;
determining a target historical measurement frame in a preset frame number of historical measurement frames, and acquiring a historical maximum intensity value in the target historical measurement frame;
Determining a threshold intensity value according to the historical maximum intensity value and a preset threshold;
determining a maximum intensity value corresponding to a candidate sampling index in the filtering result, and performing second filtering on the candidate sampling index corresponding to the maximum intensity value in the filtering result when the maximum intensity value is smaller than the threshold intensity value to obtain a second filtering result;
and determining the smallest candidate sampling index in the second filtering result as a target candidate sampling index.
In one embodiment, the iterating according to the target candidate sample index, and determining the target sample index includes:
When the target candidate sampling index is empty, taking the index estimation value as a target sampling index;
Or alternatively
When the target candidate sampling index is not empty, subtracting a first preset value from the target candidate sampling index to obtain an updated sampling index;
Acquiring a historical maximum intensity value in a target historical measurement frame, determining an intensity value corresponding to an updated sampling index, and taking the updated sampling index as a target sampling index when the intensity value is smaller than the historical maximum intensity value;
and when the intensity value is greater than or equal to the historical maximum intensity value, taking the updated sampling index as a new target candidate sampling index, and returning to the step of subtracting a first preset value from the target candidate sampling index until the intensity value is smaller than the historical maximum intensity value.
In one embodiment, the method further comprises:
Removing the history measurement frame with earliest time in the history frame data, and generating new history frame data according to the rest history measurement frames and the current measurement frame;
Taking the current measurement frame as a new target historical measurement frame, arranging a preset number of maximum intensity values from at least one, taking the largest intensity value at the forefront of the arrangement as the new historical maximum intensity value, and taking the target sampling index as a first sampling index of the current measurement frame;
And returning to the step of acquiring the current measurement frame.
In one embodiment, the calculating the target water depth value of the current measurement frame according to the target sampling index includes:
Determining a sampling rate and a sound velocity;
Determining a first ratio of the target sampling index to the sampling rate, and determining a second ratio of the speed of sound to a second preset value;
and obtaining a target water depth value of the current measurement frame according to the product of the first ratio and the second ratio.
In one embodiment, the fitting the first sampling index of each of the historical measurement frames, determining the index estimation value includes:
And fitting the first sampling index of each history measurement frame by a least square method to obtain the index estimated value.
In a second aspect, an embodiment of the present application provides a water depth value calculating apparatus, including:
the acquisition module is used for acquiring historical frame data and acquiring current measurement frames, wherein the historical frame data comprises a preset number of historical measurement frames, and the historical measurement frames and the current measurement frames are acquired based on echo signals acquired by transmitting single-frequency pulse sound waves;
the processing module is used for carrying out fitting processing on the first sampling indexes of each history measurement frame to determine an index estimated value;
The filtering module is used for filtering the second sampling index of the current measurement frame through the index estimation value to determine a target sampling index;
and the calculating module is used for calculating the target water depth value of the current measurement frame according to the target sampling index.
In one embodiment, the computing module is further to:
Removing the history measurement frame with earliest time in the history frame data, and generating new history frame data according to the rest history measurement frames and the current measurement frame;
Taking the current measurement frame as a new target historical measurement frame, arranging a preset number of maximum intensity values from at least one, taking the largest intensity value at the forefront of the arrangement as the new historical maximum intensity value, and taking the target sampling index as a first sampling index of the current measurement frame;
And returning to the step of acquiring the current measurement frame.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory in which instructions are stored, the instructions being loaded and executed by the processor to implement the method of any of the embodiments of the above aspects.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program, which when executed implements a method in any one of the embodiments of the above aspects.
The beneficial effects in the technical scheme at least comprise:
The method comprises the steps of obtaining historical frame data comprising a plurality of historical measurement frames with preset frame number and obtaining a current measurement frame, carrying out fitting processing on first sampling indexes of each historical measurement frame, determining an index estimation value, filtering second sampling indexes of the current measurement frame through the index estimation value, determining a target sampling index, and being beneficial to filtering abnormal points and the second sampling indexes corresponding to the abnormal points, and then calculating a target water depth value of the current measurement frame according to the target sampling index, so that accuracy of water depth calculation is improved.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
FIG. 1 is a flow chart illustrating steps of a method for calculating a water depth value according to an embodiment of the present application;
Fig. 2 (a) is a schematic diagram of single beam echo signal sounding in a conventional method, and fig. 2 (b) is a schematic diagram of single beam echo signal sounding in a method according to an embodiment of the present application;
FIG. 3 is a block diagram showing a water depth value calculating apparatus according to an embodiment of the present application;
fig. 4 is a block diagram of an electronic device according to an embodiment of the application.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
Referring to fig. 1, a flowchart of a water depth value calculating method according to an embodiment of the present application is shown, and the water depth value calculating method may at least include steps S100-S400:
S100, acquiring historical frame data and acquiring a current measurement frame.
Optionally, the historical frame data includes a preset number of historical measurement frames, and the historical measurement frames and the current measurement frame are obtained based on echo signals acquired by transmitting the single-frequency pulse sound wave. It should be noted that the preset frame number may be adjusted based on practical situations, for example, taking the preset frame number as 5 as an example, the history frame data includes the preset frame number of 5 history measurement frames. The method comprises the steps of transmitting single-frequency pulse sound waves at one time, then collecting echo signals, and carrying out digital down-conversion on the echo signals through a general method to obtain envelope signal data of the echo, namely a measurement frame, wherein an abscissa in the measurement frame is a sampling point index, and an ordinate is an intensity value. For example, the single-frequency pulse sound wave is emitted for 6 times according to the time sequence, and the processing is performed, so that 5 historical measurement frames and 1 current measurement frame can be obtained, and then the 5 historical measurement frames are cached.
And S200, fitting the first sampling indexes of each historical measurement frame to determine an index estimated value.
S300, filtering a second sampling index of the current measurement frame through the index estimation value to determine a target sampling index.
S400, calculating a target water depth value of the current measurement frame according to the target sampling index.
The water depth value calculation method of the embodiment of the application can be executed by an electronic control unit, a controller, a processor and the like of a terminal such as a computer, a mobile phone, a tablet, a vehicle-mounted terminal and the like, and also can be executed by a cloud server.
According to the technical scheme, the historical frame data comprising the historical measurement frames with the preset frame number and the current measurement frames are obtained, fitting processing is carried out on the first sampling indexes of all the historical measurement frames, the index estimated value is determined, the second sampling indexes of the current measurement frames are filtered through the index estimated value, the target sampling indexes are determined, abnormal points and the second sampling indexes corresponding to the abnormal points are filtered, then the target water depth value of the current measurement frames is calculated according to the target sampling indexes, and accuracy of water depth calculation is improved.
In one embodiment, in step S200, the first sampling indexes of the 5 history measurement frames form a sampling point index array, where h=h 1,h2,......h5,h1 represents the first sampling index of the 1 st history measurement frame, and the fitting process is performed on the first sampling indexes of the history measurement frames by using the least square method, so as to obtain an index estimated value h est'. It should be noted that, since there is no buffered history data before the first 5 history measurement frames, the first 5 history measurement frames are determined based on a conventional manner, and the processing is performed by using the method of the embodiment of the present application starting from the 6 th frame, i.e., the current measurement frame.
In one embodiment, step S300 includes steps S310-S340:
S310, determining an index value range according to the preset coefficient and the index estimation value.
For example, the preset coefficients may include 0.9 and 1.1, and the product of the index estimation value h est ' and 0.9 and the product of the index estimation value h est ' and 1.1 are calculated to determine the index value range (0.9 h est',1.1hest ').
S320, determining candidate sampling indexes corresponding to a preset number of maximum intensity values from the current measurement frame.
Alternatively, the preset number is based on actual adjustment, for example taking the preset number as 3 as an example. For example, the current measurement frame S (s=s 1,s2,...,sL),L is the frame length, S 1 is the intensity value of the 1 st second sampling index, and it is assumed that the intensity value of S 6、s7、s8 is the largest, so the second sampling indexes corresponding to the three largest intensity values are 6, 7, and 8, and the second sampling indexes 6, 7, and 8 corresponding to the three largest intensity values are candidate sampling indexes.
S330, determining a target candidate sampling index according to the index value range and the candidate sampling index.
Optionally, step S330 includes steps S3301-S3305:
S3301, according to the index value range, performing first filtering on candidate sampling indexes outside the index value range to obtain a first filtering result.
Optionally, using the index value range (0.9 h est',1.1hest '), performing first filtering on the candidate sampling indexes outside the index value range (0.9 h est',1.1hest ') to obtain a first filtering result, wherein the candidate sampling indexes in the index value range (0.9 h est',1.1hest ') are left in the first filtering result.
S3302, determining a target historical measurement frame in a preset frame number of historical measurement frames, and acquiring a historical maximum intensity value in the target historical measurement frame.
Alternatively, the last, i.e., 5 th, history measurement frame in time series is taken as the target history measurement frame, and other history measurement frames may be taken as the target history measurement frames in other embodiments. Then, a historical maximum intensity value a max in the target historical measurement frame is acquired.
S3303, determining a threshold intensity value according to the historical maximum intensity value and a preset threshold.
Alternatively, the preset threshold may be adjusted based on the signal-to-noise ratio, for example 30%, so that the threshold intensity value 30% a max is determined based on the product of the historical maximum intensity value and the preset threshold.
S3304, determining a maximum intensity value corresponding to the candidate sampling index in the filtering result, and performing second filtering on the candidate sampling index corresponding to the maximum intensity value in the filtering result when the maximum intensity value is smaller than a threshold intensity value to obtain a second filtering result.
Optionally, determining a maximum intensity value corresponding to the candidate sample index in the filtering result, and when the maximum intensity value is less than the threshold intensity value 30% a max, performing second filtering on the candidate sample index corresponding to the maximum intensity value in the filtering result to obtain a second filtering result, so that the candidate sample index corresponding to the maximum intensity value greater than or equal to the threshold intensity value 30% a max remains in the second filtering result.
S3305, determining the smallest candidate sampling index in the second filtering result as a target candidate sampling index.
Optionally, the smallest candidate sample index in the second filtering result is determined as the target candidate sample index. For example, the second filtering result has candidate sampling indexes 6 and 7, and the candidate sampling index 6 is taken as a target candidate sampling index h now'.
S340, iterating according to the target candidate sampling index to determine the target sampling index.
Optionally, step S340 includes step S3401 or S3402, and step S3402 includes steps S34021-S34023:
and S3401, when the target candidate sampling index is empty, taking the index estimation value as the target sampling index.
Optionally, when the target candidate sample index h now' is empty, the index estimate h est' is taken as the target sample index h now.
S34021, when the target candidate sampling index is not empty, subtracting the first preset value from the target candidate sampling index to obtain an updated sampling index.
Optionally, taking the first preset value as1 as an example, when the target candidate sampling index h now' is not null, subtracting the first preset value from the target candidate sampling index to obtain an updated sampling index, i.e. updated sampling index=h now' -1.
S34022, acquiring a historical maximum intensity value in a target historical measurement frame, determining an intensity value corresponding to the updated sampling index, and taking the updated sampling index as the target sampling index when the intensity value is smaller than the historical maximum intensity value.
Optionally, a historical maximum intensity value a max in the target historical measurement frame is acquired, an intensity value corresponding to the updated sampling index in the current measurement frame is determined, and when the intensity value is smaller than the historical maximum intensity value, the updated sampling index is used as the target sampling index h now.
S34023, when the intensity value is greater than or equal to the historical maximum intensity value, taking the updated sampling index as a new target candidate sampling index, and returning to the step of subtracting the first preset value from the target candidate sampling index until the intensity value is smaller than the historical maximum intensity value.
Optionally, if the intensity value is greater than or equal to the historical maximum intensity value a max, taking the updated sampling index as a new target candidate sampling index, returning to the step of subtracting the first preset value from the target candidate sampling index until the intensity value is less than the historical maximum intensity value, stopping calculation, and taking the updated sampling index at the moment as a target sampling index h now.
In one embodiment, step S400 includes steps S410-S430:
S410, determining the sampling rate and the sound velocity.
The sampling rate is determined based on the cut-off frequency of a low-pass filter in digital down-conversion, and the nyquist sampling theorem is satisfied.
S420, determining a first ratio of the target sampling index to the sampling rate and determining a second ratio of the sound velocity to a second preset value.
S430, obtaining a target water depth value of the current measurement frame according to the product of the first ratio and the second ratio. Specifically, the calculation formula of the target water depth value H of the current measurement frame is:
h=h now/sample rate x sound velocity/2
In one implementation manner, the water depth value calculating method according to the embodiment of the present application may further include steps S510 to S530:
S510, removing the historical measurement frame with the earliest time in the historical frame data, and generating new historical frame data according to the remaining historical measurement frame and the current measurement frame.
Optionally, the historical measurement frame with the earliest time in the historical frame data is removed, namely the 1 st historical measurement frame is removed, and the remaining 4 historical measurement frames and the current measurement frame form new historical frame data.
S520, taking the current measurement frame as a new target historical measurement frame, arranging at least a preset number of maximum intensity values from large, taking the largest intensity value at the forefront of the arrangement as the new historical maximum intensity value, and taking the target sampling index as the first sampling index of the current measurement frame.
In the embodiment of the present application, since the 5 th historical measurement frame is taken as the target historical measurement frame, the method is equivalent to taking the current measurement frame as the new target historical measurement frame, arranging at least a preset number of maximum intensity values from large, arranging the foremost maximum intensity value as the new historical maximum intensity value, for example, arranging at least a preset number of maximum intensity values from large as s 6、s7、s8, arranging the foremost maximum intensity value A max' as the new historical maximum intensity value Amax, and taking the target sampling index h now as the first sampling index of the current measurement frame.
S530, returning to the step of acquiring the current measurement frame.
Optionally, the first sampling index of the current measurement frame and the first sampling indexes of the remaining 4 historical measurement frames form a new sampling point index array, after obtaining new historical frame data, the step of obtaining the current measurement frame is returned, namely the step of obtaining the current measurement frame in the step S100, the new current measurement frame is determined to perform similar processing, and a new target water depth value corresponding to the new current measurement frame is obtained. Thus, a final target water depth value, i.e. a final water depth result corresponding to each current measurement frame, may be determined for each final current measurement frame.
As shown in fig. 2 (a) and fig. 2 (b), waveforms of signals are displayed, the waveforms are formed by multiple frames of single-beam echo signals according to columns, intensity of each frame of signal corresponds to color depth, a target water depth value represented by a black point is calculated by each frame of signal, the target water depth value is horizontally displayed in a display control software from right to left according to a frame rate, and the ordinate is the water depth value.
In summary, by the method of the embodiment of the application, in the signal processing process, the current measurement frame peak value (maximum intensity value) is searched for the current measurement frame, and then the condition filtering is performed by the index value range and the threshold intensity value determined based on the historical maximum intensity value and the preset threshold, so that the abnormal point is judged and removed.
Referring to fig. 3, there is shown a block diagram of a water depth value calculating apparatus according to an embodiment of the present application, which may include:
the acquisition module is used for acquiring historical frame data and current measurement frames, wherein the historical frame data comprises a preset number of historical measurement frames, and the historical measurement frames and the current measurement frames are acquired based on echo signals acquired by transmitting single-frequency pulse sound waves;
the processing module is used for carrying out fitting processing on the first sampling indexes of each historical measurement frame and determining an index estimated value;
The filtering module is used for filtering the second sampling index of the current measurement frame through the index estimation value to determine a target sampling index;
and the calculating module is used for calculating the target water depth value of the current measurement frame according to the target sampling index.
In one embodiment, the computing module is further to:
Removing the history measurement frame with earliest time in the history frame data, and generating new history frame data according to the rest history measurement frames and the current measurement frames;
Taking the current measurement frame as a new target historical measurement frame, arranging at least a preset number of maximum intensity values, taking the largest intensity value at the forefront of the arrangement as the new historical maximum intensity value, and taking the target sampling index as a first sampling index of the current measurement frame;
returning to the step of acquiring the current measurement frame.
The functions of each module in each device of the embodiments of the present application may be referred to the corresponding descriptions in the above methods, and are not described herein again.
Referring to fig. 4, a block diagram of an electronic device according to an embodiment of the present application is shown, the electronic device including: memory 310 and processor 320, memory 310 stores instructions executable on processor 320, and processor 320 loads and executes the instructions to implement the water depth value calculation method in the above embodiment. Wherein the number of memory 310 and processors 320 may be one or more.
In one embodiment, the electronic device further includes a communication interface 330 for communicating with an external device for data interactive transmission. If the memory 310, the processor 320 and the communication interface 330 are implemented independently, the memory 310, the processor 320 and the communication interface 330 may be connected to each other and communicate with each other through buses. The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, peripheral interconnect (Peripheral ComponentInterconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 310, the processor 320, and the communication interface 330 are integrated on a chip, the memory 310, the processor 320, and the communication interface 330 may communicate with each other through internal interfaces.
An embodiment of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the water depth value calculation method provided in the above embodiment.
The embodiment of the application also provides a chip, which comprises a processor and is used for calling the instructions stored in the memory from the memory and running the instructions stored in the memory, so that the communication equipment provided with the chip executes the method provided by the embodiment of the application.
The embodiment of the application also provides a chip, which comprises: the input interface, the output interface, the processor and the memory are connected through an internal connection path, the processor is used for executing codes in the memory, and when the codes are executed, the processor is used for executing the method provided by the application embodiment.
It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (DIGITAL SIGNAL processing, DSP), application Specific Integrated Circuit (ASIC), field programmable gate array (fieldprogrammablegate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an advanced reduced instruction set machine (ADVANCED RISC MACHINES, ARM) architecture.
Further, optionally, the memory may include a read-only memory and a random access memory, and may further include a nonvolatile random access memory. The memory may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may include a read-only memory (ROM), a Programmable ROM (PROM), an erasable programmable ROM (erasable PROM), an electrically erasable programmable EPROM (EEPROM), or a flash memory, among others. Volatile memory can include random access memory (random access memory, RAM), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available. For example, static random access memory (STATIC RAM, SRAM), dynamic random access memory (dynamic random access memory, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (doubledata DATE SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINK DRAM, SLDRAM), and direct memory bus random access memory (direct rambus RAM, DR RAM).
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with the present application are fully or partially produced. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices. Computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another.
In the description of the present specification, a description referring to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Any process or method description in a flowchart or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process. And the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed in a substantially simultaneous manner or in an opposite order from that shown or discussed, including in accordance with the functions that are involved.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the methods of the embodiments described above may be performed by a program that, when executed, comprises one or a combination of the steps of the method embodiments, instructs the associated hardware to perform the method.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules described above, if implemented in the form of software functional modules and sold or used as a stand-alone product, may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (10)
1. A water depth value calculation method, comprising:
acquiring historical frame data and current measurement frames, wherein the historical frame data comprises a preset number of historical measurement frames, and the historical measurement frames and the current measurement frames are acquired based on echo signals acquired by transmitting single-frequency pulse sound waves;
fitting the first sampling index of each history measurement frame to determine an index estimation value;
filtering a second sampling index of the current measurement frame through the index estimation value to determine a target sampling index;
And calculating the target water depth value of the current measurement frame according to the target sampling index.
2. The water depth value calculation method according to claim 1, wherein: the filtering the second sampling index of the current measurement frame through the index estimation value, and determining a target sampling index includes:
Determining an index value range according to a preset coefficient and the index estimation value;
determining candidate sampling indexes corresponding to a preset number of maximum intensity values from the current measurement frame;
determining a target candidate sampling index according to the index value range and the candidate sampling index;
And iterating according to the target candidate sampling index to determine a target sampling index.
3. The water depth value calculation method according to claim 2, wherein: the determining a target candidate sample index according to the index value range and the candidate sample index includes:
according to the index value range, carrying out first filtering on candidate sampling indexes which are positioned outside the index value range to obtain a first filtering result;
determining a target historical measurement frame in a preset frame number of historical measurement frames, and acquiring a historical maximum intensity value in the target historical measurement frame;
Determining a threshold intensity value according to the historical maximum intensity value and a preset threshold;
determining a maximum intensity value corresponding to a candidate sampling index in the filtering result, and performing second filtering on the candidate sampling index corresponding to the maximum intensity value in the filtering result when the maximum intensity value is smaller than the threshold intensity value to obtain a second filtering result;
and determining the smallest candidate sampling index in the second filtering result as a target candidate sampling index.
4. The water depth value calculation method according to claim 2, wherein: the iterating according to the target candidate sampling index, and determining the target sampling index includes:
When the target candidate sampling index is empty, taking the index estimation value as a target sampling index;
Or alternatively
When the target candidate sampling index is not empty, subtracting a first preset value from the target candidate sampling index to obtain an updated sampling index;
Acquiring a historical maximum intensity value in a target historical measurement frame, determining an intensity value corresponding to an updated sampling index, and taking the updated sampling index as a target sampling index when the intensity value is smaller than the historical maximum intensity value;
and when the intensity value is greater than or equal to the historical maximum intensity value, taking the updated sampling index as a new target candidate sampling index, and returning to the step of subtracting a first preset value from the target candidate sampling index until the intensity value is smaller than the historical maximum intensity value.
5. The water depth value calculation method according to claim 3 or 4, wherein: the method further comprises the steps of:
Removing the history measurement frame with earliest time in the history frame data, and generating new history frame data according to the rest history measurement frames and the current measurement frame;
Taking the current measurement frame as a new target historical measurement frame, arranging a preset number of maximum intensity values from at least one, taking the largest intensity value at the forefront of the arrangement as the new historical maximum intensity value, and taking the target sampling index as a first sampling index of the current measurement frame;
And returning to the step of acquiring the current measurement frame.
6. The water depth value calculation method according to any one of claims 1 to 4, wherein: the calculating the target water depth value of the current measurement frame according to the target sampling index comprises:
Determining a sampling rate and a sound velocity;
Determining a first ratio of the target sampling index to the sampling rate, and determining a second ratio of the speed of sound to a second preset value;
and obtaining a target water depth value of the current measurement frame according to the product of the first ratio and the second ratio.
7. The water depth value calculation method according to any one of claims 1 to 4, wherein: fitting the first sampling index of each history measurement frame, and determining an index estimation value includes:
And fitting the first sampling index of each history measurement frame by a least square method to obtain the index estimated value.
8. A water depth value calculation apparatus, comprising:
the acquisition module is used for acquiring historical frame data and acquiring current measurement frames, wherein the historical frame data comprises a preset number of historical measurement frames, and the historical measurement frames and the current measurement frames are acquired based on echo signals acquired by transmitting single-frequency pulse sound waves;
the processing module is used for carrying out fitting processing on the first sampling indexes of each history measurement frame to determine an index estimated value;
The filtering module is used for filtering the second sampling index of the current measurement frame through the index estimation value to determine a target sampling index;
and the calculating module is used for calculating the target water depth value of the current measurement frame according to the target sampling index.
9. An electronic device, comprising: a processor and a memory in which instructions are stored, the instructions being loaded and executed by the processor to implement the method of any one of claims 1 to 7.
10. A computer readable storage medium having stored therein a computer program which when executed implements the method of any of claims 1-7.
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