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CN109490906A - A kind of boat-carrying wave dynamic measurement device based on laser radar - Google Patents

A kind of boat-carrying wave dynamic measurement device based on laser radar Download PDF

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Publication number
CN109490906A
CN109490906A CN201811450032.6A CN201811450032A CN109490906A CN 109490906 A CN109490906 A CN 109490906A CN 201811450032 A CN201811450032 A CN 201811450032A CN 109490906 A CN109490906 A CN 109490906A
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wave
ship
lidar
floating block
cos
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CN109490906B (en
Inventor
柳晨光
毛庆洲
初秀民
谢朔
王芳
闫保芳
胡伟
吴安磊
刘荣荣
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Wuhan University WHU
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Wuhan University WHU
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

本发明提供一种基于激光雷达的船载波浪动态测量装置，包括激光雷达、工控机、GNSS差分接收机、姿态仪、支架、漂浮块和限位块，激光雷达、工控机、GNSS差分接收机和姿态仪安装在船首，支架、漂浮块和限位块安装在船首外舷；激光雷达、GNSS差分接收机、姿态仪与工控机相连，其中，激光雷达用于实时获取漂浮块的位置；GNSS差分接收机用于实时获取精确的世界大地坐标；姿态仪用于实时获取船舶姿态角，工控机用于根据激光雷达、GNSS差分接收机、姿态仪获取的结果提取波浪动态测量结果；漂浮块和限位块安装在竖杆上，竖杆依靠支架固定在船首前侧。本发明可以在船舶航行过程中动态测量波浪高度和周期，可为船舶自动驾驶导航和海洋气象部门提供信息支持和服务。

The invention provides a shipborne wave dynamic measurement device based on laser radar, including laser radar, industrial computer, GNSS differential receiver, attitude meter, bracket, floating block and limit block, laser radar, industrial computer, GNSS differential receiver and attitude instrument are installed on the bow, and the bracket, floating block and limit block are installed on the outer side of the bow; the lidar, GNSS differential receiver, and attitude instrument are connected to the industrial computer, among which, the lidar is used to obtain the position of the floating block in real time; GNSS The differential receiver is used to obtain accurate world geodetic coordinates in real time; the attitude meter is used to obtain the ship's attitude angle in real time, and the industrial computer is used to extract the wave dynamic measurement results based on the results obtained by the lidar, GNSS differential receiver, and attitude meter; the floating block and the The limit block is installed on the vertical rod, and the vertical rod is fixed on the front side of the bow by means of a bracket. The invention can dynamically measure the wave height and period during the navigation of the ship, and can provide information support and services for the automatic driving navigation of the ship and the marine meteorological department.

Description

A kind of boat-carrying wave dynamic measurement device based on laser radar
Technical field
The invention belongs to hydrographic surveys, while being related to the information processing technology of laser radar, specially a kind of to be based on laser The boat-carrying wave dynamic measurement device of radar.
Background technique
It is difficult real-time measurement wave value (wave height and period) when ship's navigation, and wave will have a direct impact on ship's navigation peace Entirely.Especially in navigation at night, visually it is not easy direct estimation wave height and period, can be brought to driver's manipulation ship hidden Suffer from；Meanwhile for automatic Pilot ship, wave information is also required to be supplied to policymaker as environment sensing information.Therefore, it designs A kind of device that can dynamically measure wave be very it is necessary to.
Wave height recorder mainly has the forms such as condenser type, ultrasonic type and resistance-type, servo-type at present, and they are nearly all solid It is fixed to measure in water, the wave measurement that they can not be directly used in around vessel underway oceangoing ship.Alternatively, it is also possible to pass through synthesis Aperture radar (SAR radar) sea echo analyzes inverting wave size, but this method is only suitable for large-scale classification of seas Analysis, can not accomplish real-time detection wave size.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of boat-carrying wave dynamic measurement device based on laser radar.
The technical solution taken by the invention to solve the above technical problem is a kind of boat-carrying wave based on laser radar Dynamic measurement device, it is characterised in that: including laser radar, industrial personal computer, GNSS differential receivers, posture instrument, bracket, buoyant block And limited block, laser radar, industrial personal computer, GNSS differential receivers and posture instrument are mounted on bow, bracket, buoyant block and limited block It is mounted on bow outboard.
Laser radar, GNSS differential receivers, posture instrument are connected with industrial personal computer, wherein laser radar for obtaining in real time The position of buoyant block；GNSS differential receivers for obtaining accurate world's geodetic coordinates in real time；Posture instrument for obtaining in real time Attitude of ship angle, industrial personal computer are used to extract wave dynamic according to the result that laser radar, GNSS differential receivers, posture instrument obtain Measurement result；
Buoyant block and limited block are mounted on vertical bar, and vertical bar is fixed on front side of bow by bracket, wherein limited block is fixed On vertical bar, the moving limit of buoyant block is limited.
Moreover, the laser radar is mounted on bow front end, by the way of scanning up and down, and guarantee laser radar The water surface can unobstructedly be scanned.
Moreover, buoyant block can swim in the water surface, buoyant block covers on vertical bar, and buoyant block can be with wave height variation edge Vertical bar freely moves up and down.
Moreover, laser radar scans the laser scanning face formed up and down and floating material center is in same plane.
Moreover, laser radar scanning obtains continuity point cloud frame, for each frame point cloud data, examined by Target Recognition Algorithms Measure the position of buoyant block relative laser radar.
Moreover, laser radar continuous scanning obtains buoyant block local coordinate, when vessel roll, provided by posture instrument Posture angle compensation and coordinate are converted to coordinate of the buoyant block under hull coordinate system, are obtained by difference GNSS receiver accurate Geodetic coordinates obtains the accurate altitude value of buoyant block.
Moreover, establishing in ship held stationary state with lasing central point O (0,0,0) as coordinate origin, ship Cephalocaudal direction is x-axis, ship transverse direction is y-axis, three axis cartesian coordinate system O-XYZ that vertical direction is z-axis, ship is horizontal It shakes, θ is used in pitching and angle of yaw degree respectivelyx、θyAnd θzIt indicating, the accurate altitude value realization for extracting buoyant block is as follows,
(1) laser radar scanning obtains continuity point cloud frame, for each frame point cloud data, is detected by Target Recognition Algorithms The distance d of buoyant block relative laser launch center point outLWith the misalignment angle φ of relative laser launch center point, it is assumed that laser thunder It is P up to the buoyant block coordinate measuredO(xO,yO,zO), wherein yO=0, then
(2) when ship, which is in, rocks state, article coordinate is floated by PO(xO,0,zO) become PO′(xO′,yO′,zO'), drift The z-axis coordinate z of floating block relative coordinate originO' be,
zO'=cos (θy)(zOcos(θx)+yOsin(θx))-xOsin(θy)
=dL(-cos(φ)sin(θy)-sin(φ)cos(θx)cos(θy))
(3) it calculates and obtains the true geodetic coordinates of floating material, GNSS differential receivers are in O-XYZ coordinate system when mooring stability Coordinate is PG(xG,yG,zG), when installation, guarantees yG=0, wherein
Wherein, dGFor PGPoint is at a distance from O point, γ PGWith the line of O point and the angle of x-axis；
Then when vessel roll, the coordinate P of GNSS differential receiversG′(xG′,yG′,zG'), differential receivers z-axis coordinate zG' are as follows:
zG'=cos (θy)(zGcos(θx)+yGsin(θx))-xGsin(θy)
=dG(cos(γ)sin(θy)+sin(γ)cos(θx)cos(θy))
(4) in vessel roll, the vertical drop Δ h of GNSS differential receivers and buoyant block are as follows:
Δ h=zG′-zO'=(dGcos(γ)-dLcos(φ))sin(θy)+(dGsin(γ)-dLsin(φ))cos(θx) cos(θy)
Assuming that the true geodetic coordinates of GNSS differential receivers is PG″(xG″,yG″,zG"), then obtain GNSS differential received The corresponding height above sea level of machine is hG, obtain the height above sea level h of wavewFor
hw=hG-Δh-h0
Wherein, h0For the difference of floating material laser radar detection height and water surface elevation.
Moreover, obtaining the real-time height above sea level of wave by buoyant block Geodetic Coordinate Calculation, and then the significant wave of wave can be obtained The height above sea level on high, wave period and trading limit sea, realization is as follows,
(1) height above sea level for assuming wave is hw, in a wave period, obtain the maximum value of wave height above sea level hwmaxWith minimum value hwmin, obtain the wave height h of wavewaveFor,
hwave=hwmax-hwmin
The time difference that wave period is two neighboring wave crest is defined, t is denoted aswave；
(2) defining the continuous wave height value measured in a period of time Δ t is { hwave(1),hwave(2),...,hwave(n)}(n For the wave number acquired in Δ t), therefore significant wave high level isWherein, hwaveIt (i) is preceding n/3 wave Wave height value, define significant wave high level be exactly wave high level；
(3) the sea mean sea level value in ship's navigation sea area in the Δ t time is obtained(m is to adopt in Δ t The altitude value number of collection), wherein hw(i) the wave height above sea level angle value of moment i is indicated.
Compared with the prior art, the invention has the advantages that:
1, the present invention can dynamically measure wave height and period during ship's navigation, and can automatically record and Line analysis measurement data obtains real-time sea state, provides ancillary service for deck officer, also provides for ship automatic steering Environment sensing information.
2, the present invention is in addition to it can obtain Wave Data, the height above sea level on sea area sea where can also measuring ship, The reversed size for reflecting tide.
3, the Wave Data of dynamic measurement and sea level height can be sent to the hydrology, meteorological department by the present invention, for analysis Ocean, river climatic study provide foundation.
Detailed description of the invention
Fig. 1 is the scheme of installation of the boat-carrying dynamic measurement device based on laser radar in the embodiment of the present invention.
Fig. 2 is the side view of the boat-carrying dynamic measurement device based on laser radar in the embodiment of the present invention.
Fig. 3 is the top view of the boat-carrying dynamic measurement device based on laser radar in the embodiment of the present invention.
Fig. 4 is the schematic diagram that buoyant block measures wave in the embodiment of the present invention.
Fig. 5 is the flow chart of the boat-carrying dynamic measurement device measurement wave in the embodiment of the present invention based on laser radar.
In figure: 1- ship, 2- laser radar, 3- buoyant block, 4- limited block, 5- industrial personal computer, 6-GNSS differential receivers, 7- Posture instrument, 8- wave, 9- laser radar scanning face, 10- bracket, 11- battery.
Specific embodiment
Below with reference to embodiment and attached drawing, the present invention will be further described.
The present invention is it is considered that laser radar is that one kind can utilize laser thunder with the equipment of precise measurement object space, therefore Up to high range accuracy characteristic and real time distance ability, a kind of fusion laser radar, posture instrument, GNSS differential receivers can be designed Wave device is measured with the boat-carrying dynamic of industrial personal computer, to fill up the deficiency of existing static measurement wave device.
The embodiment of the present invention provides a kind of boat-carrying wave dynamic measurement device based on laser radar, the composition of device and survey Amount process is shown in Fig. 1 and Fig. 5 respectively.Wherein, laser radar provides buoyant block local coordinate, and posture instrument provides real-time attitude instrument, GNSS differential receivers provide accurate geodetic coordinates.Industrial personal computer handles these data in real time, obtains unrestrained high level, wave period in real time Value and sea altitude value etc..
Referring to Fig. 1, embodiment provides the boat-carrying wave dynamic measurement device based on laser radar, including laser radar 2, Battery 11, industrial personal computer 5, GNSS differential receivers 6, posture instrument 7, bracket 10, buoyant block 3 and limited block 4.Wherein, laser radar 2, industrial personal computer 5, GNSS differential receivers 6, posture instrument 7 are mounted on bow, and bracket 10, buoyant block 3, limited block 4 are mounted on bow Outboard, in which:
The laser radar, industrial personal computer, GNSS differential receivers, posture instrument are battery powered, and power supply line guarantees waterproof.
Further, the laser radar, GNSS differential receivers, posture instrument are connected by signal wire with industrial personal computer, Data communication can be carried out by network interface or serial ports and industrial personal computer.Wherein, laser radar for obtaining the position of buoyant block in real time； GNSS differential receivers for obtaining accurate world's geodetic coordinates in real time；Posture instrument for obtaining attitude of ship angle in real time.Work Control machine is used to extract wave dynamic measurement results according to the result that laser radar, GNSS differential receivers, posture instrument obtain.
Further, the laser radar is mounted on bow front end, by the way of scanning up and down, and guarantees laser Radar can unobstructedly scan the water surface.
Further, the buoyant block and limited block are mounted on vertical pole (abbreviation vertical bar), and vertical bar is by branch Frame is fixed on front side of bow.Wherein, limited block is fixed on vertical bar, limits the moving limit of buoyant block.Buoyant block is usually by steeping Foam material is made, and density very little, floatability is in the water surface.Buoyant block covers on vertical bar, and vertical bar and buoyant block contact surface are very smooth, Coefficient of friction very little guarantees that buoyant block can freely be moved up and down with wave height variation along vertical bar when vessel roll.
Further, laser radar scans the laser scanning face formed and buoyant block center just at same flat up and down Face guarantees that laser radar can scan buoyant block at any time.
Further, laser radar continuous scanning obtains buoyant block local coordinate, when vessel roll, is mentioned by posture instrument The posture angle compensation and coordinate of confession are converted to coordinate of the buoyant block under hull coordinate system, are obtained by GNSS differential receivers The accurate geodetic coordinates of buoyant block can be obtained in accurate geodetic coordinates.
In embodiment, wave can be extracted according to the result that laser radar, GNSS differential receivers, posture instrument obtain by industrial personal computer Unrestrained dynamic measurement results, are implemented as follows:
As shown in Fig. 2, establishing with lasing central point O (0,0,0) is that coordinate is former in ship held stationary state Point, ship cephalocaudal direction are x-axis, ship transverse direction is y-axis, vertical direction three axis for z-axis (vertical with calm water surface) Cartesian coordinate system O-XYZ.(pitch, the revolution around y-axis are shaken for ship rolling (roll, around the revolution jigging motion of y-axis), pitching Swing movement) and head shakes (yaw, around the revolution jigging motion of z-axis) direction definition as shown in Fig. 2, its definition meets right-handed helix method Then, rolling, pitching and angle of yaw degree use θ respectivelyx、θyAnd θzIt indicates.
(1) after apparatus of the present invention starting, laser radar scanning obtains continuity point cloud frame, and point cloud frame is passed in real time by network interface It is sent to industrial personal computer, industrial personal computer processing routine is directed to each frame point cloud data, (can be used such as Corner Detection by Target Recognition Algorithms Etc. existing methods) detect the distance d of buoyant block relative laser launch center pointLWith the angle of deviation of relative laser launch center point Spend φ.Assuming that the buoyant block coordinate that laser radar measures is PO(xO,yO,zO), wherein guaranteeing buoyant block and laser thunder during installation The line reached is parallel with x-axis, i.e. yO=0, then:
(2) in the case where considering vessel roll, the vertical coordinate z of buoyant block relative coordinate originO': when ship is in When rocking state, article coordinate is floated by PO(xO,0,zO) become PO′(xO′,yO′,zO'), then buoyant block relative coordinate origin Z-axis coordinate zO' are as follows:
Wherein, θx、θyRespectively indicate ship rolling, pitch angular.
(3) it calculates and obtains the true geodetic coordinates of floating material:
Next, if it is possible to obtain the true geodetic coordinates of coordinate origin, then can calculate to obtain the true of floating material Geodetic coordinates.GNSS differential receivers are P in O-XYZ coordinate system coordinate when mooring stabilityG(xG,yG,zG), when installation, guarantees yG= 0, as shown in Figure 3.Wherein:
In above formula, dGFor PGPoint is at a distance from O point, γ PGWith the line of O point and the angle of x-axis, can be demarcated by measurement It obtains.Then when vessel roll, the coordinate P of GNSS differential receiversG′(xG′,yG′,zG'), wherein differential receivers z-axis is sat Mark zG' are as follows:
(4) by formula (1) and (2), the vertical drop Δ of GNSS differential receivers and buoyant block in vessel roll can be obtained H are as follows:
Δ h=zG′-zO'=(dGcos(γ)-dLcos(φ))sin(θy)+(dGsin(γ)-dLsin(φ))cos(θx) cos(θy) (3)
Assuming that the true geodetic coordinates of GNSS differential receivers is PG″(xG″,yG″,zG"), then available GNSS difference The corresponding height above sea level of machine is hG(various regions height above sea level benchmark may be different).Therefore, the height above sea level h of available wavewAre as follows:
hw=hG-Δh-h0 (4)
Wherein, h0The difference of height and water surface elevation is detected for floating material laser radar, as shown in Figure 4.In conjunction with (3) and (4), The available real-time height above sea level of wave.
Further, the real-time height above sea level of wave can be calculated by buoyant block geodetic coordinates, and then wave can be obtained Significant wave height (wave is high), wave period and the height above sea level on trading limit sea.
In embodiment, it is implemented as follows:
(1) according to the height above sea level h of wave obtained by formula (4)w, in a wave period, obtain wave height above sea level Maximum value hwmaxWith minimum value hwmin, and then the wave height h of available wavewaveAre as follows:
hwave=hwmax-hwmin
The time difference that wave period is two neighboring wave crest is defined, t is denoted aswave。
When it is implemented, the wave height above sea level h that can will be continuously availablewIt is stored in industrial personal computer, and in processing routine Middle drafting wave height change curve.By analyzing the consecutive variations value of wave height above sea level, each wave period is obtained Wave height above sea level maximum value hwmaxWith minimum value hwmin。
(2) it is located in a period of time Δ t (such as 1 minute), a series of available n wave height value { hwave(1),hwave (2),...,hwave(n) } (waveform that the waveform between two neighboring wave crest is denoted as a wave period), i.e. n are acquisition in Δ t Wave number, defined according to significant wave height, in any one wave group being made of n wave, by the wave height in the wave train by greatly to Small to be arranged successively, the average wave that the wave height of significant wave is equal to n/3 wave is high.Therefore, significant wave high level are as follows:
Wherein, hwaveIt (i) is the wave height value of preceding i wave, the wave height value of n/3 wave calculates significant wave high level before taking.Definition Significant wave high level is exactly unrestrained high level.
Meanwhile wave period value in the available Δ t time are as follows:
Wherein, twave(i) i-th of wave period value of acquisition, i=1,2 ..., n are indicated.
(3) simultaneously, in the available Δ t time ship's navigation sea area sea altitude value are as follows:
Wherein, hw(j) the wave height above sea level angle value of jth time acquisition is indicated, wherein m is the altitude value number acquired in Δ t, J=1,2 ..., m.
Obtained unrestrained high level and sea altitude value are saved to industrial personal computer, and industrial personal computer can provide data-interface (net Mouth or serial ports) to outside, ship automatic steering system can obtain unrestrained height, wave period, sea sea in real time by data-interface Value is pulled out, provides Informational support for automatic Pilot.Meanwhile information service can also be provided for maritime meteorology department.When it is implemented, can Automatic running process is realized by software technology.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention The technical staff in domain can do various modifications or supplement or is substituted in a similar manner to described specific embodiment, but simultaneously Spirit or beyond the scope defined by the appended claims of the invention is not deviated by.

Claims (8)

1.一种基于激光雷达的船载波浪动态测量装置，其特征在于：包括激光雷达、工控机、GNSS差分接收机、姿态仪、支架、漂浮块和限位块，激光雷达、工控机、GNSS差分接收机和姿态仪安装在船首，支架、漂浮块和限位块安装在船首外舷。1. a shipborne wave dynamic measurement device based on lidar, is characterized in that: comprise lidar, industrial computer, GNSS differential receiver, attitude instrument, support, floating block and limit block, lidar, industrial computer, GNSS The differential receiver and attitude gauge are installed on the bow, and the bracket, the floating block and the limit block are installed on the outer side of the bow. 激光雷达、GNSS差分接收机、姿态仪与工控机相连，其中，激光雷达用于实时获取漂浮块的位置；GNSS差分接收机用于实时获取精确的世界大地坐标；姿态仪用于实时获取船舶姿态角，工控机用于根据激光雷达、GNSS差分接收机、姿态仪获取的结果提取波浪动态测量结果；Lidar, GNSS differential receiver, and attitude meter are connected to the industrial computer. Among them, the laser radar is used to obtain the position of the floating block in real time; the GNSS differential receiver is used to obtain the accurate world geodetic coordinates in real time; the attitude meter is used to obtain the ship attitude in real time. Angle, the industrial computer is used to extract the wave dynamic measurement results according to the results obtained by the lidar, GNSS differential receiver, and attitude meter; 漂浮块和限位块安装在竖杆上，竖杆依靠支架固定在船首前侧，其中，限位块固定在竖杆上，限制漂浮块的移动极限。The floating block and the limit block are installed on the vertical rod, and the vertical rod is fixed on the front side of the bow by means of a bracket, wherein the limit block is fixed on the vertical rod to limit the movement limit of the floating block. 2.根据权利要求1所述的基于激光雷达的船载波浪动态测量装置，其特征在于：所述的激光雷达安装在船首最前端，采用上下扫描的方式，并保证激光雷达可以无遮挡地扫描到水面。2. The shipborne wave dynamic measurement device based on lidar according to claim 1, characterized in that: the lidar is installed at the foremost end of the bow of the ship, and adopts the mode of up and down scanning, and ensures that the lidar can scan without obstruction to the surface. 3.根据权利要求2所述的基于激光雷达的船载波浪动态测量装置，其特征在于：漂浮块能够漂浮在水面，漂浮块套在竖杆上，漂浮块能够随波浪高低变化沿竖杆自由上下移动。3 . The shipborne wave dynamic measurement device based on lidar according to claim 2 , wherein the floating block can float on the water surface, the floating block is sleeved on the vertical rod, and the floating block can be free along the vertical rod with the change of wave height. 4 . Moving up and down. 4.根据权利要求3所述的基于激光雷达的船载波浪动态测量装置，其特征在于：激光雷达上下扫描形成的激光扫描面与漂浮物中心处于同一平面。4 . The shipborne wave dynamic measurement device based on lidar according to claim 3 , wherein the laser scanning surface formed by the lidar scanning up and down is on the same plane as the center of the floating object. 5 . 5.根据权利要求4所述的基于激光雷达的船载波浪动态测量装置，其特征在于：激光雷达扫描得到连续点云帧，针对每一帧点云数据，通过目标识别算法检测出漂浮块相对激光雷达的位置。5. The shipborne wave dynamic measurement device based on lidar according to claim 4, characterized in that: the lidar scans to obtain continuous point cloud frames, and for each frame of point cloud data, a target recognition algorithm is used to detect the relative relative value of the floating block. The location of the lidar. 6.根据权利要求5所述的基于激光雷达的船载波浪动态测量装置，其特征在于：激光雷达连续扫描得到漂浮块局部坐标，当船舶摇晃时，通过姿态仪提供的姿态角补偿和坐标转换得到漂浮块在船体坐标系下的坐标，由差分GNSS接收机获得的精确大地坐标得到漂浮块的精确海拔值。6. The shipborne wave dynamic measurement device based on lidar according to claim 5, characterized in that: the lidar continuously scans to obtain the local coordinates of the floating block, and when the ship shakes, the attitude angle compensation and coordinate conversion provided by the attitude instrument are used The coordinates of the floating block in the hull coordinate system are obtained, and the precise altitude value of the floating block is obtained from the precise geodetic coordinates obtained by the differential GNSS receiver. 7.根据权利要求6所述的基于激光雷达的船载波浪动态测量装置，其特征在于：在船舶保持平稳状态时，建立以激光发射中心点O(0,0,0)为坐标原点、船舶首尾方向为x轴、船舶横向方向为y轴的、竖直方向为z轴的三轴笛卡尔坐标系O-XYZ，船舶横摇、纵摇和首摇角度分别用θx、θy和θz表示，提取漂浮块的精确海拔值实现如下，7. The lidar-based ship-borne wave dynamic measurement device according to claim 6, characterized in that: when the ship maintains a stable state, a laser emission center point O(0,0,0) is established as the coordinate origin, the ship A three-axis Cartesian coordinate system O-XYZ with the fore and aft directions as the x-axis, the lateral direction of the ship as the y-axis, and the vertical direction as the z-axis, the ship roll, pitch and yaw angles are respectively θ x , θ y and θ z represents that the precise altitude value of the extracted floating block is achieved as follows, (1)激光雷达扫描得到连续点云帧，针对每一帧点云数据，通过目标识别算法检测出漂浮块相对激光发射中心点的距离dL和相对激光发射中心点的偏差角度φ，假设激光雷达测得的漂浮块坐标为PO(xO,yO,zO)，其中yO＝0，则(1) Continuous point cloud frames are obtained by laser radar scanning. For each frame of point cloud data, the distance d L of the floating block relative to the laser emission center point and the deviation angle φ relative to the laser emission center point are detected by the target recognition algorithm. The coordinates of the floating block measured by the radar are P O (x O , y O , z O ), where y O =0, then (2)当船舶处于摇晃状态时，漂浮物坐标由PO(xO,0,zO)变为PO′(xO′,yO′,zO′)，漂浮块相对坐标原点的z轴坐标zO′为，(2) When the ship is in a state of shaking, the coordinates of the floating object change from P O (x O , 0, z O ) to P O ′ (x O ′, y O ′, z O ′), and the relative coordinate origin of the floating block is The z-axis coordinate z O ′ is, zO′＝cos(θy)(zOcos(θx)+yOsin(θx))-xOsin(θy)z O ′=cos(θ y )(z O cos(θ x )+y O sin(θ x ))-x O sin(θ y ) ＝dL(-cos(φ)sin(θy)-sin(φ)cos(θx)cos(θy))=d L (-cos(φ)sin(θ y )-sin(φ)cos(θ x )cos(θ y )) (3)推算得到漂浮物的真实大地坐标，船舶稳定时GNSS差分接收机在O-XYZ坐标系坐标为PG(xG,yG,zG)，安装时保证yG＝0，其中(3) Calculate the real geodetic coordinates of the floating object. When the ship is stable, the coordinates of the GNSS differential receiver in the O-XYZ coordinate system are P G (x G , y G , z G ), and ensure that y G = 0 during installation, where 其中，dG为PG点与O点的距离，γ为PG与O点的连线与x轴的夹角；Among them, d G is the distance between point PG and point O, and γ is the angle between the line connecting point PG and point O and the x-axis; 则当船舶摇晃时，GNSS差分接收机的坐标PG′(xG′,yG′,zG′)，差分接收机z轴坐标zG′为：Then when the ship is shaking, the coordinates P G ′ (x G ′, y G ′, z G ′) of the GNSS differential receiver and the z-axis coordinate z G ′ of the differential receiver are: zG′＝cos(θy)(zGcos(θx)+yGsin(θx))-xGsin(θy)z G ′=cos(θ y )(z G cos(θ x )+y G sin(θ x ))-x G sin(θ y ) ＝dG(cos(γ)sin(θy)+sin(γ)cos(θx)cos(θy))=d G (cos(γ)sin(θ y )+sin(γ)cos(θ x )cos(θ y )) (4)在船舶摇晃时，GNSS差分接收机和漂浮块的垂直高度差Δh为：(4) When the ship is shaking, the vertical height difference Δh between the GNSS differential receiver and the floating block is: Δh＝zG′-zO′＝(dGcos(γ)-dLcos(φ))sin(θy)+(dGsin(γ)-dLsin(φ))cos(θx)cos(θy)Δh=z G ′-z O ′=(d G cos(γ)-d L cos(φ))sin(θ y )+(d G sin(γ)-d L sin(φ))cos(θ x )cos(θ y ) 假设GNSS差分接收机的真实大地坐标为PG″(xG″,yG″,zG″)，则得到GNSS差分接收机对应的海拔为hG，得到波浪的海拔高度hw为Assuming that the real geodetic coordinates of the GNSS differential receiver are P G ″ (x G ″, y G ″, z G ″), the altitude corresponding to the GNSS differential receiver is obtained as h G , and the obtained wave altitude h w is hw＝hG-Δh-h0 h w =h G -Δh-h 0 其中，h0为漂浮物激光雷达检测高度和水面高度之差。Among them, h 0 is the difference between the detection height of the floating object lidar and the height of the water surface. 8.根据权利要求7所述的基于激光雷达的船载波浪动态测量装置，其特征在于：由漂浮块大地坐标计算得到波浪实时海拔高度，进而可得到波浪的有效波高、波浪周期，以及船舶航行区域海面的海拔高度，实现如下，8. The ship-borne wave dynamic measurement device based on lidar according to claim 7, characterized in that: the real-time altitude of the wave is obtained by calculating the geodetic coordinates of the floating block, and then the effective wave height, the wave period of the wave, and the navigation of the ship can be obtained. The altitude of the sea surface in the region is achieved as follows, (1)假设波浪的海拔高度为hw，在一个波浪周期内，得到波浪海拔高度的最大值hwmax和最小值hwmin，得到波浪的波高hwave为，(1) Assuming that the altitude of the wave is h w , in one wave cycle, the maximum value h wmax and the minimum value h wmin of the wave altitude are obtained, and the wave height h wave is obtained as, hwave＝hwmax-hwmin h wave = h wmax -h wmin 定义波浪周期为相邻两个波峰的时间差，记为twave；Define the wave period as the time difference between two adjacent wave crests, denoted as t wave ; (2)定义一段时间Δt内测得的连续波高值为{hwave(1),hwave(2),...,hwave(n)}，其中n为Δt内采集的波浪个数，因此有效波高值为其中，hwave(i)为前n/3个波的波高值，定义有效波高值就是浪高值；(2) Define the continuous wave height value measured in a period of time Δt as {h wave (1), h wave (2),..., h wave (n)}, where n is the number of waves collected in Δt, Therefore, the effective wave height is Among them, h wave (i) is the wave height value of the first n/3 waves, and the effective wave height value is defined as the wave height value; (3)得到Δt时间内波浪周期值为其中，twave(i)表示采集的第i个波浪周期值。(3) The wave period value in Δt time is obtained Among them, t wave (i) represents the i-th wave period value collected. (4)得到Δt时间内船舶航行海域的海面平均海拔值其中m为Δt内采集的海拔值次数，hw(j)为第j次采集的波浪海拔高度值。(4) Obtain the average altitude value of the sea surface in the sea area where the ship sails within the time Δt where m is the number of altitude values collected within Δt, and h w (j) is the wave altitude value collected at the jth time.
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