CN113820282B - A water-off-reflectivity measurement system - Google Patents
A water-off-reflectivity measurement system Download PDFInfo
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- CN113820282B CN113820282B CN202111232455.2A CN202111232455A CN113820282B CN 113820282 B CN113820282 B CN 113820282B CN 202111232455 A CN202111232455 A CN 202111232455A CN 113820282 B CN113820282 B CN 113820282B
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- 238000002310 reflectometry Methods 0.000 title claims abstract description 32
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- 238000000985 reflectance spectrum Methods 0.000 claims description 5
- 238000011144 upstream manufacturing Methods 0.000 claims description 4
- 238000004441 surface measurement Methods 0.000 abstract 2
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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Abstract
本发明实施例提供了一种离水反射率测量系统。其中，该系统包括：无人船、测量装置和支撑架；测量装置包括测量部和信号采集部，信号采集部和测量部电连接，信号采集部包括至少三个用于采集水面测量点处的光信号的探头；支撑架包括支撑部和固定部，支撑部与固定部可拆卸连接并且支撑部可转动设置在固定部上；支撑部的平面投影位于无人船外侧；固定部设置在无人船上；信号采集部设置在支撑部上，设置在支撑部上的各探头的光线接收端的纵剖面位于同一个平面；测量部用于根据光信号生成水面测量点处的离水反射率。本发明的离水反射率测量系统能够对操作人员不便于达到的水体区域进行离水反射率测量。
The embodiment of the present invention provides a water-off-water reflectivity measurement system. The system includes: an unmanned boat, a measuring device and a support frame; the measuring device includes a measuring part and a signal acquisition part, the signal acquisition part and the measuring part are electrically connected, and the signal acquisition part includes at least three probes for collecting optical signals at water surface measurement points; the support frame includes a supporting part and a fixing part, the supporting part is detachably connected to the fixing part and the supporting part is rotatably arranged on the fixing part; the plane projection of the supporting part is located outside the unmanned boat; the fixing part is arranged on the unmanned boat; the signal acquisition part is arranged on the supporting part, and the longitudinal sections of the light receiving ends of each probe arranged on the supporting part are located in the same plane; the measuring part is used to generate the water-off-water reflectivity at the water surface measurement point according to the optical signal. The water-off-water reflectivity measurement system of the present invention can measure the water-off-water reflectivity in water areas that are inconvenient for operators to reach.
Description
Technical Field
The invention relates to the technical field of water color remote sensing, in particular to a system for measuring reflectance of water.
Background
After solar radiation is transmitted into a water body, part of energy is absorbed by optical components such as suspended substances, chlorophyll, yellow substances and the like in the water body and converted into heat energy to be remained in the water body, and the other part of the heat energy is scattered by the optical components of the water body to escape from the water surface, namely, the water-leaving reflectivity signal. The reflectance of the water is one of the most commonly used apparent optical quantities of the water body in water color remote sensing, and is also an important input parameter for water quality parameter inversion. When the water-leaving reflectivity measurement is performed, an operator is usually required to get to a specified position by taking a ship to obtain the water-leaving reflectivity spectrum data, but the water-leaving reflectivity measurement cannot be performed on a water body area which cannot be reached by the operator.
Disclosure of Invention
The embodiment of the invention aims to provide a water-leaving reflectivity measurement system which can be used for measuring the water-leaving reflectivity of a water body area inconvenient for an operator to reach. The specific technical scheme is as follows:
The invention provides a system for measuring reflectance from water, which comprises:
Unmanned ship, measuring device and support frame;
The measuring device comprises a measuring part and a signal acquisition part, wherein the signal acquisition part is electrically connected with the measuring part, and the signal acquisition part comprises at least three probes for acquiring optical signals at a water surface measuring point, wherein the optical signals comprise water body uplink radiance, sky light downlink radiance and water surface downlink irradiance;
The support frame comprises a support part and a fixing part, wherein the support part is detachably connected with the fixing part and is rotatably arranged on the fixing part;
The signal acquisition part is arranged on the supporting part, and the longitudinal sections of the light receiving ends of the probes arranged on the supporting part are positioned on the same plane;
the measuring part is used for generating the water-leaving reflectivity at the water surface measuring point according to the optical signal.
Optionally, the supporting part specifically includes:
The first support rod, the second support rod, the third support rod and the connecting rod;
The first support rod, the second support rod and the third support rod are connected with the connecting rod, and the connecting rod is rotatably arranged on the fixing part;
The first support rod, the second support rod and the third support rod are positioned on the same plane, and the plane formed by the first support rod, the second support rod and the third support rod is perpendicular to a horizontal plane;
The second support rod is located between the first support rod and the third support rod, and the third support rod is perpendicular to the horizontal plane.
Optionally, the method further comprises:
a rotation mechanism;
The rotating mechanism is arranged on the connecting rod and can drive the connecting rod to rotate.
Optionally, the rotating mechanism specifically includes:
a driving device, a rotating device and an angle calculating device;
the rotation device is arranged on the connecting rod, the driving device is respectively connected with the rotation device and the measuring device, the angle calculating device is used for determining a rotation angle by utilizing collected unmanned ship body azimuth information and sunlight incidence angle information, and the driving device is controlled to drive the rotation device to rotate based on the rotation angle so that the included angle between the plane of the longitudinal section of the light receiving end of each probe and the sunlight incidence plane is within a preset included angle range.
Optionally, the fixing part specifically comprises a fastening piece and a supporting frame, and the connecting rod is rotatably connected with the supporting frame through the fastening piece.
Optionally, the signal acquisition part specifically includes:
the system comprises a first radiance probe, a second radiance probe and an irradiance probe;
the first radiance probe is arranged on the first supporting rod, the second radiance probe is arranged on the second supporting rod, and the irradiance probe is arranged on the third supporting rod; the longitudinal section of the light receiving end of the first radiance probe, the longitudinal section of the light receiving end of the second radiance probe and the longitudinal section of the light receiving end of the irradiance probe are positioned on the same plane;
The first radiance probe, the second radiance probe and the irradiance probe are all connected with the measuring part, the first radiance probe is used for collecting the upstream radiance of the water body, the second radiance probe is used for collecting the downstream radiance of sky light, and the irradiance probe is used for collecting the downstream irradiance of the water surface.
Optionally, the measuring part specifically includes:
The device comprises a first spectrometer, a second spectrometer, a third spectrometer and electronic equipment;
The first spectrometer is connected with the first radiance probe and is used for obtaining uplink radiance spectrum data according to the uplink radiance of the water body;
The second spectrometer is connected with the second radiance probe and is used for obtaining downlink radiance spectrum data according to the skylight downlink radiance;
The third spectrometer is connected with the irradiance probe and is used for obtaining downlink irradiance spectrum data according to the downlink irradiance of the water surface;
The first spectrometer, the second spectrometer and the third spectrometer are all connected with the electronic equipment, and the electronic equipment is used for generating the water-leaving reflectance spectrum data at the water surface measuring point according to the uplink radiance spectrum data, the downlink radiance spectrum data and the downlink irradiance spectrum data, wherein the water-leaving reflectance spectrum data comprises a plurality of water-leaving reflectances which are in one-to-one correspondence with wavelengths.
Optionally, the method further comprises:
a video acquisition device;
The video acquisition device is arranged on the first supporting rod and is used for acquiring water area image information.
Optionally, the method further comprises:
a navigation device;
the navigation device is located on the unmanned ship and connected with the electronic device, the navigation device is used for collecting position information of the unmanned ship, and the electronic device is used for controlling the unmanned ship to travel to a water surface measuring point according to the position information.
Optionally, the preset included angle is 90 ° -135 °, and the included angle formed by the first support rod and the second support rod is larger than the included angle formed by the second support rod and the third support rod.
The system comprises an unmanned ship, a measuring device and a supporting frame, wherein the measuring device comprises a signal acquisition part and a measuring part, the signal acquisition part comprises at least three probes for acquiring light signals at water surface measuring points, the supporting frame comprises a supporting part and a fixing part, the supporting part is detachably connected with the fixing part, and the supporting part is rotatably arranged on the fixing part, so that the included angle between the plane of the longitudinal section of the light receiving end of each probe arranged on the supporting part and the sunlight incidence plane can be adjusted, and the influence of solar flare on the measurement of the water reflectance can be reduced. The plane projection of supporting part is located the unmanned ship outside, so can avoid unmanned ship's shadow and unmanned ship surrounding water wave to the influence of signal acquisition part collection surface of water measuring point department light signal. The measuring unit generates the reflectance of the water at the water surface measuring point from the optical signal. According to the invention, the measuring device is arranged on the unmanned ship, so that the water-leaving reflectivity measurement of a water body area inconvenient for operators to reach can be realized.
Of course, it is not necessary for any one product or method of practicing the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of a system for measuring reflectance of water from a water tank according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an electrical connection according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of an included angle according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to the invention, the characteristic that the unmanned ship can travel to a water area which is not easy for a measurer to enter is utilized, the off-water reflectivity measuring device is arranged on the unmanned ship, the off-water reflectivity measurement on a water area which is inconvenient for an operator to reach can be realized, and the measurer does not need to take a ship to enter water to carry out field measurement, so that the flexibility and convenience of measurement operation can be improved.
The invention provides a water-leaving reflectivity measuring system, which is shown in figures 1-2 and comprises an unmanned ship 1, a measuring device 2 and a supporting frame 3. The measuring device comprises a measuring part 21 and a signal collecting part 22, wherein the signal collecting part is electrically connected with the measuring part, the signal collecting part comprises at least three probes for collecting light signals at a water surface measuring point, and the light signals comprise water body uplink radiance, sky light downlink radiance and water surface downlink irradiance. The support frame comprises a support part and a fixing part, wherein the support part is detachably connected with the fixing part and can be rotatably arranged on the fixing part, the plane projection of the support part is positioned on the outer side of the unmanned ship, the fixing part is arranged on the unmanned ship, the signal acquisition part is arranged on the support part, the longitudinal sections of the light receiving ends of the probes arranged on the support part are positioned on the same plane, and the measuring part is used for generating the water-leaving reflectivity at a water surface measuring point according to the light signals.
When the water-leaving reflectivity measurement is carried out, three probes are needed to be used simultaneously, one radiance probe is used for measuring the water body uplink radiance, one radiance probe is used for measuring the sky light downlink radiance, one irradiance probe is used for measuring the water surface downlink irradiance, if more than three probes are installed, data collected by the probes with the same function can be integrated, the situation that the data are lost due to the damage of one probe is avoided, therefore, a signal collecting part with at least three probes is installed on a supporting part, the longitudinal sections of the light receiving ends of the probes arranged on the supporting part are located on the same plane, so that the included angle between the plane and a sunlight incident plane can be conveniently adjusted by rotating the supporting part, and the influence of solar flare on the water-leaving reflectivity measurement is reduced. In addition, the plane projection of supporting part is located the unmanned ship outside, so can avoid unmanned ship's shadow and unmanned ship surrounding water wave to the influence of signal acquisition part collection surface of water measuring point department light signal.
As an alternative embodiment, the support part includes a first support bar 31, a second support bar 32, a third support bar 33, and a connection bar 34. The first support rod, the second support rod and the third support rod are all connected with a connecting rod, the connecting rod is rotatably arranged on the fixing part, and probes are arranged on the first support rod, the second support rod and the third support rod. The probes arranged on one supporting rod are probes with the same function, and the number of the probes arranged on one supporting rod can be 1 or a plurality of probes.
The first support rod, the second support rod and the third support rod are positioned on the same plane, and the plane formed by the first support rod, the second support rod and the third support rod is perpendicular to the horizontal plane. The three support rods are ensured to be positioned on the same plane so that the longitudinal sections of the light receiving ends of the probes arranged on the support rods are positioned on the same plane. The second support bar is located between the first support bar and the third support bar, and the third support bar is perpendicular to the horizontal plane. Optionally, an included angle formed by the first support rod and the second support rod is larger than an included angle formed by the second support rod and the third support rod. The included angle between the first support rod and the second support rod is 90-110 degrees, preferably 100 degrees, and the included angle between the second support rod and the third support rod is 30-50 degrees, preferably 40 degrees.
Of course, the supporting portion may further include a first arc rod 312 and a second arc rod 323 in addition to the first supporting rod, the second supporting rod and the third supporting rod, one end of the first arc rod is connected with the first supporting rod, the other end of the first arc rod is connected with the second supporting rod, one end of the second arc rod is connected with the second supporting rod, and the other end of the second arc rod is connected with the third supporting rod. The first arc lever 312 plays a role of supporting the first support lever and the second support lever, and the second arc lever 323 plays a role of supporting the second support lever and the third support lever.
As an alternative embodiment, the signal acquisition part includes a first radiance probe 221, a second radiance probe 222, and an irradiance probe 223. The first radiance probe is arranged on the first support rod, the second radiance probe is arranged on the second support rod, the irradiance probe is arranged on the third support rod, and the longitudinal section of the light receiving end of the first radiance probe, the longitudinal section of the light receiving end of the second radiance probe and the longitudinal section of the light receiving end of the irradiance probe are positioned on the same plane. The first radiance probe is used for collecting the upstream radiance of the water body, the second radiance probe is used for collecting the downstream radiance of sky light, and the irradiance probe is used for collecting the downstream irradiance of the water surface.
Optionally, the measurement section comprises a first spectrometer 211, a second spectrometer 212, a third spectrometer 213 and electronics 214. The first spectrometer is connected with the first radiance probe through an optical fiber, and the first spectrometer is used for obtaining uplink radiance spectrum data according to uplink radiance of the water body. The second spectrometer is connected with the second radiance probe through an optical fiber, and the second spectrometer is used for obtaining downlink radiance spectrum data according to the downlink radiance of sky light. The third spectrometer is connected with the irradiance probe through an optical fiber and is used for obtaining downlink irradiance spectrum data according to the downlink irradiance of the water surface. The first spectrometer, the second spectrometer and the third spectrometer are all connected with electronic equipment, and the electronic equipment is used for generating the reflectance spectrum data of the water at the water surface measuring point according to the uplink radiance spectrum data, the downlink radiance spectrum data and the downlink irradiance spectrum data. The water-leaving reflectivity spectrum data comprises a plurality of water-leaving reflectivities corresponding to wavelengths one by one, the wavelength ranges from 310nm to 900nm, and each wavelength corresponds to one water-leaving reflectivity.
When the reflectance measurement is carried out, the three probes measure the radiation quantity simultaneously to obtain the water body uplink radiance, the sky light downlink radiance and the water surface downlink irradiance, and the spectral ranges of the two radiance probes and one irradiance probe are 310nm-900nm. The electronic equipment calculates the reflectivity of the water by using the following formula:
Wherein Rrs (λ) is the reflectance of the water when the wavelength is λ, L u (λ) is the upstream radiance of the water when the wavelength is λ, L sky (λ) is the downstream radiance of the skylight when the wavelength is λ, E s (λ) is the downstream irradiance of the water when the wavelength is λ, r sky is a coefficient which is determined according to the sun position, the angle between the probe for measuring the downstream radiance of the skylight and the irradiance probe, and the wind speed and wind direction, and when the angle between the probe for measuring the downstream radiance of the skylight and the irradiance probe (i.e. the zenith angle) is 40 °, r sky =0.0245 is calculated according to the Fresenel formula.
Because the probe does not need to be turned over when the reflectivity of the water is measured, the probe is not influenced by the change of an incident light field any more, and the spectral measurement work of the water surface can be finished instantaneously. The unmanned ship starts to measure the spectral data of the reflectance of the water after the water surface is stopped, the spectrometer simultaneously acquires three probe data for 30s-60s, a plurality of pieces of spectral data are obtained through measurement, the measurement time exceeds a plurality of wave periods, and therefore the spectral data greatly influenced by the external environment can be removed during the later data processing, and the accuracy of the measurement of the reflectance of the water is improved. After the measurement of one water surface measuring point is finished, the unmanned ship automatically runs to the other water surface measuring point to measure the reflectance of the water.
As an alternative embodiment, the fixing portion includes a fastening member 35 and a supporting frame, and the connecting rod is rotatably connected to the supporting frame through the fastening member.
Optionally, the support frame includes a horizontal bracket 36, a vertical bracket 37, and an angled bracket 38. The bottom of vertical support sets up the position department that is close to the stern at unmanned ship, and the top of vertical support and the top of slope support all are connected with horizontal support, and the bottom setting of slope support is in the position department that unmanned ship is close to the bow. The length of the horizontal bracket is greater than the ship length of the unmanned ship, the plane projection of the head of the horizontal bracket is outside the plane projection of the unmanned ship, and the fastener is arranged at the head of the horizontal bracket. In order to improve the stability of the support frame, the support frame may further comprise a middle support 39, wherein the bottom of the middle support is arranged in the middle of the ship body, and the top of the middle support is connected with the horizontal support. Alternatively, the horizontal bracket 36 has two parallel rods, the vertical bracket 37 and the middle bracket 39 each have two vertical rods and a horizontal rod connecting the two vertical rods, the rods of the horizontal rod and the horizontal bracket being on the same plane, and the inclined bracket 38 has two inclined rods and a horizontal rod connecting the two inclined rods, the rods of the horizontal rod and the horizontal bracket being on the same plane. Of course, in addition to the support frame structure shown in fig. 1, the support frame may be implemented in various manners, for example, only using a tilt bracket as the support frame, or using a tilt bracket combined with an arc bracket to form the support frame, or using a tripod as the support frame, etc.
In order to reduce the influence of solar flare on the measurement of the reflectance from water, the included angle between the plane of the longitudinal section of the light receiving end of each probe and the incident plane of sunlight needs to be adjusted within the preset included angle range, the influence of solar flare can be effectively reduced when the preset included angle range is 90-140 degrees, and the included angle between the plane of the longitudinal section of the light receiving end of each probe and the incident plane of sunlight is the optimal angle when the included angle between the plane of the longitudinal section of the light receiving end of each probe and the incident plane of sunlight is 135 degrees, so that the influence of solar flare can be reduced, and the difference of the solar flare and the radiance from water observed by the section is small. Fig. 3 is a schematic diagram of an included angle between a sunlight incident plane and a longitudinal section of a light receiving end of a probe, and fig. 3 is a top view of an off-water reflectivity measurement system. There are two ways to adjust the angle, one alternative is to manually adjust the angle before the unmanned ship starts, and another alternative is to automatically adjust the angle while the unmanned ship is traveling.
When the included angle between the plane of the longitudinal section of the light receiving end of each probe and the sunlight incident plane is manually adjusted, before the unmanned ship starts, the included angle between the plane formed by the first support rod, the second support rod and the third support rod and the sunlight incident plane is in a preset included angle range, and when the included angle is in the preset included angle range, the included angle between the plane of the longitudinal section of the light receiving end of each probe arranged on each support rod and the sunlight incident plane can be more ensured to be in the preset included angle range, and at the moment, the connecting rod is fixed by the fastener of the fixing part.
When the included angle between the plane of the longitudinal section of the light receiving end of each probe and the sunlight incident plane is automatically adjusted, a rotating mechanism is arranged in the off-water reflectivity measuring system and is arranged on the connecting rod, and the rotating mechanism can drive the connecting rod to rotate, so that the included angle between the plane formed by the first supporting rod, the second supporting rod and the third supporting rod and the sunlight incident plane is within the range of a preset included angle.
Optionally, the rotation mechanism comprises a driving means 41, a turning means 42 and an angle calculating means. The driving device and the angle calculating device are arranged on the unmanned ship. The rotating device is arranged on the connecting rod, and the driving device is respectively connected with the rotating device and the measuring device. The angle calculation device is used for determining a rotation angle by utilizing the acquired unmanned ship body azimuth information and sunlight incidence angle information, and controlling the driving device to drive the rotation device to rotate based on the rotation angle, so that the included angle between the plane of the longitudinal section of the light receiving end of each probe and the sunlight incidence plane is within the preset included angle range. Optionally, the angle calculating device comprises an angle measuring device 43 and an electronic device 214, wherein the angle measuring device is connected with the electronic device, the electronic device is connected with a driving device, the driving device is connected with a rotating device, the angle measuring device is used for collecting unmanned ship body azimuth information and sunlight incidence angle information, the electronic device is used for determining a rotation angle according to the unmanned ship body azimuth information and the sunlight incidence angle information, and the driving device is controlled to drive the rotating device to rotate based on the rotation angle. Of course, the angle calculation means may also integrate the angle measurement means and the electronics in one device.
As an alternative embodiment, the off-water reflectivity measurement system further comprises a video acquisition device 5. The video acquisition device is arranged on the first supporting rod and is used for acquiring water area image information. Optionally, the video acquisition device is connected with an electronic device, and the electronic device is used for storing the water area image information acquired by the video acquisition device. When the data abnormal situation occurs in the water-leaving reflectivity spectrum data, the generation reason of the abnormal situation can be further analyzed through the water area image information. Of course, a plurality of video acquisition devices can be arranged, and other video acquisition devices except the video acquisition device arranged on the first support rod acquire environmental information, so that follow-up operators can observe the surrounding situation of the water area conveniently.
As an alternative embodiment, the off-water reflectivity measurement system further comprises a navigation device 6. The navigation equipment is located on the unmanned ship, the navigation equipment is connected with the electronic equipment, the navigation equipment is used for collecting position information of the unmanned ship, and the electronic equipment is used for controlling the unmanned ship to travel to a water surface measuring point according to the position information.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (6)
1. A water-exit reflectivity measurement system, comprising:
Unmanned ship, measuring device and support frame;
The measuring device comprises a measuring part and a signal acquisition part, wherein the signal acquisition part is electrically connected with the measuring part, and the signal acquisition part comprises at least three probes for acquiring optical signals at a water surface measuring point, wherein the optical signals comprise water body uplink radiance, sky light downlink radiance and water surface downlink irradiance;
The support frame comprises a support part and a fixing part, wherein the support part is detachably connected with the fixing part and is rotatably arranged on the fixing part;
The signal acquisition part is arranged on the supporting part, and the longitudinal sections of the light receiving ends of the probes arranged on the supporting part are positioned on the same plane;
The measuring part is used for generating the reflectivity of the water at the water surface measuring point according to the optical signal;
the support part specifically includes:
The first support rod, the second support rod, the third support rod and the connecting rod;
The first support rod, the second support rod and the third support rod are all connected with the connecting rod, and the connecting rod is rotatably arranged on the fixing part;
The first support rod, the second support rod and the third support rod are positioned on the same plane, and the plane formed by the first support rod, the second support rod and the third support rod is perpendicular to a horizontal plane;
The second support rod is positioned between the first support rod and the third support rod, and the third support rod is perpendicular to the horizontal plane;
The system also comprises a rotating mechanism, wherein the rotating mechanism is arranged on the connecting rod and can drive the connecting rod to rotate;
The rotating mechanism specifically comprises a driving device, a rotating device and an angle calculating device; the angle calculation device is used for determining a rotation angle by utilizing collected unmanned ship body azimuth information and sunlight incidence angle information, and controlling the driving device to drive the rotation device to rotate based on the rotation angle so as to enable the included angle between the plane of the longitudinal section of the light receiving end of each probe and the sunlight incidence plane to be within a preset included angle range;
The fixing part specifically comprises a fastening piece and a supporting frame, and the connecting rod is rotatably connected with the supporting frame through the fastening piece.
2. The system according to claim 1, wherein the signal acquisition unit comprises:
the system comprises a first radiance probe, a second radiance probe and an irradiance probe;
the first radiance probe is arranged on the first supporting rod, the second radiance probe is arranged on the second supporting rod, and the irradiance probe is arranged on the third supporting rod; the longitudinal section of the light receiving end of the first radiance probe, the longitudinal section of the light receiving end of the second radiance probe and the longitudinal section of the light receiving end of the irradiance probe are positioned on the same plane;
The first radiance probe, the second radiance probe and the irradiance probe are all connected with the measuring part, the first radiance probe is used for collecting the upstream radiance of the water body, the second radiance probe is used for collecting the downstream radiance of sky light, and the irradiance probe is used for collecting the downstream irradiance of the water surface.
3. The system according to claim 2, wherein the measuring section specifically includes:
The device comprises a first spectrometer, a second spectrometer, a third spectrometer and electronic equipment;
The first spectrometer is connected with the first radiance probe and is used for obtaining uplink radiance spectrum data according to the uplink radiance of the water body;
The second spectrometer is connected with the second radiance probe and is used for obtaining downlink radiance spectrum data according to the skylight downlink radiance;
The third spectrometer is connected with the irradiance probe and is used for obtaining downlink irradiance spectrum data according to the downlink irradiance of the water surface;
The first spectrometer, the second spectrometer and the third spectrometer are all connected with the electronic equipment, and the electronic equipment is used for generating the water-leaving reflectance spectrum data at the water surface measuring point according to the uplink radiance spectrum data, the downlink radiance spectrum data and the downlink irradiance spectrum data, wherein the water-leaving reflectance spectrum data comprises a plurality of water-leaving reflectances which are in one-to-one correspondence with wavelengths.
4. The water-exit reflectance measurement system according to claim 1, further comprising:
a video acquisition device;
The video acquisition device is arranged on the first supporting rod and is used for acquiring water area image information.
5. The water-exit reflectance measurement system according to claim 3, further comprising:
a navigation device;
the navigation device is located on the unmanned ship and connected with the electronic device, the navigation device is used for collecting position information of the unmanned ship, and the electronic device is used for controlling the unmanned ship to travel to a water surface measuring point according to the position information.
6. The system of claim 1, wherein the predetermined angle is in the range of 90 ° -135 °, and wherein the angle between the first support bar and the second support bar is greater than the angle between the second support bar and the third support bar.
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