针对目前铅鱼挂载的水下测量装置功耗高、铅鱼上流速仪无法测量水流流向和确定铅鱼位置,以及水文缆道人工测深精度不高的问题,开发研制出智能铅鱼水文信息测量系统。该系统采用超低功耗电路延长水下测量装置工作时长,采用三维姿态电路实时测量铅鱼三维姿态,并结合卡尔曼数据融合算法提高测流精度并获取水流流向,采用水深测量电路实时测量水深,并结合涌浪传感器滤除波浪对水深测量精度的影响,解决了人工测深精度低的问题,并大幅提高了水深测量精度。

In view that underwater measurement device on lead fish has high power consumption and low precision of artificial water depth measurement by cable way, and that current meter on the lead fish cannot measure the flow direction or determine the position of the lead fish, we developed an intelligent system of lead fish hydrological information measurement. The system adopts ultra-low power circuit to increase the working hours of the device, and three-dimensional posture circuit to measure the three dimensional position of the lead fish in real time. Moreover, it could improve the precision of flow velocity measurement and obtain flow direction by using the Kalman data fusion algorithm. It could also improve the precision of water depth measurement by combining surge wave sensors with real-time circuit to address the influence of waves on depth measurement.