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Portable unmanned surface vehicle that automatically measures flow velocity and direction in rivers
Flow Measurement and Instrumentation ( IF 2.2 ) Pub Date : 2021-05-31 , DOI: 10.1016/j.flowmeasinst.2021.101964
M. Sanjou , A. Shigeta , K. Kato , W. Aizawa

We developed an automatic measurement system for flow velocity and direction in natural rivers using an autonomously controlled unmanned surface vehicle (USV). Oncoming mainstream velocity was measured by the propulsion force required for the USV in order to preserve the position at a measurement point. To conduct such a field mission, the system runs by changing four characteristic control stages: 1) calculation of the tentative propulsion force, 2) navigation to the target point, 3) velocity measurement by staying at the target, and 4) detection of flow direction by flowing downstream. More than 20 indoor tests were conducted under several hydraulic conditions by varying streamwise velocity, and the calibration formula was obtained by interrelating the oncoming velocity magnitude with the propulsion force required to remain at the target. The attitude control was provided with side thrusters to improve the yaw stability of the USV in the oncoming current. The adjunctive work of the side thrusters was very effective. Field tests were conducted to examine the reliability and accuracy of the present automatic flow measurements in a river. Both local velocity and direction in the river flow were measured well by the USV. Error analysis was conducted by comparing with the existing velocimetry results, and the USV was found to possess a sufficient ability to meet practical performance for the flow measurement in a calm river with about 1 m/s velocity.



中文翻译:

自动测量河流流速和方向的便携式无人水面车辆

我们使用自主控制的无人水面车辆 (USV) 开发了一种用于天然河流流速和方向的自动测量系统。迎面而来的主流速度是通过 USV 所需的推进力来测量的,以保持在测量点的位置。为了执行这样的现场任务,该系统通过改变四个特征控制阶段来运行:1) 计算暂定推进力,2) 导航到目标点,3) 通过停留在目标处进行速度测量,以及 4) 流量检测顺流而下的方向。通过改变流向速度在多种水力条件下进行了 20 多次室内测试,通过将迎面而来的速度大小与保持在目标所需的推进力相关联来获得校准公式。姿态控制配备了侧向推进器,以提高 USV 在迎面而来的水流中的偏航稳定性。侧推进器的辅助工作非常有效。进行了现场测试,以检查河流中当前自动流量测量的可靠性和准确性。USV 很好地测量了河流中的局部速度和方向。通过与现有测速结果的比较进行误差分析,发现USV具有足够的能力满足流速约1 m/s的平静河流中的流量测量的实际性能。进行了现场测试,以检查河流中当前自动流量测量的可靠性和准确性。USV 很好地测量了河流中的局部速度和方向。通过与现有测速结果的比较进行误差分析,发现USV具有足够的能力满足流速约1 m/s的平静河流中的流量测量的实际性能。进行了现场测试,以检查河流中当前自动流量测量的可靠性和准确性。USV 很好地测量了河流中的局部速度和方向。通过与现有测速结果的比较进行误差分析,发现USV具有足够的能力满足流速约1 m/s的平静河流中的流量测量的实际性能。

更新日期:2021-06-18
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