Buoy for determining characteristics of sea waves

FIELD: physics.

SUBSTANCE: device consists of a housing (3), a device for transmitting information over radio and satellite communication channels (13), a control module (1) with an optional GPS unit, a power supply (2). The housing (3) is entirely made of metal and is cigar-shaped. In the lower part of the housing (3) there is pull-out anchor apparatus (4) and in the upper part there is a stabilising device (5) in form of wings. There are also elements of a parachute system (8) in the upper part of the housing (3). Furthermore, the housing (3), in its submerged part, is equipped with a damping device (14) which consists of an orifice equipped with an even number of lobes. Said lobes are attached to the housing of the buoy by flat springs. Even lobes are attached with inclination downwards and odd lobes are attached with inclination upwards. The optional GPS unit has a four-channel satellite signal receiver which is able to simultaneously measure delta-pseudoranges to four artificial Earth satellites. The satellite communication channel receiver has a navigation filter for simulating movement of the buoy.

EFFECT: determining characteristics of sea waves.

3 dwg

The invention relates to the field of Hydrometeorology and can be used to determine characteristics of sea wind waves, and can also be used to measure meteorological parameters by means of the Desk, placed on the buoys.

The known device for the measurement of meteorological parameters by means of the Desk, placed on the buoys (inventor's certificate SU 1280321, 30.12.1986; inventor's certificate SU 1280320, 30.12.1986; inventor's certificate SU 1712784, 15.02.1992; JP patent 60107490, 12.06.19S5 [1-4]), consist of a body, a mast with a device information transmission by radio and satellite communication channels, measuring a parameter of the wind, measuring atmospheric pressure, air temperature sensor, water temperature sensor, beacon, radar corner reflectors, the control module with optional GPS unit, the block information memory, the Central unit with the controller, meter wave height and orientation of the buoy, gauge the speed and direction of the current sensors to determine salinity, conductivity, turbidity, oxygen content, ion content, pH, process controller oxidation/recovery power source.

A common disadvantage of the known devices characterization of sea wind waves [1-4] is a low structural reliability is ity of the buoy, and measuring devices and power source, which significantly increases the complexity of the use of these funds in the long run marine research.

It is also known device for measuring meteorological parameters by means of the Desk, placed on the buoys (patent RU 2328757, 10.07.2008) [5], which consists of a casing of cylindrical form, the mast with the device transmitting information by radio and satellite communication channels, measuring a parameter of the wind, measuring atmospheric pressure with baseportal, comprising a separating chamber, a desiccant, a flexible connecting tube, a locked channel, the air manifold, ball valve, located inside the intake tube, air temperature sensor, water temperature sensor, beacon, radar corner reflectors, the control module with optional GPS unit, unit information the memory of the Central unit with the controller, meter wave height and orientation of the buoy, gauge the speed and direction of the current sensors to determine salinity, conductivity, turbidity, oxygen content, ion content, pH, process controller oxidation/recovery, power source, which in contrast to the known analogues [1-4] the body of the buoy is made of reinforced plastic, and the lower part is made in the form of meth is lifescope Foundation, equipped with a stabilizing device, the upper part of the case is made of foam in the form extends to the top of the cone angle of 30 degrees, the center of which is hermetically installed tube passing through the foam body, in the upper part of which the traverse has a water temperature sensor, a second air temperature sensor is installed on the mast in a protective shield made of a hydrophobic insulating material with a reflective coating and provided with side ventilation holes, and the ball valve beoport of an atmospheric pressure sensor made of spheroplasts, the intake tube is oriented input hole down inside her over ball valve is a narrow channel, the upper surfaces of the valve formed on the sphere of the same diameter of the locked channel.

Structural differences of the device [5] from its analogues can achieve a technical result consists in increasing the reliability of the measurement of meteorological parameters.

But long-term temporal studies in marine waters, especially in the conditions of the Arctic seas, the hull design of the buoy includes, along with metal items and items made from plastic, prone to deformation, which reduces the lifetime in which trojstva. The appearance of deformation introduces additional error in the determination of wave parameters due to the presence of non-uniform movement of the buoy both in vertical and in horizontal planes, which also adversely affects the normal functioning of the satellite communication channel.

Also, a significant disadvantage of the device [5] is its low autonomy, due to the life of the power source.

Similar shortcomings have known device (patent RU №S 10.07.2008; RU patent NO. S 20.06.2005, US patent No. A 02.09.1980 [6-8]. When creating Oceanographic instruments became widespread integration of different measurement tools, this led to the fact that created the Autonomous buoys were designed not only to measure waves, but get information on air and water temperature, speed and direction of currents, and other physical quantities.

The shape of the projected buoys should take into account the requirements of the buoy by means of measurement of these quantities. Therefore, some companies produce buoys that have not only cylindrical, but a different form.

Abroad for measuring sea state uses different beacons with nonacoustic sensors. Their main production is the teli is the United States and Canada. In Canada to measure unrest developed a series of compact, dropped from aircraft or surface ships, drifting beacon generation CMOD (Compact Meteorogical and Oceanographic Drifter).

So "CMOD Waves" is a one - time drifting buoy is designed for measurement and calculation of surface commotion and data through the integrated MAT 609 Argos PTT satellite system NOAA Tiros. In addition to the standard sensors generate CMOD in the buoy uses accelerometers, sensors tilt and compass device for determining the direction of the wave front.

The closest analogue (prototype) of the claimed invention is a device for measuring meteorological parameters by means of the Desk, placed on the buoys is a device for measuring wave parameters (patent RU №2432589 27.10.2011 [9]), the essence of which is that in the device for measuring meteorological parameters by means of the Desk, placed on the buoys [5], which consists of a body, a mast with a device information transmission by radio and satellite communication channels, measuring a parameter of the wind, measuring atmospheric pressure with baseportal, comprising a separating chamber, a desiccant, a flexible connecting tube, lockable channel, vozduhsnom is to, the ball valve inside the intake tube, air temperature sensor, water temperature sensor, beacon, radar corner reflectors, the control module with optional GPS unit, the block information memory, the Central unit with the controller, meter wave height and orientation of the buoy, gauge the speed and direction of the current sensors to determine salinity, conductivity, turbidity, oxygen content, ion content, pH, process controller oxidation/recovery, power source, in which the lower part of the body is in the form of a metal base, provided with a stabilizing device, in the center of the housing is hermetically installed the tube in the upper part which traverse has a water temperature sensor, a second air temperature sensor is installed on the mast in a protective shield made of a hydrophobic insulating material with a reflective coating and provided with side ventilation holes, and the ball valve beoport of an atmospheric pressure sensor made of spheroplasts, the intake tube is oriented input hole down inside her over ball valve is a narrow channel, the upper surfaces of the valve formed by the sphere of the same diameter of the locked channel, made the following addition is possible: the body is made of all-metal, cigar-shaped, in the lower part of the body is placed a retractable anchor device, a stabilizing device is installed on the upper part of the body and is made in the form of wings, articulated with the body in the upper part via a hinge, and at the bottom by means of rubber grommets in the upper part of the body also contains elements of the parachute system, the power source is supplied by a generator coupled with a stabilizing device.

The implementation of the stabilizing device in the form of wings and rubber shock absorbers in combination with a cigar-shaped hull provides repayment unwanted hydrometeorological impacts. Execution of the device metal allows you to use it repeatedly and avoid impacts as sea water and external conditions. Performing a cigar-shaped hull helps provide uniform oscillations of the device when in the marine environment. Accommodation in the lower part of the body of the anchor device helps keep the buoy in an upright position and reducing the effect of wind drift and drift wave currents. Excluding the negative impact on the device of the sea water and external meteorological conditions, as well as ensure uniform oscillation when in marine environments is to improve the accuracy of measurement of meteorological parameters. In addition, the shock absorbers connecting the wings of the stabilizing device with the bottom of the housing is designed so that when making the translational motion of the trigger generator power source and provide battery recharging power source, thereby increasing its service life.

However, when the buoy at shallow depths in the vertical rolling, it is necessary to provide damping of heave in response.

The introduction of satellite navigation technology, equipment valamennyi buoys satellite navigation receivers significantly reduces the time coordinates of the buoy and allows high accuracy to determine its motion elements.

It should be borne in mind that the concept of "satellite navigation technologies" means methods and techniques (algorithms) using the results of measurements of radio navigation parameters (RNP) signals of satellite navigation systems (SNS). obtained with an accuracy of both conventional and special satellite navigation receivers (DPR) for various applications. Depending on the required accuracy of the navigation software can be divided into three groups:

task, provide standard navigation mode SNA;

task, provide differential mode the IOM SNA;

- tasks that require relative positioning.

The standard navigation mode involves the use of measurement data only from the SNA. From the code measurements (pseudorange) usually form mushrooms coordinates of an object with automatic exclusion of systematic measurement errors (divergence system time scale and scale SNP). This error is a manifestation of the specifics bezzapretnoj method of satellite navigation (pseudoternary method) and excluded by evaluating it in the extended vector of coordinates. One of the simplest algorithms for solving the problem of absolute positioning is the method of least squares (Volosov PS, Dubinko US and other Marine complexes satellite navigation. - Leningrad: Sudostroenie, 1983. - 272 S.):

$$\Delta X=(H^T{H}^{-1})H^{T}L,\text{(1)}$$

where Δ - vector amendments to the dead-reckoned coordinates, i.e. the coordinates of a point relative to the linearization of the equations of measurements;

L is the vector difference of the measured and the dead-reckoned navigation parameters values;

H is the matrix of partial derivatives of pseudorange about anywaym parameters $$H=\left|\left|h_{ji}\right|\right|$$(here the index i relates the variables with estimated parameters, j number of satellites).

The matrix elements of h_ji(i=1, 2, 3) are the direction cosines of the line of sight of the satellites, and when i=4 h_ji=1.

The solution of the navigation problem by the formula (1) implements the decomposition of the full state vector (position and velocity) on the coordinate and velocity subvectors and the full vector of measurements (pseudo range and pseudokarst) two subvector: code and phase.

Therefore, from pseudotolerance measurements to provide estimates of the projections of the velocity vector. Systematic error here is the rate of change of the difference of time scales, mainly caused by the instability of the reference oscillator of the satellite navigation receiver (DPR). Matrix$$\left|\left|h_{ji}\right|\right|$$this change does not suffer.

Differential mode in SNP involves the formation of ground control and correction station (CCF), the coordinates of which are geodesic with high precision the awn bound to the area, amendments to the measured values, ranges, caused by errors of prediction ephemeris information (EI), delays in the troposphere and the ionosphere (for single-SNP), transfer them to consumers located in the zone of operation of CCF in a radius of up to several tens to hundreds of kilometers, and the inclusion of these amendments in the house when solving the navigation task.

However, both of these modes, either functionally or by the level of accuracy is unsuitable for solving the determination of the motion parameters wanamingo buoy with the required accuracy, and also to solve the problem of determining the tilt of the sea surface.

Task to be solved by the claimed invention is directed, is to create a device, design features which will improve the accuracy of the measured meteorological parameters.

The problem is solved due to the fact that the buoy to determine the characteristics of the sea wind waves, consisting of a body, the device information transmission by radio and satellite communication channels, the control module with optional GPS unit, power supply, casing made of metal, cigar-shaped, the bottom of which is placed a retractable anchor device, a stabilizing device is installed on the upper part of the body and is made in the form of wings coupled to the housing at the top cha the tee by means of hinges, and in the lower part of the body through rubber grommets in the upper part of the body also contains elements of the parachute system, the power source is supplied by a generator coupled with a stabilizing device, unlike the prototype, the body in its underwater part provided with a damping device consisting of a nozzle, provided with an even number of petals attached to the body of the buoy by means of a flat spring, and the odd petals fixed tilt up, and even petals fixed tilt down, optional GPS unit contains a four-channel receiver satellite signals with the possibility of simultaneous measurement of deltasigmatheta up to four satellites, and the satellite receiver communication channel comprises a navigation filter to simulate the motion of the buoy.

Novel features of the proposed solution, namely, that the body of the buoy in its underwater part provided with a damping device consisting of a nozzle, provided with an even number of petals attached to the body of the buoy by means of a flat spring, and the odd petals fixed tilt up, and even petals fixed tilt down, optional GPS unit contains a four-channel receiver satellite signals with the ability and the intent of deltasigmatheta up to four satellites, when this receiver to the satellite communication channel comprises a navigation filter, to simulate the motion of the buoy, enable when the buoy at shallow depths in the vertical rolling, to provide damping of heave in the field of resonance, to increase the accuracy of measurement when solving the problem of determining the motion parameters of the buoy, and tilt of the sea surface.

The essence of the proposed technical solution is illustrated by drawings.

Figure 1. The block diagram of the buoy to determine the characteristics of the sea wind waves, which includes a control module 1 with optional GPS unit, the power source 2, the case 3 buoy, retractable anchor device 4, the stabilizing device 5, in the form of wings, 6 - hinges, of 7 rubber grommets, 8 - mount parachute system, 9 - electrochemical NC, 10 - timer, designed to run power source 2, 11 - micro with gear 12, 13 antenna satellite communication channel GPS system, the damping device 14.

Figure 2. The design of the damping device. The damping device 14 consists of a nozzle 15, provided with an even number of blades 16 attached to the housing 3 of the buoy by means of a flat spring 17, and the odd petals fixed tilt up, and even petals fixed tilt down.

Figure 3. Diagram for the determination of the parameters DV is the position of a given point buoy. Case 3 buoy antenna 13 satellite communication channel GPS.

Buoy for determining the characteristics of sea wind waves is installed on the sea surface with the aircraft, as well as in the prototype, which allows to reduce the time for installation of a large number of such devices when performing wide studies, for example, long-term studies on the border environment atmosphere - ocean or when carrying out survey work in the construction of offshore facilities, including the marine terminal oil and gas fields. To install from an aircraft, the device is provided with a mount parachute system, by which the descent of the buoy on the sea surface. Antenna 13 satellite communication channel GPS performed with a linear polarization in the form of an asymmetrical half-wave whip vibrator, providing better energy characteristics of the radiation in the region of small angles, taking into account the restrictions on weight and size characteristics and operating conditions of the buoy.

To ensure the required probability of error free reception of the information message from the buoy through translator (spacecraft) on the surface receiving the item, amounting to at least 0.99 in terms of the interference fading of the transmitted signal, provided by FD is create a batch of messages, containing block correcting code and synchroblog consisting of singaperumal for spacecraft (translator) and singaperumal for terrestrial reception, providing the definition of the fact of reception of the package, clock synchronization and assessment of the current reliability of the bit reception. In addition, applied multiple of the transmission packet of the message with a duration not exceeding the average duration favorable reception time intervals with independent reception, the majority by adding packages and recovery of the message transmitted by the buoy to the ground point.

To estimate the probability of error-free reception of a message buoy displacement of 500 bits with regard to the modeling of the transmission factor of the channel, the working range of elevation angles of the spacecraft and excitement when the wind speed from 6 to 10 m/s depending on the capacity of radio to code designs, different correction code, the number of packet messages for the majority of the processing and the presence or absence of alternation symbol correcting code, showed that to achieve the requirements of authenticity receive messages in the range of elevation angles of the spacecraft 15-45 degrees and the multiplicity of the packet equal to 5, the most time messaging, equal to 21.6 s, is achieved when the use of the more effective correcting BCH code, and the minimal amount of time, equal to 9.4, can be achieved using simple code Kasahara, with the greatest relative transmission rate; minimum power radiation, equal to 3.5 watts, is achieved by using a correcting BCH code, and the highest equal to 29 W, is achieved by using a simple code BCH.

To control salivatory sea wave antenna 13 and the shading of the spacecraft at low elevation angles and large viamax will in the control module 1 is provided a control device including a current sensor circuit terminal of the amplifier stage of the transmitter power buoy with an amplitude modulator in two modes: high power, which is used during the transmission of the message and the mode "low power", used when waiting for a favorable transmission conditions.

Stabilizing device made in the form of wings 5, articulated with the lower part of the body by means of rubber shock absorbers 7, in combination with a cigar-shaped body ensure repayment of unwanted hydrometeorological impacts. In addition, during hydro-meteorological impacts on the buoy rubber shock absorbers 7 are reduced and stretched, making a forward movement. Making a forward movement, the shock absorbers run the generator power source 2, which is in charge of the AET battery recharging power source 2. The anchor device 4 is designed to hold the buoy in an upright position and reduce the effect of wind drift and drift wave currents. Performing case 3 all-metal device enables you to use it many times and eliminate the negative effects of sea water and the influence of external conditions in the marine environment variable.

Performing case 3 devices cigar-shaped form allows you to provide a uniform oscillations of the device when placed in seawater.

As the body of the unit of measurement of meteorological parameters can be used corps commercially available marine signaling buoys, which can significantly reduce the cost of manufacture of the buoy.

Software measurement of wave parameters allows the determination of wave parameters (height, period, frequency, length, speed) emitting a low-frequency part for describing the large-scale fluctuations of the sea surface, to be used later in the analysis kaiserkeller reflection of radio waves by the method of Kirchhoff and high-frequency parts to describe the small-scale fluctuations of sea surface wind ripples)to be used later in the analysis of diffuse scattering of radio waves by the method of perturbations. Unlike prototype [9], proposed in the IOM technical solution, for heave damping in the resonance case 3 provided with a damping device 14. The damping device 14 consists of a nozzle 15, provided with an even number of blades 16 attached to the housing 3 of the buoy by means of a flat spring 17, and the odd petals fixed tilt up, and even petals attached with down slope (figure 2).

The damping device 14 is a nozzle 15 mounted in the underwater part of the buoy on the housing 3. The damping element are the petals 16, fixed to the housing 3 of the buoy by means of flat springs 17. The damping device 14 has an even number of blades, and an odd petals fixed tilt up, and even with tilt down.

When the vertical motion of the buoy 16 petals will raskryvaya, resulting in increased strength of the damping. The peculiarity of the damping device 14 is that the value of the resistance forces, vertical oscillations of the buoy will depend on the frequency of these vibrations.

Unlike prototype [9] optional GPS unit 1 contains a four-channel receiver satellite signals with the possibility of simultaneous measurement of deltasigmatheta up to four satellites, the receiver to the satellite communication channel comprises a navigation filter to simulate the motion of the buoy.

the distribution of current speed buoy signals SNA is a rather difficult task, the peculiarity of which is that the signals of the SNA is possible to measure the coordinates of the point buoy, combined with the phase center of the antenna (FTA) satellite navigation equipment installed on the buoy. This point is involved in a complex translational and rotational motion. The problem of determining the motion parameters of the buoy can be represented as follows. Let the buoy (figure 3) with the center of oscillation M, arbitrarily specified point N and a fixed reference point And, combined with PCA, involved in translational motion with a linear speed of$$\stackrel{}{V}$$and revolves around the instantaneous center of oscillation with angular velocity$$\stackrel{}{{\omega }_k}$$. The linear velocity of points a and N in the complex movement indicated by the vectors$${\stackrel{}{V}}_A$$and$${\stackrel{}{V}}_N$$. The position of the points a, N and M relative to the center of the Earth indicated by the vectors$${\stackrel{}{R}A}_{}$$,and$${\stackrel{}{R}}_N$$. Points a and N are fixed relative to the body of the buoy, and the position of the point M in the process of dynamic motion is constantly changing. Vectors$$\stackrel{}{RA}$$and$$\stackrel{}{VA}$$determined by the coordinates and the velocity components of the point And produced by DPR. Neglecting in this case, the non-rigidity of bearing structures of an antenna device of the DPR and the body of the buoy, on the basis of the known expression for the velocity vector of a rigid body with complex movement (Rivkin S. Determination of linear velocities and accelerations rolling of the ship, the inertial method. - L..: CRI Rubin, 1980. - 180 C.), it follows that:

$${\stackrel{}{V}}_A={\stackrel{}{V}}_M+{\stackrel{}{r}}_k{\stackrel{}{\omega }}_k{V}_N={\stackrel{}{V}}_M+{\stackrel{}{\omega }}_k{\stackrel{}{r}}_N.\left(2\right)$$

The velocity of the point M, the position of which is uncertain changes, be expressed in terms of differences:$${\stackrel{}{V}}_M={\stackrel{}{V}}_A-{\stackrel{}{\omega }}_k{\stackrel{}{R}}_A$$;$${\stackrel{}{V}}_M={\stackrel{}{V}}_N-{\stackrel{}{\omega }}_k{\stackrel{}{r}}_N.\left(3\right)$$

From this expression get the value for the velocity vector of a given point buoy:

.

Since the expression (3) and (4) free from motion parameters and the position of the instantaneous centre of oscillations M, they can be used to transform the measured signals SNA information to the specified point.

From the expression (2), it follows that to determine the velocity vector of a given point buoy according to SNA in addition to$${\stackrel{}{V}}_A$$it is necessary to know the relative position of a specified point and antenna$$\left({\stackrel{}{r}}_k\right)$$and the angular velocity of the rotation body of the buoy$$\left({\stackrel{}{\omega }}_k\right)$$. The solution to this problem is possible by describing the position of point M through a and N:$${\stackrel{}{R}}_M={\stackrel{}{R}}_A-{\stackrel{}{r}}_A$$;$${\stackrel{}{R}}_M={\stackrel{}{R}}_N-{\stackrel{}{r}}_N\left(5\right)$$.

From the formula (5) we obtain the expression that determines the position of a given point buoy:$${\stackrel{}{R}}_N={\stackrel{}{R}}_A-{\stackrel{}{r}}_A+{\stackrel{}{r}}_N=R_A-{\stackrel{}{r}}_A.\left(6\right)$$.

Because expressions (2) and (3) free from motion parameters and the position of the instantaneous centre of oscillations M, they can be used to transform the measured signals SNA information to the specified point.

Introducing the expressions (2) and (3) projections on the axis of the topocentric coordinate system with the origin at point a, we obtain:$$\begin{array}{l}{V}_{NX}=V_{AX}+{\omega }_{ky}{r}_x-{\omega }_{kx}{r}_y;R_{NX}=R_{AX}-r_x=-r_x;\\ V_{Ny}=V_{Ay}+{\omega }_{kx}{r}_x-{\omega }_{kx}{r}_x;R_{Ny}=R_{Ay}-r_y\\ V_{NX}=V_{AX}+{\omega }_{kx}{r}_y-{\omega }_{ky}{r}_x;R_{NX}=R_{AX}-r_x;\end{array}\}\left(7\right)$$

The method of calculation of parameters of the motion of sea plants in irregular pitching elaborated in the works (Rivkin S. Determination of linear velocities and accelerations rolling of the ship, the inertial method. - L..: CRI Rubin, 1980. - 180 S. Network satellite navigation system / B.C., Shebshaevich, P.P. Dmitriev, N.V. Ivancevich and others - M.: Radio and communication, 1982 - 272 C.) and allows to calculate the statistical characteristics of the errors of navigation definitions the signals of the SNA.

To exclude the influence of otstoyniy points a and N on the accuracy of determination of velocity vector components of the displacement of a given point buoy, in the General case it is necessary to consider the appropriate members in the right parts of equations (7). In the specific case due to the small dimensions of the buoy these values can be ignored.

Consideration is given to the small dimensions of the buoy and is equal to the ratio of the size of the antenna, the coordinates of the position and velocity components of its movement it is advisable to quasipolynomial or kwasiborski measurements. Using simultaneous measurements of distance and radial velocity allows the sample to determine not only the position but also the velocity components of the motion of the buoy. To find all unknown parameters are not necessary to solve the system of equations, as using a decomposition method under certain conditions, you can simplify the task and move on to independent solution of two equations, which give, respectively, the coordinates and the components of the velocity vector of the buoy. The use of decomposition is the lack of feedback of measured values to change some of the defined parameters. It is known that simultaneous measurements of the velocity components are determined only by Doppler measurements. At the same time to orbit navigation satellites of the GLONASS system can be assumed that the Doppler measurement is poorly responsive to changes of coordinates, resulting coordinates are determined almost exclusively by quasipolynomial measurements. Therefore, without loss of precision processing dalemere-Doppler measurements can be performed in two stages. At the first stage results kwasiborski (differential-Doppler) shift the response to assess the components of the speed of its movement. At the first stage can be used rangefinder, differential-ranging and quasiternary algorithms (on-Board satellite navigation device / N. Kudryavtsev, I.I. Mishchenko, A.I. the air and others - M.: Transport, 1988 - 201)

At the second stage of evaluation of the components of the velocity wanamingo buoy is reduced to solving the following equations:

when Doppler measurements$$R_i=\stackrel{-1}{r_i}\left[\left(x_{ci}-x\right)\left(x_{ci}-x\right)+\left(y_{ci}-y\right)\left(y_{ci}-y\right)+\left(z_{ci}-z\right)\left(z_{ci}-z\right)\right],i=\mathrm{1,}\mathrm{2,}3\left(8\right)$$

- a differential-Doppler measurements of$$\Delta r_{jl}=r_j-r_l,i=\mathrm{2,}\mathrm{3,}4\left(9\right)$$

when kwasiborski dimensions$$r_{jl}=r_j+\delta r_f\left(10\right)$$

where δr_f- amendment radial velocity due to the differences of the frequencies of the generators of the receiver buoy and satellite.

The system of equations (8-10) with respect to the components of the velocities x, y, z linear, and the solutions are obvious.

In a particular implementation of the proposed technical solution, because pseudorange measurement of up to four satellites are four-channel receiver, then apply the following algorithm:

$${\displaystyle \underset{J=1}{\overset{3}{\sum }}{\left(x_{cy}-x_j\right)}^2={\left(r_i-t\right)}^2(11}$$.

In this case, the measured pseudorange can be attributed to a single point in time, so a single notch four pseudorange allows you to record the instantaneous spatial position of the buoy. The accuracy of determination of the instantaneous coordinates does not depend on the dynamics of the buoy, however, the refinement of these coordinates by smoothing rapidly fluctuating measurement errors can be made only if there is information about the nature of the trajectory of the buoy, allowing the number of its coordinates in the intervals between measurements of pseudorange. Knowing the trajectory of the buoy (its dynamics), it is necessary to generate the current values of these important navigation options, as components of its velocity vector, in particular the implementation of the proposed technical solutions, such information can be obtained by using a mathematical model describing the dynamics of the buoy. For this purpose, the receiver applied to the navigation filter to simulate the motion of the buoy. As such a filter used discrete Kalman filter (Zaitsev A.V., Reznichenko V.I. determination of the ground speed of the vehicle on signals Srednerussky space navigation system // Notes on hydrography. - 1982 - No. a. - pp.62-64), which is built on the basis of the trace of the operating models of the dynamics of the buoy and measurement:

$$X_k=F_{k-1}{X}_{k-1}+A_{k-1}{W}_{k-1}\left(12\right)$$

$$Z_k=H_k{X}_k+U_{k-1}\left(13\right)$$

where X_kthe state vector;

F_kthe transition matrix;

H_kmatrix of partial derivatives of the measurements;

Z_kis the vector of measurements;

W_kthe vector of disturbances (noise) of the dynamics of the buoy;

U_kthe vector of noise measurements.

The motion of the buoy is modeled dynamic system excited by noise. The variables of the differential equations describing this system, form the state vector X_k. In addition to these variables, in the filter are modeled some "nuisance" parameters - systematic measurement errors of the pseudorange and pseudokarst, which are also included in the state vector.

For the UYa in the vector of measurements Z, in addition to the pseudorange, included deltaselect, which essentially represent the results of integration of the Doppler frequency offset on a finite interval Δt=t_i+1-t_i. If the sum on the interval t_n-t₀deltasigmatheta obtained by integrating the Doppler frequency error ε_iin successive moments of time t_iget the increment of distance on the interval with an error of. The variance of this sum:$${\delta }_{\Sigma }^2={\displaystyle \underset{I=0}{\overset{n}{\sum }}{\displaystyle \underset{j=0}{\overset{n}{\sum }}E\left[{\epsilon }_i-{\epsilon }_j\right].\left(14\right)}}$$.

Error neighboring Doppler measurements integrals correlated with the ratio of 0.5:

$$E\left[{\epsilon }_i{\epsilon }_j\right]=\left\{\begin{array}{l}{\delta }_{\epsilon }^2............i=j\\ -mn>\; 0,5{\delta }_{\epsilon }^2......\left|I-j\right|=1\\ 0............\left|I-j\right|>1\end{array}\right\}\left(15\right)$$

Then

$${\delta }_{\Sigma }^2=\left(n-1\right){\delta }_{\epsilon }^2-2\cdot \mathrm{0,5}n{\delta }_{\epsilon }^2={\delta }_{\epsilon }^2\left(16\right)$$.

Thus, the RMSE increment-range Doppler method does not depend on the duration of the integration interval and split this interval into parts. The latter allows for continuous measurements of deltasigmatheta up to four satellites, eliminating the systematic error of the reference frequency receiving device of the buoy, to build its trajectory regardless of its dynamics.

Industrial implementation of the proposed technical solution can be carried out by applied what I commercially available sensors, nodes and elements, which allows to make a conclusion on the conformity of the proposed technical solution the condition of patentability "industrial applicability".

Thus, the novel features of the claimed invention provide the achievement of the technical result consists in increasing the accuracy of measurement of meteorological parameters.

Sources of information

1. Inventor's certificate SU # 1280321, 30.12.1986.

2. Inventor's certificate SU # 1280320, 30.12.1986.

3. Patent SU # 1712784, 15.02.1992.

4. Patent JP 60107490, 12.06.1985.

5. Patent RU 2328757, 10.07.2008.

6. Patent RU No. 2328757 C2, 10.07.2008.

7. Patent RU No. 2254600 C1, 20.06.2005.

8. The US patent No. 4220044 A1, 02.09.1980.

9. Patent RU No. 2432589, 27.10.2011.

Buoy for determining the characteristics of sea wind waves, consisting of a body, the device information transmission by radio and satellite communication channels, the control module with optional GPS unit, power supply, casing made of metal, cigar-shaped, the bottom of which is placed a retractable anchor device, a stabilizing device is installed on the upper part of the body and is made in the form of wings, articulated with the body in the upper part by means of hinges, and in the lower part of the body through rubber grommets in the upper part of the body also contains elements of the parachute system, is the source of power supplied by the generator, articulated with a stabilizing device, characterized in that the housing is in its underwater part provided with a damping device consisting of a nozzle, provided with an even number of petals attached to the body of the buoy by means of a flat spring, and the odd petals fixed tilt up, and even the petals attached to the tilt-down, optional GPS unit contains a four-channel receiver satellite signals with the possibility of simultaneous measurement of deltasigmatheta up to four satellites, the receiver to the satellite communication channel comprises a navigation filter to simulate the motion of the buoy.