Intelligent Lead Fish Research And Development

The traditional velocity measuring device which only possess the ability of measuring the switch quantity of the current meter and can not measure the flow direction of the flow and the three-dimensional posture of the lead fish mainly adopt the method of measuring the velocity after the lead fish getting into the water and delay for a period of time to measure the velocity and cause the results that the time of measuring velocity is extended at low flow rate and the large measurement error caused by measuring the velocity while the lead fish is not stable at high flow rate because of the artificial estimation delay,the declination between the current meter and the flow direction of the flow as well as the large measurement error caused by measuring the velocity while the lead fish is not stable under water.The method of cableway counting is used for measuring the depth result in the low accuracy in measuring the depth because of the effect of the surface wave,the non-optimal depth calculation formula,the measurement error of the displacement of cableway and lead fish weight.The traditional hydrological measuring device can not meet the demand that the hydrodogical station monitor the water regimen of the water area for the long time because of the high energy consumption of the traditional hydrological measuring device.Based on the detailed analysis and research of the principle of the hydrological velocity measurement and depth measurement,an intelligent lead fish hydrological information measuring system is developed.The system increase the working hours of the device by using the ultra low power circuit,improve the precision of the velocity measurement and gain the flow direction by using the three dimensional posture circuit measure the three dimensional position of the lead fish in real time combined with the kalman data fusion algorithm,solve the problem of the low precision of artificial water depth measurement and increase greatly the precision of the water depth measurement through using the water depth measurement circuit measure the water depth in real time combined with the method that the swell sensor filter waves influence on the precision of water depth measurement.In order to reduce the power consumption of the lead fish measurement device,a design method of ultra low power consumption of intelligent lead fish which can effectively reduce the power consumption of the measuring device.In order to meet the need that acqiuring the three dimensional position of the lead fish,the method that the attitude measurement circuit is used to measure the posture of the lead fish combined with the kalman data fusion algorithm used to solve the three dimensional position of the lead fish.The results show that the solve error of the kalman data fusion algorithm is smaller compared with the Quaternion algorithm and the attitude measurement circuit can measure the three dimensional position of the lead fish in real time under water and the flow direction,shorten the time of the velocity measurement at low flow rate and reduce the error of the velocity measurement at high flow rate compared with the traditional velocity measurement method.In order to improve the precision of water depth measurement,the water depth measuring circuit is proposed in this paper that uses the water pressure sensor for measuring the depth of the water and use the swell sensor to filter waves influence on the precision of water depth measurement so as to improve the precision of water depth measurement.