高频地波雷达海洋动力学参数反演与应用方法研究
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摘要
近几十年来,基于电磁散射理论的不同频段无线电探测已经发展成为遥感探测领域不可或缺的高新技术。高频地波雷达作为超视距高频雷达的一种,利用高频电磁波(3-30MHz)具有沿地面绕射的地波传播模式能探测到视距之外的海面风、浪、流等海洋动力学状态参数信息,也能探测舰船、低空飞机等硬目标,因此,近几十年来世界各国都广泛高度重视。作为新兴无线电海洋遥感方式的一种,高频地波雷达因为其探测距离远、精度高、面积大、实时性强、不易受恶劣气候影响等特点,已经成为海洋立体化信息监测网中最重要的遥感工具之一。
国内用于海洋环境监测的高频地波雷达在国家863计划的支持下,武汉大学相继完成了近、中程高频地波雷达、远程高频地波雷达、便携式高频地波雷达和多频率高频地波雷达的研制工作,雷达工作形式从单频向多频发展,工作体制从单基地向双／多基地发展,系统从传统雷达向全数字化雷达发展。对于高频地波雷达海洋环境监测技术,目前海流参数提取工作早已进入业务化观测阶段,而风、浪探测精度尚处于研究阶段,目前武汉大学承担的十二五863计划项目“分布式超视距雷达组网理论与技术研究”旨在解决风、浪探测问题,集成天-地波探测模式,在传统地波单基地模式下增加双/多基地分布式探测模式以及天-地波一体化探测模式,对近海区域实现精细化观测,对中、远海区域实现大面积覆盖观测。本文在十二五项目背景下展开高频地波雷达海洋动力学参数反演与应用研究,主要研究内容如下：
1.高频地波雷达风、浪反演算法：针对阵列式高频地波雷达工程应用中风、浪探测问题,发展了经验式高频地波雷达风、浪参数反演算法,利用雷达探测区域内同步浮标的风、浪观测数据,对算法的模型参数进行了估计和稳定性分析；将该经验模型算法应用到实际地波雷达风、浪探测工程中,通过分析六个月的反演结果和“凤凰”台风期间海面风、浪的观测结果,进一步证实了文中算法的有效性。
2.高频地波雷达海面有向浪高谱反演算法：针对高频地波雷达海洋探测中的波谱反演问题,介绍了从高频地波雷达海面回波谱中反演海面波谱的理论与方法,研究了基于正则化方法的海浪谱反演方法。文中对不适定问题、正则化理论与处理方法、Tikhonov正则化方法进行了论述,对利用L-曲线确定正则化参数,通过奇异值分解法来求解海浪谱的处理方式进行了介绍。通过正、反演数据模拟仿真和实测数据反演分析,表明了本文提出算法的有效性。
3.高频地波雷达潮间带/浅滩水深探测方法：针对高频地波雷达在潮间带/浅海区域的探测应用问题,介绍了高频地波雷达浅海水深探测的理论与方法,研究了多站水深反演算法。文中推导了利用多站高频地波雷达回波多普勒谱中反演海洋重力波相速度、浅海水深和矢量流的理论模型。通过深水条件的相速度反演验证了理论的有效性；通过三站探测和多站浅海探测的反演数值模拟和实测数据分析,表明了多站浅海探测的可行性和反演方法的有效性。
4.基于高频地波雷达的海上漂移物轨迹预测方法:针对高频地波雷达海洋工程应用问题,介绍了利用高频地波雷达探测的风、浪、流数据进行海面漂移物跟踪的方法。文中利用变频多功能高频地波雷达探测的矢量流数据,采用拉格朗日追踪法进行了海上漂移浮标的跟踪实验,跟踪轨迹与浮标上搭建的GPS记录轨迹具有较好的一致性。该实验表明了利用高频地波雷达对海上漂移物进行跟踪的有效性。另外文中还分析了跟踪误差产生的主要因素,尤其对风速引起的误差进行了重点分析。
During the last decades serveral radio wave detection systems working on different frequency bands have become useful tools for remote sensing research based on the electromagnetic scattering theory. As one kind of HF over-the-horizon radar, high frequency surface wave radar(HFSWR) in ocean remote sensing working on ground wave propagation mode takes advantage of low attenuation characteristic of high frequency electromagnetic waves (3MHz to30MHz) propagating across the ocean surface to measure the horizontal ocean dynamic parameters such as current, wind and wave, and also can monitor ship, airplane and iceberg. Vertical polarization antennas are used to transmit the electromagnetic waves. HFSWR is capable of all-weather remote sensing of large area ocean surface dynamics with relatively high precision, not influenced by adverse weather, based on which it has become one of the most important remote sensing tools for ocean information monitoring integration network.
Radio Oceanography Laboratory of Wuhan University has developed short-range, middle-range, long-range HFSWR, portable HFSWR and multiple frequency HFSWR supported by Chinese High-Technology research and development program(863Plan Project) from1987in China. Till now the capability of currents detection has been considered satisfying the requirements for routine marine observations while wind and wave detection accuracy cannot satisfy the matched status. The Twelfth-Five-Year Chinese High-Technology863Plan Project under grant2012AA091701(Distribution HF Over the Horizon Radar Network Theory and Technology)under development is aim to solve wind and wave detection problem. In the plan, sky wave propagation mode, surface wave propagation mode, sky-surface wave combination propagation mode and bistatic detection mode are all take into consideration to realize in short-range sophisticated observation and long-range covered observation. This work studies ocean dynamic parameters inversion from HFSWR, wind, wave and shallow water depth included, and introduces some primary results using current, wind wave detected by HFSWR to support ocean engineering application. The details in this research are presented as follows.
1.Firstly, the empireical models of wave and wind inversion from high frequency surface wave radar are proposed in this paper. Some modifications are introduced into the Barrick's model of significant waveheight inversion to improve its performances under the affection of noises and interferences and an empirical model of ocean surface wind speed and significant wave height relation is proposed by analysis data obtained by buoy in-situ observations at the coverage of radar beam. To figure out the unknown coefficients in the modified model, we apply the modified model to the significant waveheight calculations from HFSWR field data and then fitting them to the significant waveheight and wind speed results output from a wave buoy located in the radiating coverage of the radar site. The models'parameters are estimated by minimum standard Euclidean norm method from six months'buoy in-situ measuring data and the estimation result shows the model's stability. The empireical inversion models are applied to monitor wind and wave more than six months and the comparison with that from the buoy shows that the proposed model works with relatively satisfactory accuracy, especially at the period of typhoon Fung-Wong, which confirms the inversion models'validity.2. The Doppler spectra of the HFSWR sea echoes contain ocean wave spectra information. In this paper a Tikhonov regularization method for extracting ocean wave spectral from the Doppler spectra with HFSWR is proposed. The theory and technology of ill-posed problem, regularization and Tikhonov regularization are all introduced. The method is developed by introducing a regularization mathematics model to the discrete linearization integral equation based on the principle of HF radio wave ocean detecting. The resolution of discrete linearization integral equation is obtained by singular value decomposition (SVD) method and the regularization parameter is determined by L-Curve method involved by Hansen. Validity and accuracy of the proposed method are demonstrated by numerical simulation with different noise level both at single radar and two radars of the same coverage detecting which show good agreement:Non-directional spectra can be extracted from single radar and directional spectra can be obtained by two radars at the same coverage. Some preliminary results from measured data detected by HFSWR OSMAR071located at Longhai of Fujian province are also introduced. Further study is needed for the practical use of this method. It's promising for HFSWR wave inversion in application.
3. Ocean surface parameters detection from the HFSWR currently all have assumption that the water depth is deep. At this situation, the Bragg ocean gravity wave phase velocity is independent of water depth and the Doppler frequency is only a function of radio frequency. But in fact, there is shallow water in the ocean which may cause uncertain about the ocean gravity wave phase velocity, especially at the near shore area and inner sublittoral zone closely related with people's lives. This will influence the accuracy of ocean surface dynamic parameters inversion from HFSWR Facing these difficulties, this paper studies the shallow water detection theory and method with HFSWR and a shallow water depth extraction method is proposed. In this paper, we deduced the theory model of for shallow water depth and vector current inversion from multiple sites high frequency surface wave radar(HFSWR) sea echo. By field data analysis at deep water condition, the ocean gravity wave phase velocity inversion is verified by comparison with theoretical velocity based on deep water dispersion relationship.We verified the proposed shallow water depth inversion method with three and more than three sites, which gives spirit prospects. By analyzing data collected from three HFSWRs detection experiment at Jiangsu north, the inversion results show good performance, which is perspective for extraction ocean water depth and dynamic parameters in inner sublittoral zone and shallow water by HFSWR in engineering application.
4. In order to fullfil the HFSWR data enginerring application, the floater trajectory tracking method with wind,wave, current detected by HFSWR is introduced in this paper. A Multi-Frequency high frequency surface wave radar (HFSWR) field experiment was conducted to verify the accuracy of the drifter tracking trajectory at East China Sea. The currents measurement with HFSWR is validated by an Acoustic Doppler Current Profilers(ADCP) in-situ observation. By using Lagrange-tracking method, the drifter on the ocean surface is tracked with currents detected by two Multi-Frequency HFSWR. The tracking drifter trajectory shows good agreement with the GPS records which indicates that drifter tracking by HFSWR is valid. And the main factors, especially the wind speed affecting the tracking accuracy are discussed.
国内用于海洋环境监测的高频地波雷达在国家863计划的支持下,武汉大学相继完成了近、中程高频地波雷达、远程高频地波雷达、便携式高频地波雷达和多频率高频地波雷达的研制工作,雷达工作形式从单频向多频发展,工作体制从单基地向双／多基地发展,系统从传统雷达向全数字化雷达发展。对于高频地波雷达海洋环境监测技术,目前海流参数提取工作早已进入业务化观测阶段,而风、浪探测精度尚处于研究阶段,目前武汉大学承担的十二五863计划项目“分布式超视距雷达组网理论与技术研究”旨在解决风、浪探测问题,集成天-地波探测模式,在传统地波单基地模式下增加双/多基地分布式探测模式以及天-地波一体化探测模式,对近海区域实现精细化观测,对中、远海区域实现大面积覆盖观测。本文在十二五项目背景下展开高频地波雷达海洋动力学参数反演与应用研究,主要研究内容如下：
1.高频地波雷达风、浪反演算法：针对阵列式高频地波雷达工程应用中风、浪探测问题,发展了经验式高频地波雷达风、浪参数反演算法,利用雷达探测区域内同步浮标的风、浪观测数据,对算法的模型参数进行了估计和稳定性分析；将该经验模型算法应用到实际地波雷达风、浪探测工程中,通过分析六个月的反演结果和“凤凰”台风期间海面风、浪的观测结果,进一步证实了文中算法的有效性。
2.高频地波雷达海面有向浪高谱反演算法：针对高频地波雷达海洋探测中的波谱反演问题,介绍了从高频地波雷达海面回波谱中反演海面波谱的理论与方法,研究了基于正则化方法的海浪谱反演方法。文中对不适定问题、正则化理论与处理方法、Tikhonov正则化方法进行了论述,对利用L-曲线确定正则化参数,通过奇异值分解法来求解海浪谱的处理方式进行了介绍。通过正、反演数据模拟仿真和实测数据反演分析,表明了本文提出算法的有效性。
3.高频地波雷达潮间带/浅滩水深探测方法：针对高频地波雷达在潮间带/浅海区域的探测应用问题,介绍了高频地波雷达浅海水深探测的理论与方法,研究了多站水深反演算法。文中推导了利用多站高频地波雷达回波多普勒谱中反演海洋重力波相速度、浅海水深和矢量流的理论模型。通过深水条件的相速度反演验证了理论的有效性；通过三站探测和多站浅海探测的反演数值模拟和实测数据分析,表明了多站浅海探测的可行性和反演方法的有效性。
4.基于高频地波雷达的海上漂移物轨迹预测方法:针对高频地波雷达海洋工程应用问题,介绍了利用高频地波雷达探测的风、浪、流数据进行海面漂移物跟踪的方法。文中利用变频多功能高频地波雷达探测的矢量流数据,采用拉格朗日追踪法进行了海上漂移浮标的跟踪实验,跟踪轨迹与浮标上搭建的GPS记录轨迹具有较好的一致性。该实验表明了利用高频地波雷达对海上漂移物进行跟踪的有效性。另外文中还分析了跟踪误差产生的主要因素,尤其对风速引起的误差进行了重点分析。
During the last decades serveral radio wave detection systems working on different frequency bands have become useful tools for remote sensing research based on the electromagnetic scattering theory. As one kind of HF over-the-horizon radar, high frequency surface wave radar(HFSWR) in ocean remote sensing working on ground wave propagation mode takes advantage of low attenuation characteristic of high frequency electromagnetic waves (3MHz to30MHz) propagating across the ocean surface to measure the horizontal ocean dynamic parameters such as current, wind and wave, and also can monitor ship, airplane and iceberg. Vertical polarization antennas are used to transmit the electromagnetic waves. HFSWR is capable of all-weather remote sensing of large area ocean surface dynamics with relatively high precision, not influenced by adverse weather, based on which it has become one of the most important remote sensing tools for ocean information monitoring integration network.
Radio Oceanography Laboratory of Wuhan University has developed short-range, middle-range, long-range HFSWR, portable HFSWR and multiple frequency HFSWR supported by Chinese High-Technology research and development program(863Plan Project) from1987in China. Till now the capability of currents detection has been considered satisfying the requirements for routine marine observations while wind and wave detection accuracy cannot satisfy the matched status. The Twelfth-Five-Year Chinese High-Technology863Plan Project under grant2012AA091701(Distribution HF Over the Horizon Radar Network Theory and Technology)under development is aim to solve wind and wave detection problem. In the plan, sky wave propagation mode, surface wave propagation mode, sky-surface wave combination propagation mode and bistatic detection mode are all take into consideration to realize in short-range sophisticated observation and long-range covered observation. This work studies ocean dynamic parameters inversion from HFSWR, wind, wave and shallow water depth included, and introduces some primary results using current, wind wave detected by HFSWR to support ocean engineering application. The details in this research are presented as follows.
1.Firstly, the empireical models of wave and wind inversion from high frequency surface wave radar are proposed in this paper. Some modifications are introduced into the Barrick's model of significant waveheight inversion to improve its performances under the affection of noises and interferences and an empirical model of ocean surface wind speed and significant wave height relation is proposed by analysis data obtained by buoy in-situ observations at the coverage of radar beam. To figure out the unknown coefficients in the modified model, we apply the modified model to the significant waveheight calculations from HFSWR field data and then fitting them to the significant waveheight and wind speed results output from a wave buoy located in the radiating coverage of the radar site. The models'parameters are estimated by minimum standard Euclidean norm method from six months'buoy in-situ measuring data and the estimation result shows the model's stability. The empireical inversion models are applied to monitor wind and wave more than six months and the comparison with that from the buoy shows that the proposed model works with relatively satisfactory accuracy, especially at the period of typhoon Fung-Wong, which confirms the inversion models'validity.2. The Doppler spectra of the HFSWR sea echoes contain ocean wave spectra information. In this paper a Tikhonov regularization method for extracting ocean wave spectral from the Doppler spectra with HFSWR is proposed. The theory and technology of ill-posed problem, regularization and Tikhonov regularization are all introduced. The method is developed by introducing a regularization mathematics model to the discrete linearization integral equation based on the principle of HF radio wave ocean detecting. The resolution of discrete linearization integral equation is obtained by singular value decomposition (SVD) method and the regularization parameter is determined by L-Curve method involved by Hansen. Validity and accuracy of the proposed method are demonstrated by numerical simulation with different noise level both at single radar and two radars of the same coverage detecting which show good agreement:Non-directional spectra can be extracted from single radar and directional spectra can be obtained by two radars at the same coverage. Some preliminary results from measured data detected by HFSWR OSMAR071located at Longhai of Fujian province are also introduced. Further study is needed for the practical use of this method. It's promising for HFSWR wave inversion in application.
3. Ocean surface parameters detection from the HFSWR currently all have assumption that the water depth is deep. At this situation, the Bragg ocean gravity wave phase velocity is independent of water depth and the Doppler frequency is only a function of radio frequency. But in fact, there is shallow water in the ocean which may cause uncertain about the ocean gravity wave phase velocity, especially at the near shore area and inner sublittoral zone closely related with people's lives. This will influence the accuracy of ocean surface dynamic parameters inversion from HFSWR Facing these difficulties, this paper studies the shallow water detection theory and method with HFSWR and a shallow water depth extraction method is proposed. In this paper, we deduced the theory model of for shallow water depth and vector current inversion from multiple sites high frequency surface wave radar(HFSWR) sea echo. By field data analysis at deep water condition, the ocean gravity wave phase velocity inversion is verified by comparison with theoretical velocity based on deep water dispersion relationship.We verified the proposed shallow water depth inversion method with three and more than three sites, which gives spirit prospects. By analyzing data collected from three HFSWRs detection experiment at Jiangsu north, the inversion results show good performance, which is perspective for extraction ocean water depth and dynamic parameters in inner sublittoral zone and shallow water by HFSWR in engineering application.
4. In order to fullfil the HFSWR data enginerring application, the floater trajectory tracking method with wind,wave, current detected by HFSWR is introduced in this paper. A Multi-Frequency high frequency surface wave radar (HFSWR) field experiment was conducted to verify the accuracy of the drifter tracking trajectory at East China Sea. The currents measurement with HFSWR is validated by an Acoustic Doppler Current Profilers(ADCP) in-situ observation. By using Lagrange-tracking method, the drifter on the ocean surface is tracked with currents detected by two Multi-Frequency HFSWR. The tracking drifter trajectory shows good agreement with the GPS records which indicates that drifter tracking by HFSWR is valid. And the main factors, especially the wind speed affecting the tracking accuracy are discussed.
引文
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