US 12,111,155 B2
Systems and methods for measuring water capacity of polar lakes
Jingxue Guo, Shanghai (CN); Yuchen Wang, Shanghai (CN); and Yang Sun, Shanghai (CN)
Assigned to Polar Research Institute of China, Shanghai (CN)
Filed by Polar Research Institute of China, Shanghai (CN)
Filed on Aug. 19, 2022, as Appl. No. 17/891,598.
Claims priority of application No. 202210659942.5 (CN), filed on Jun. 13, 2022.
Prior Publication US 2023/0400302 A1, Dec. 14, 2023
Int. Cl. G01C 13/00 (2006.01); G01C 11/02 (2006.01); G06T 7/62 (2017.01)
CPC G01C 13/008 (2013.01) [G01C 11/02 (2013.01); G06T 7/62 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/10032 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A system for measuring water capacity of polar lakes, comprising:
a) an unmanned underwater vehicle, an unmanned underwater vehicle-mounted module, an unmanned aerial vehicle, an unmanned aerial vehicle-mounted module and a ground operation module, wherein the unmanned underwater vehicle is used for carrying the unmanned underwater vehicle-mounted module;
b) the unmanned underwater vehicle-mounted module is connected with the unmanned aerial vehicle-mounted module and the ground operation module;
c) the unmanned underwater vehicle-mounted module configured to measure under-lake point cloud data and under-lake single-beam ranging data;
d) the unmanned aerial vehicle configured to carry the unmanned aerial vehicle-mounted module;
e) the unmanned aerial vehicle-mounted module is further connected with the ground operation module;
f) the ground operation module is further connected with the unmanned aerial vehicle and the unmanned underwater vehicle;
g) the ground operation module is configured to acquire a planned path of the unmanned underwater vehicle and control the unmanned underwater vehicle to move along with the unmanned underwater vehicle at a preset height right above the unmanned underwater vehicle by utilizing an active disturbance rejection control (ADRC) algorithm;
h) the unmanned aerial vehicle-mounted module configured to:
i. acquire lake surface point cloud data and attitude data of the unmanned aerial vehicle-mounted module; and
ii. determine coordinate system conversion parameters of the unmanned underwater vehicle and the unmanned aerial vehicle according to the attitude data of the unmanned aerial vehicle-mounted module;
i) the ground operation module configured to:
i. determine the lake surface point cloud data under the geographic coordinate system, the under-lake point cloud data under the geographic coordinate system and the under-lake single-beam ranging data under the geographic coordinate system according to the coordinate system conversion parameters
ii. construct a water three-dimensional topographic map according to the lake surface point cloud data under the geographic coordinate system,
iii. construct a lake coastal three-dimensional topographic map according to the under-lake point cloud data under the geographic coordinate system;
iv. construct a lake bottom three-dimensional topographic map according to the under-lake single-beam ranging data under the geographic coordinate system; and
v. determine the lake water capacity based on the water three-dimensional topographic map, the lake coastal three-dimensional topographic map and the lake bottom three-dimensional topographic map.