A multi-node data synchronous acquisition system and a method for real-time monitoring of underwater surface deformation. The system includes at least four sensor arrays, where each of the sensor array consists of a plurality of ribbon-like rigid substrates connected by movable joints. On each section of rigid substrate, three sensor units are respectively connected to a slave station data acquisition unit through cables. The slave station data acquisition unit is connected with a central controller through a cable. The central controller includes a compressive cabin outside and an embedded controller and a power supply inside. Each slave station data acquisition unit acquires data from an MEMS attitude sensor and then transmits it to the embedded controller. The present invention may realize synchronous acquisition of underwater or even underwater multi-node data, implement three-dimensional surface reconstruction, and may be used for improving the ocean observation capability.

A change in geoid height is measured easily. A geoid measurement method of the present invention executes an inertial measurement data acquiring step, a comparison data acquiring step, a state variable estimating step, and a geoid calculating step. In the inertial measurement data acquiring step, data related to velocity, position, and attitude angle is acquired as inertially-derived data based on the output of an inertial measurement part having a three-axis gyro and a three-axis accelerometer attached to a moving body. In the comparison data acquiring step, data related to velocity is acquired as comparison data from a source other than the inertial measurement part. In the state variable estimating step, state variables including a plumb line deviation are estimated by using the inertially-derived data and the comparison data to apply a Kalman filter in which the plumb line deviation is included in the state variables.

A change in geoid height is measured easily. A geoid measurement method of the present invention executes an inertial measurement data acquiring step, a comparison data acquiring step, a state variable estimating step, and a geoid calculating step. In the inertial measurement data acquiring step, data related to velocity, position, and attitude angle is acquired as inertially-derived data based on the output of an inertial measurement part having a three-axis gyro and a three-axis accelerometer attached to a moving body. In the comparison data acquiring step, data related to velocity is acquired as comparison data from a source other than the inertial measurement part. In the state variable estimating step, state variables including a plumb line deviation are estimated by using the inertially-derived data and the comparison data to apply a Kalman filter in which the plumb line deviation is included in the state variables.

A comprehensive reconstruction method for long-series sediment data in data-lacking areas includes steps of: collecting hydrological and sediment data of a target river section; calculating sediment data in data-rich years with a flow-sediment content annual relationship curve method; calculating sediment data in only water quality and sediment test years with a correlation method between water quality and sediment data and hydrological station sediment data; calculating sediment data in data-lacking years with an adjacent station same year flow-sediment content relationship curve method; and calculating sediment data in remaining years with a multi-year average flow-sediment content relationship curve method. The method comprehensively adopts four methods to reconstruct the long-series sediment data based on sediment actual observation and characteristics in the data-lacking areas, which can make up for the limitations and deficiencies between the four methods, and the required data is easier to collect than those in the conventional methods.

An apparatus and method are presented comprising one or more sensors or cameras configured to rotate about a central motor. In some examples, the motor is configured to travel at a constant linear speed while the one or more cameras face downward and collect a set of images in a predetermined region of interest. The apparatus and method are configured for image acquisition with non-sequential image overlap. The apparatus and method are configured to eliminate gaps in image detection for fault-proof collection of imagery for an underwater survey. In some examples, long baseline (LBL) is utilized for mapping detected images to a location. In some examples, ultra-short baseline (USBL) is utilized for mapping detected images to a location. The apparatus and method are configured to utilize a simultaneous localization and mapping (SLAM) approach.

An apparatus and method are presented comprising one or more sensors or cameras configured to rotate about a central motor. In some examples, the motor is configured to travel at a constant linear speed while the one or more cameras face downward and collect a set of images in a predetermined region of interest. The apparatus and method are configured for image acquisition with non-sequential image overlap. The apparatus and method are configured to eliminate gaps in image detection for fault-proof collection of imagery for an underwater survey. In some examples, long baseline (LBL) is utilized for mapping detected images to a location. In some examples, ultra-short baseline (USBL) is utilized for mapping detected images to a location. The apparatus and method are configured to utilize a simultaneous localization and mapping (SLAM) approach.

The present disclosure relates to an automatically sinking cage net system, comprising: the cage net body includes a floating frame and a net body; a working platform including an accelerometer, a first processing module and a first wireless communication module; a floating barrel, at least having a first opening, a gas flow controller, a water level sensor, a programmable control module, a second processing module, a second wireless communication module and a second opening; and a marine environment monitoring system, including a human-machine interface, a marine environment monitoring module, a data storage module, a third processing module, and a third wireless communication module; wherein the first wireless communication module, the second wireless communication module and the third wireless communication module are in signal connection with each other. The present disclosure provides an automatically sinking cage net system to improve the conventional shortcomings caused by manual operation.

A watershed modeling and assessment system may input, process, analyze, and store natural resource data in the characterization, analysis, and assessment of watershed and natural river and stream systems and to develop hydraulic models of flow in open channel systems. The system may enable analysis of overall watershed reach information and analysis, survey data, longitudinal profiles, cross-sections, channel material or substrate characterization, images, flow measurements, and Rosgen classification (stream type). The system may also enable development of detailed hydraulic models utilizing equations, techniques, and methods by using measured data, derived data, and estimated data. The system may also enable reports based on each of these individual components.

A method and system for outputting a state of a physical system using a calibrated model of the physical system, where the calibrated model is used to generate a model prediction. The system includes a plurality of sensors connected to a routing node are used to monitor measured data of the physical system. A first sensor of the plurality of sensors includes a logic module configured to determine an uncertainty quantification, and to combine the uncertainty quantification with the model prediction to output the state of the physical system.

This application describes a method, system, and apparatus for measuring the depth of a body of water ahead of the user's location or position. The user can be a driver of a vehicle. The apparatus includes a fording depth sensor, a second fording depth sensor, a proximity sensor to determine road angle or position ahead of the vehicle, wherein the proximity sensor is designed to operate underneath the water surface and a control unit configured to use signals of the wading depth and sensors to compute a wading depth at a location ahead of the direction of vehicle movement and/or to compute a distance ahead of the direction of vehicle movement to maximum wading depth. A method of building the apparatus, system, and vehicle is also provided.