Autonomous underwater robot wireless sensor network with dynamic nodes

A technology of underwater robots and wireless sensors, applied in network topology, wireless communication, transmission systems, etc., can solve problems that cannot meet the needs of ocean floating dynamic environment information collection, and achieve rich functions, strong performance, and fast information collection Effect

Active Publication Date: 2021-07-16
HUNAN GUOTIAN ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the buoys in the prior art are all static nodes, which cannot mee

Method used

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  • Autonomous underwater robot wireless sensor network with dynamic nodes
  • Autonomous underwater robot wireless sensor network with dynamic nodes
  • Autonomous underwater robot wireless sensor network with dynamic nodes

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0057] Example 1

[0058] Such as figure 1 As shown, the present embodiment is provided with an autonomous underwater robot (AUV) wireless sensor network having a dynamic node, including the primary node 1 as a water surface gateway, as a convergence node 2 and the sensor node 3 of the information relay transmission intermediary 3,

[0059] The primary node 1 includes a radio modem and an acoustic modem of the water portion; a transfusion hub node connected to the water-free sensor network with a conventional communication network. The primary node is used to receive data information transmitted under water wireless sensor network, and then transform the uploaded underwater information according to the radio or Ethernet protocol, and then forward it.

[0060] Such as figure 2 As shown, the aggregation node 2 includes power amplifier 2-1, signal processing unit 2-2, and interface gain control module 2-3, respectively, respectively, respectively; aggregation node 2 is mainly used to...

Example Embodiment

[0069] Example 2

[0070] This embodiment provides an navigation method of the navigation module and motion planning module 5-6 in Example 1, including the following steps:

[0071] 1) Construction of an autonomous underwater robot level level motion model:

[0072]

[0073] Among them, u is the longitudinal line speed of autonomous underwater robots, V is autonomous underwater robot and horizontal line speed, R is an autonomous underwater robot's yaw angular velocity; X is an autonomous underwater robot's centroid's centroid direction coordinate, y is the centroid coordinates of autonomous underwater robots, ψ is the target direction of autonomous underwater robots;

[0074] 2), in ignore the pendant, cross and vertical movement, construct an autonomous underwater robot model of the underwater robot: lateral dynamic model:

[0075]

[0076]

[0077]

[0078] among them,

[0079] M is the quality of autonomous underwater robots, i z It is an inertial moment of an autonom...

Example Embodiment

[0102] Example 3

[0103] The difference between the present embodiment and the first embodiment is only that the main node 1 is built by the buoy or the ship, and the water portion is a radio modem. When the underwater portion is an acoustic modem, the master node 1 is used as the water surface gateway.

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Abstract

The invention provides an autonomous underwater robot wireless sensor network with dynamic nodes, which comprises a main node serving as a water surface gateway, a sink node serving as an information relay transmission medium and a sensor node, and is characterized in that the main node comprises a radio modem of a water surface part and an acoustic modem of an underwater part; the sink node comprises a power amplifier, a signal processing unit and an interface gain control module which are respectively in data transmission and communication with the sink node; the sensor node comprises an autonomous underwater robot central control module loaded with various sensors and a sensor module, and the sensor module comprises a navigation module and a motion planning module; the wireless sensor network of the autonomous underwater robot with the dynamic nodes is unpowered, the multiple dynamic nodes communicate with one another to transmit information, and it is guaranteed that the autonomous underwater robot can continuously adjust the speed tracking deviation so that the actual position of the autonomous underwater robot can be continuously adjusted to track a time-varying expected trajectory.

Description

technical field [0001] The invention belongs to the technical field of underwater communication, in particular to an autonomous underwater robot wireless sensor network with dynamic nodes. Background technique [0002] The ocean has abundant resources and vast space. Underwater sensor networks are deployed in extremely complex and variable underwater environments, and mainly use underwater acoustics for communication. In terms of military applications, the increasing intelligence of underwater weapon systems requires command and control communications, such as: communications between submarines, between motherships and submarines or other underwater unmanned combat platforms, and for underwater vehicles Implement monitoring and navigation, and remote acoustic remote control of mines. In terms of civil use, such as underwater voice communication, industrial coastal telemetry, remote command transmission of underwater robots and offshore platforms, transmission of seabed exp...

Claims

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Application Information

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IPC IPC(8): H04W4/024H04W4/38H04W84/18H04B11/00H04B13/02
CPCH04W4/024H04W4/38H04W84/18H04B11/00H04B13/02Y02D30/70
Inventor 陈新吕冰冰陈震邓曙波罗伟
Owner HUNAN GUOTIAN ELECTRONICS TECH CO LTD
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