A real-time monitoring system and method for Beidou status of underwater vehicles

Abstract

The present invention relates to a real-time monitoring system and method for the Beidou status of underwater vehicles. Specifically, it adopts a small-scale, low-power integrated design solution, and performs multiple isolation processing on interfaces such as power supply and communication to ensure that the requirements of the actual electromagnetic environment are met. It can process the currently received Beidou satellite signals and solution data in real time, and perform interventional control based on the calculation and analysis results. In addition, the power supply and energy storage unit of the Beidou core processing unit inside the underwater vehicle is added to further increase the energy required for the transmission power during internal Beidou positioning and communication. The present invention solves the problem of occasional failures when the underwater vehicle performs Beidou satellite positioning and communication within a limited time from the floating point on the water surface. It can not only provide supplementary energy supply for the power amplification part of the Beidou component of the underwater vehicle, but also perform interventional control in the event of a Beidou component failure, thereby improving the reliability of the Beidou satellite positioning and communication of the underwater vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater vehicle control, and specifically belongs to the field of real-time Beidou status monitoring of underwater vehicles. Background Art

[0002] Underwater vehicles (UUVs) are integrated platforms that navigate underwater and can be broadly categorized as manned or unmanned. Unmanned underwater vehicles (UUVs), such as unmanned underwater vehicles (UUVs) and autonomous underwater vehicles (AUVs), are widely used in marine development, underwater weaponry development, and emergency support. UUVs and AUVs can perform underwater exploration, reconnaissance, and even specialized military missions such as offensive and defensive operations. In civilian applications, UUVs play a vital role in marine rescue and salvage, offshore oil production, underwater engineering construction, marine scientific research, seabed mineral exploration, and offshore operations. In military applications, unmanned underwater platforms and equipment, such as UUVs, possess unique operational advantages, including high concealment, robustness, robustness against casualties, autonomous controllability, and flexible operation. They can operate in harsh and dangerous environments. Furthermore, they can be equipped with various payloads to meet diverse operational needs, depending on their operating parameters and missions.

[0003] In practice, underwater vehicles typically use satellite communications for remote control and data transmission (including operational status monitoring). my country's independently developed Beidou satellite navigation system offers positioning, communication, and timing capabilities. Compared to conventional satellite navigation systems, its key features are two-way communication and holographic positioning. Its unique two-way communication and short message transmission and reception capabilities play a vital role in specialized areas such as underwater weaponry and emergency rescue. With the continued development of national projects such as "Smart Ocean" and "Transparent Ocean," the Beidou satellite navigation system has expanded to cover shipping, environmental protection, and specialized command and dispatch units such as the military, public security, and customs, generating significant economic and social benefits. Currently, most domestically developed underwater vehicles utilize the Beidou satellite system for timely satellite communications. The operational status of these internal Beidou components directly impacts the vehicle's functionality and can even impact operational safety. Therefore, reliable design of the internal Beidou components is crucial to ensure timely communication and positioning within a specified timeframe.

[0004] During the entire navigation process, the underwater vehicle needs to update its status and communicate at multiple surface points, such as calibrating route position information, transmitting measurement data and receiving remote control information, and transmitting the navigation endpoint position. Taking an autonomous underwater vehicle as an example, the main navigation steps are as follows:

[0005] After entering the water, it will sail along the initially set route, while setting parameters for avoidance and initial testing;

[0006] Upon reaching the end of the first route, the aircraft performs an ascent maneuver and raises the internal BeiDou satellite navigation antenna for positioning and communication. Routine operations include route correction and information exchange.

[0007] Complete the required actions at the current starting point within the specified time, execute the next route action, dive and continue sailing;

[0008] Repeat steps b) and c) until the end of the route, perform surfacing maneuvers, raise the BeiDou satellite navigation antenna inside the spacecraft after surfacing, and transmit the current position and other relevant information back. After salvaging the spacecraft, complete the current actual flight work.

[0009] Typical route planning for underwater vehicles Figure 1 As shown. During the entire voyage of an underwater vehicle, Beidou satellite navigation and communication can be performed at multiple surface floatation points, and the operating time of each floatation point is limited. If the vehicle fails to complete Beidou satellite positioning and communication within the specified time at the current floatation point, it will have a significant impact on the vehicle's functions and performance. In addition to losing important test data or losing control, it may also lead to the loss of the vehicle, especially at sea, posing a major safety hazard and risk of leakage. Therefore, the internal Beidou operating status of the underwater vehicle is of great significance and must be monitored in real time to ensure the safety and reliability of the underwater vehicle during actual navigation.

[0010] With the continuous improvement and development of my country's Beidou satellite navigation system, the success rate of Beidou satellite navigation positioning and communication in open areas has significantly increased. However, specific applications, such as underwater vehicles, still present certain challenges. For example, a certain underwater vehicle, due to its earlier design, uses the Beidou-1 satellite communication and navigation system. Due to practical limitations such as early technical conditions, internal space, circuit power consumption, telescopic antenna size, and current sea conditions, there is still a certain possibility of Beidou communication or positioning anomalies during actual navigation. This can include the inability to achieve accurate positioning and reliable communication within the specified time, or prolonged periods of communication without positioning.

[0011] In summary, underwater vehicles are limited by factors such as the application environment and technical conditions, and the internal Beidou status of underwater vehicles is not completely timely and reliable. This is especially evident during mass production and user use, which has a certain impact on product quality and user satisfaction. Therefore, it is urgent to further improve the efficiency and reliability of Beidou satellite positioning and communication within underwater vehicles without changing the current status of the internal components and related technical indicators of underwater vehicles.

[0012] In response to the possible occasional failures in the Beidou working status inside the above-mentioned underwater vehicles, based on the actual situation of current underwater vehicle production and testing, it is planned to perform real-time Beidou status monitoring inside the Beidou components without changing the component-level structure of the vehicle's internal components and without affecting the basic conditions such as the vehicle's internal bus, in order to reduce the probability of Beidou failures inside the vehicle, or even eliminate the above-mentioned occasional failures, and improve the quality of the product (underwater vehicle).

[0013] Based on the actual situation of underwater vehicles, comprehensive design considerations are made, and the current characteristics of underwater vehicles sailing over long distances and large areas are fully taken into account. The main technical design considerations of this invention patent are as follows:

[0014] The BeiDou components inside underwater vehicles are complex in function and structure, and the available space is fixed and limited. Real-time monitoring is required inside the BeiDou components without affecting the original design functions, performance, and communication structure.

[0015] The electromagnetic interference inside the spacecraft fluctuates greatly under different operating conditions. The newly added monitoring system should not interfere with other parts, nor be interfered with by them.

[0016] The BeiDou component within the aircraft is based on BeiDou 1. In addition to the design limitations of existing technology, BeiDou signals also vary significantly in practice, depending on the region and environment. The newly added monitoring system requires accurate identification and timely control of satellite signals. Summary of the Invention

[0017] This invention patent studies and analyzes the occasional failure phenomenon of Beidou in underwater vehicles. Based on a large number of experimental tests, it proposes an implementation method for adding a comprehensive parallel real-time status monitoring system to the Beidou components inside the underwater vehicle. The core components of the Beidou components in the vehicle are monitored and processed in real time to achieve the purpose of improving the reliability of Beidou satellite positioning and communication during the actual navigation of the vehicle. Specifically, the present invention is implemented as follows:

[0018] A real-time Beidou status monitoring system for underwater vehicles comprises a real-time monitoring unit and an energy storage unit. The real-time monitoring unit is used to monitor and control signals within a Beidou component, and the energy storage unit is used to provide backup energy for a power amplifier within the Beidou component. The power supply and interface of the real-time monitoring unit both have a hardware initialization state and can be reset initially in the event of a real-time monitoring unit failure without affecting the normal operation of the Beidou component within the underwater vehicle. The system can monitor the working status of the Beidou component (e.g., determining whether it is operating, whether an initialization instruction has been correctly received, whether a positioning request is currently being sent, etc.) and working parameters (e.g., voltage, current, number of satellites, beam quality, etc.), and simultaneously monitor the working status of its own monitoring system (the working status of its own monitoring system includes determining whether it is operating normally, whether it monitors and obtains the current card number, number of Beidou satellites, beam, as well as its own voltage, current, and / or reset times). The system also records and stores information on the Beidou component core signal processor, bus, and its own working parameters in real time.

[0019] Furthermore, the real-time monitoring unit includes: a first-stage EMC filter (100), a DC isolation converter (101), a second-stage EMC filter (103), a linear voltage regulator I (104), a linear voltage regulator II (105), a front-stage EMC filter (106), a controller (107), a level converter (108), an analog isolation (109), a data fusion process (110), a digital isolation (111), a control process (112), and a rear-stage EMC filter (113). The power supply of the navigation body passes through the first-stage EMC filter (100), the DC isolation conversion (101), and the second-stage EMC filter (103), and then enters the linear voltage regulator I (104) and the linear voltage regulator II (105) respectively, providing isolated and regulated power supply for the monitoring circuit; the bus between the Beidou component baseboard and the Beidou component core board is connected through the data fusion processing (110), and the monitoring data of the data fusion processing (110) communicates with the controller (107) through the level conversion (108) and is controlled by the controller (107); the power supply between the Beidou component baseboard and the Beidou component core board is connected through the front-stage EMC filter (106), the control processing (112), and the back-stage EMC filter (113), wherein the control processing (112) is connected to the controller (107) through the digital isolation (111) and is controlled by the controller (107). Among them, data fusion processing (110) is its key processing component, which is responsible for parallel fusion processing of data between the Beidou component core board and the Beidou component baseboard (such as monitoring and identification of satellite quantity and beam information for post-stage judgment and control), while not affecting the original data transmission between the Beidou component core board and the Beidou component baseboard; the real-time monitoring unit power supply end adopts double EMC filtering and uses micro-transformer elements for physical isolation; the digital communication end adopts digital isolation, and the status monitoring acquisition end adopts analog signal isolation; between the original vehicle interface and the Beidou signal processor bus, ordinary electronic components (such as transistors, diodes, resistors, etc.) are used to form RS-232 bus parallel processing, and the pull-up and pull-down methods are used to clarify the initial state of the RS-232 communication line, which can meet the real-time data acquisition and monitoring needs of the monitoring system and intervene in the control processing at the appropriate time in the future.

[0020] Furthermore, the energy storage unit comprises: a self-recovery fuse (200), an isolation voltage-stabilizing current-limiting device (201), an anti-rebound I (202), a high-capacity energy storage device I (203), a high-capacity energy storage device II (204), and an anti-rebound II (205). The power input is respectively input to the high-capacity energy storage device I (203) and the high-capacity energy storage device II (204) through the self-recovery fuse (200), the isolation voltage-stabilizing current-limiting device (201), and the anti-rebound I (202). The high-capacity energy storage device I (203) and the high-capacity energy storage device II (204) are output to the Beidou power amplifier circuit to provide energy for transmitting the Beidou application signal. The high-capacity energy storage device I (203) and the high-capacity energy storage device II (204) are mainly used to improve the success rate of the Beidou application signal transmission of the first generation, that is, the input current of the power amplifier inside the Beidou component of the product is increased by using energy storage capacitors, thereby improving the transmission power of the application signal (such as positioning application, communication application).

[0021] Another aspect of the present invention provides a method for real-time monitoring of the Beidou status of an underwater vehicle, comprising a real-time monitoring unit and performing the following steps: Beidou status monitoring includes: acquiring and monitoring Beidou data and monitoring in real time, and also acquiring current satellite signal reception status information after the Beidou antenna of the vehicle extends out of the water; determining whether initial data is obtained within T; if so, starting a timer to perform calculation and storage; if not, performing a control processing step; determining whether the calculated and stored data is valid; if so, resetting a timer; if not, reading the timer; determining whether an interval is greater than a threshold value T; if so, performing a control processing step; if not, re-reading the timer;

[0022] The control processing steps include: judging whether the Beidou status is normal, if so, delaying t to send instruction record information 2, returning and continuing to monitor Beidou data, if not, waiting again for the status to be normal, and judging whether the Beidou status is normal (mainly refers to obtaining positioning data within a normal period, the period is related to the Beidou card used, generally 30s or 60s) including:

[0023] If the working parameter interface monitoring of the Beidou component is interrupted, check whether the external command / working parameter is obtained. If so, read the content of the flash memory to transmit the parameter back and return it. If not, perform the Beidou status monitoring step;

[0024] Self-monitoring steps: After initialization, perform self-test and record self-parameters, and judge whether the Beidou status is normal. If not, perform operation processing steps. If so, record information 1 and perform Beidou status monitoring steps.

[0025] The working principle and beneficial effects of the present invention are introduced as follows: a multiple-isolation parallel real-time monitoring method based on a low-power embedded processor is adopted to perform parallel solution and processing of the satellite signals and data of the Beidou component inside the vehicle, and timely takeover and control are performed according to the current actual working status of Beidou. Specifically, the Beidou signal receiving processor inside the underwater vehicle can be reset, and the internal bus parameters can be initially set. The peripheral interfaces involved in the method are all physically isolated and integrated in parallel, and the hardware control of power supply, interface, etc. is designed with an initial stable state to ensure that the original Beidou component is not affected from the hardware structure. The power amplifier and power supply part of the original Beidou component is filtered and energy stored to ensure that the satellite signal transmission function of the Beidou component inside the underwater vehicle is reliably realized.

[0026] The system is installed inside the BeiDou component of the underwater vehicle without changing the internal structure of the vehicle or affecting the bus and data transmission. The power supply end of the real-time monitoring unit (1) adopts double EMC filtering and uses micro-transformer components for physical isolation, which reduces the installation size requirements and meets the actual use needs. The digital communication end uses digital isolation, and the status monitoring acquisition end uses analog signal isolation. From the hardware design, it ensures that the electromagnetic environment requirements inside the underwater vehicle are met. The power supply and interface have hardware initialization states to ensure that in the event of a failure of the real-time monitoring unit (1), the normal operation of the BeiDou component inside the underwater vehicle will not be affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of a typical route for underwater vehicles;

[0028] Figure 2 This is a schematic diagram of the specific installation structure of the present invention;

[0029] Figure 3 This is a principle block diagram of the real-time monitoring unit of the present invention;

[0030] Figure 4 This is a principle block diagram of the energy storage unit of the present invention;

[0031] Figure 5 This is the schematic diagram of the isolation interface design of the system of the present invention;

[0032] Figure 6 Design schematic diagram for parallel connection of system communication bus

[0033] Figure 7 This is a flow chart of the system software of the present invention;

[0034] Figure 8 Detailed flow chart for judging the working status of Beidou components;

[0035] Figure 9 This is a diagram showing the size structure of the real-time monitoring unit of the present invention;

[0036] Figure 10 This is a physical design drawing of the real-time monitoring unit of the present invention; DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0038] The monitoring system's primary functions are to detect the current Beidou operating status, calculate and infer the current satellite status, and dynamically track the core computing components within the underwater vehicle. In the event of extended periods of no response, no positioning, or communication anomalies, the Beidou computing components are controlled and intervened based on the vehicle's current state. The anomaly is also recorded and stored for post-test analysis.

[0039] To sum up, the main contents of this invention patent are divided into two parts: one is the design of a real-time monitoring scheme for the Beidou status of underwater vehicles under actual conditions, and the other is the development and implementation of an efficient real-time monitoring system for the Beidou status of underwater vehicles.

[0040] Example 1: 1. System solution

[0041] The system design fully considers technical challenges such as the limited space and unchanged component structure of the Beidou components within the underwater vehicle, as well as the overall electromagnetic interference environment. Conventional large, high-power modules such as isolated power modules and electromagnetic or solid-state relays are eliminated, and a small, low-power integrated design is adopted to meet the installation size and power consumption requirements of the real-time monitoring system. Specifically, to address the electromagnetic interference within the underwater vehicle and the actual operation of the numerous components, the monitoring system and other components of the vehicle utilize multiple isolation, filtering, and parallel processing solutions. Furthermore, physical shielding is implemented at the core processing area of the monitoring system to further enhance interference resistance.

[0042] The BeiDou real-time monitoring system for underwater vehicles consists of two parts: real-time monitoring unit 1 and energy storage unit 2. Figure 2 The real-time monitoring unit 1 is composed of a first-stage EMC filter 100, a DC isolation converter 101, a second-stage EMC filter 103, a linear voltage regulator I 104, a linear voltage regulator II 105, a pre-stage EMC filter 106, a controller 107, a level converter 108, an analog isolation 109, a data fusion processor 110, a digital isolation 111, a control processor 112, and a post-stage EMC filter 113. Figure 3Energy storage unit 2 consists of self-recovery fuse 200, isolation voltage stabilization and current limiting 201, anti-rebound I202, high-capacity energy storage I203, high-capacity energy storage II204, and anti-rebound II205. For details, see Figure 4 shown.

[0043] like Figure 2 As shown, the real-time monitoring unit 1 and the energy storage unit 2 of the underwater vehicle Beidou status real-time monitoring system are both adaptively installed inside the independent components of the underwater vehicle Beidou component, without affecting the underwater vehicle component structure and bus.

[0044] like Figure 3 As shown, a real-time monitoring unit 1 is added between the BeiDou component and the bus inside the underwater vehicle to monitor the operating status and key operating parameters of the BeiDou component, as well as the operating status of the vehicle's own monitoring system. This monitoring information is processed and judged, and the BeiDou component's core signal processor is controlled accordingly (e.g., hardware reset, initial command control, and forced positioning or communication requests), thereby improving the vehicle's operational reliability. Figure 3 The dashed box represents an independent structure, with appropriate isolation measures for external interfaces to minimize or even eliminate electromagnetic interference. Furthermore, this design ensures that even if the monitoring system fails, the interaction between the BeiDou signal processor and the vehicle bus will not be affected. Furthermore, the monitoring system records and stores real-time information on the BeiDou component's core signal processor, bus, and the monitoring system's own operating parameters, allowing for independent post-test retrieval to facilitate troubleshooting and analysis. Figure 4 Energy storage unit 2 is mainly used to improve the wireless transmission efficiency of the Beidou components inside the underwater vehicle when using the Beidou-1 system for positioning and communication, ensure that the wireless coded signals can be transmitted completely and reliably, and provide supplementary energy guarantee for the Beidou positioning and communication functions of the underwater vehicle.

[0045] 2. System Development and Implementation

[0046] The design of the Beidou status monitoring system for underwater vehicles is primarily based on the current internal conditions of the vehicle, addressing the limited internal space of the Beidou components, electromagnetic interference, low power consumption, and high reliability. The system's technical design primarily involves both hardware and software. The hardware design utilizes low-power, compact components with domestically produced alternatives. The software is developed using fully independent, controllable underlying code and features independent recording, storage, and post-test readout capabilities.

[0047] Hardware Design

[0048] The hardware design primarily encompasses isolation measures related to power supply, communications, and interfaces. The power supply utilizes small, low-power components combined with conventional transistors, diodes, resistors, and capacitors to create a compact, low-power power isolation section, reducing physical size and overall power consumption. Furthermore, the hardware design primarily utilizes semiconductor field-effect transistors to construct a reproducible load switch, replacing conventional relay designs. This eliminates the oversized design of conventional solid-state relays, the surface oxidation and contamination that can easily occur with long-term use of electromagnetic relay contacts, and eliminates the issues of contact arcing and sintering.

[0049] Normally, power supply and interfaces are often isolated in electronic design, and power isolation modules, interface isolation chips, etc. are mostly used, and circuit switching is mostly implemented by conventional relays. However, in this monitoring system, the existing size space and power consumption are limited, especially the installation size space height is limited. Conventional power isolation modules (such as DC-DC or AC-DC modules) and ordinary relays (such as electromagnetic relays, solid-state relays) cannot be fixedly installed using the existing space. In addition, conventional relays have certain long-term reliability issues, and the peripheral circuits they bring are complex and the overall power consumption is large. Therefore, the power supply isolation and load switch circuit design of the monitoring system use small-sized integrated transformers instead of conventional DC isolation modules to physically isolate the power supply, and use small-sized load switches instead of conventional electromagnetic relays for load switching. For specific principles, see Figure 5 shown.

[0050] In order not to affect the original state of the spacecraft, the monitoring system adopts a similar parallel monitoring and control method. Taking the RS-232 interface inside the spacecraft Beidou component as an example, adaptive parallel processing is required to ensure the reliable parallel connection of the hardware interface and not affect the data flow of the entire spacecraft bus. The RS-232 serial port is different from the differential transmission RS-422 and RS-485. The RS-232 serial port standard has limitations and cannot be directly multi-point parallel transmission. In other words, multiple devices cannot be connected to an RS-232 bus in theory, and only point-to-point transmission is possible. In order to meet the independent operation of the monitoring system without changing the original bus data flow inside the spacecraft. For the RS-232 interface monitored inside the Beidou component, an adaptive design is performed. The RS-232 bus parallel processing solution can be formed between the original spacecraft interface and the Beidou signal processor communication port using transistors, diodes and other components. At the same time, the initial state of the RS-232 communication line is clarified using resistors and other components. See the basic design. Figure 6 This is shown in Figure 1. This allows the monitoring system to acquire and monitor data in real time, and to perform interventional control and processing at appropriate times. For example, a load switch is used to reset and restart the core processing circuitry within the Beidou component, as well as to initialize the internal bus settings.

[0051] Software Design

[0052] The main function of the system software is to monitor the internal Beidou working status of the spacecraft in real time, including the current satellite signal reception status after the spacecraft's Beidou antenna extends out of the water, and make a comprehensive judgment based on the communication and positioning status and other relevant information. If the internal Beidou working status is normal, no control will be performed. If the internal Beidou working status is abnormal (such as positioning or communication is not completed within the specified time when the conditions are met), the control process will be carried out in accordance with the original internal communication protocol of the spacecraft (such as rebinding Beidou component working parameters, sample update and reset, etc.). The basic process of the system software is shown in Figure 7 shown.

[0053] like Figure 7 As shown in the figure, t and T are time parameters related to BeiDou operation, measured in seconds. Flash (Flash EEPROM Memory, referred to as "Flash") checking and marking ensures the Flash status used for internal information recording is clearly obtained before each operation, preventing occasional "bad spots" within the Flash from causing recorded data errors or failures.

[0054] like Figure 3 As shown, the Beidou status detection signal involved in this embodiment is mainly in the "data fusion processing ( Figure 3 The corresponding processing steps are in the system software flow chart ( Figure 7 ) in the "Beidou status is normal". The main task is to perform basic processing and judgment on the received Beidou satellite information on the parallel Beidou receiver signal end. The processing steps are as follows:

[0055] Initial hardware condition assessment: Specifically, determine the status of the underwater vehicle's antenna and whether the receiver is ready for Beidou operation.

[0056] Software condition judgment. Figure 8 As shown, whether the positioning request or communication request data frame sent by the receiver is captured regularly is specifically determined by whether the "$DWSQ" or "$TXSQ" data frame is sent regularly. If no such data frame is sent, error 000 or 001 is returned. If the "$DWSQ" or "$TXSQ" data frame transmission periodicity is not met, error 010 or 011 is returned. After returning the corresponding error message, the Beidou receiver is reset and the power supply based on the energy storage principle is started to supplement the power supply to the Beidou receiver amplifier component during transmission;

[0057] Receiver status determination. Checks whether the receiver is capturing the positioning and communication data frames sent by the receiver. Specifically, the determination is based on whether the corresponding data frames "$DWXX" and "$TXXX" are sent. If no such data frames are sent, error 100 or 101 is returned. If the transmission period of the "$DWXX" or "$TXXX" data frames deviates significantly, error 10D or 10T is returned. After the corresponding error message is returned, the Beidou receiver is reset.

[0058] Regional identification. Capture the transmission delays and current time information of multiple satellites transmitted by the BeiDou satellite system, and obtain the receiver's position information based on the initial calculation of the delay and time information (specifically, the three-dimensional space distance intersection method). Determine based on the position information whether the current receiver position is within the valid range (specifically, the valid area criteria for determining the position are 70° to 140° east longitude and 5° to 55° north latitude). If it is not within the above valid range, return the corresponding error command 10E (longitude out of tolerance), 10N (latitude out of tolerance), or 1EN (both longitude and latitude out of tolerance);

[0059] Solution Verification: Compare the calculated position information with the longitude and latitude information output by the receiver. If the difference between the calculated position information and the longitude and latitude data contained in the BeiDou receiver output message "$DWXX" is within a small range (specifically 0.5°), the BeiDou receiver is considered to have performed the solution correctly. Otherwise, an error message 11E, 11N, or 1EN is output. If the header and footer of the "$TXXX" message match the $TXSQ message, the result is normal. If they are different, an error message 11H or 11T is returned. Simultaneously, the BeiDou receiver is reset.

[0060] Example 2: Real-time monitoring system of BeiDou status of underwater vehicle Based on the original BeiDou structure inside the vehicle, a real-time monitoring system is added, and an independent real-time monitoring and control algorithm is added to the original BeiDou processing flow. Specifically, inside the original BeiDou component, a new real-time monitoring unit 1 and energy storage unit 2 are added in accordance with the original size, and the original structure inside the BeiDou component is used to match the installation. The basic installation structure inside is shown in the figure. Figure 9 As shown. The physical design of real-time monitoring unit 1 is as follows Figure 10 shown.

[0061] like Figure 9 As shown, the installation hole of the core control unit is compatible with the Beidou circuit structure inside the spacecraft, and there is no need to change the structure, which has a high implementation efficiency. Figure 10 JP5 is an independent metal shielding cover that physically shields the main processing components inside the unit. When installed, it should be as far away as possible from the spiral-wound transmitting antenna connected to the internal Beidou processor. It combines the internal correlation filtering method to filter the internal signals, thereby further improving the anti-interference capability.

[0062] To verify the actual operation of the monitoring method and system described in this patent, the implementation components (including hardware and software) were tested for environmental adaptability and electromagnetic compatibility. Environmental testing, based on the specific environmental requirements of a specific underwater vehicle, included actual operating conditions for high and low temperatures, temperature fluctuations, humidity, shock, and vibration. The test results met the relevant technical requirements. Electromagnetic environmental testing, primarily based on the requirements of "GJB151B-2013: Requirements and Measurements for Electromagnetic Emissions and Sensitivity of Military Equipment and Subsystems," examined the system's core control circuitry (including hardware and software) under test items CE101, CE102, CS101, and RS103. Actual tests were conducted for 25Hz-10kHz power line conducted emissions, 10kHz-10MHz power line conducted emissions, 25Hz-50kHz power line conducted sensitivity, and 10kHz-40GHz electric field radiated sensitivity. The core control circuitry and program execution were monitored in real time during the tests. The test results demonstrated that the system's inherent immunity to external interference and its resistance to other interference components met relevant standards, meeting practical operational requirements. The specific electromagnetic compatibility test results are shown in Table 1.

[0063] Table 1 Electromagnetic compatibility test results

[0064]

[0065]

[0066] The system was developed and tested, installed on a certain type of underwater vehicle, passed long-term land tests, and conducted actual navigation tests on the lake. By reading the internal recorded data of this monitoring system after the test, it can be seen that the Beidou status of the vehicle at the above-mentioned point is abnormal, and the monitoring system intervenes in the control and re-implements the Beidou prescribed actions and functions of the vehicle at that point. In addition, the test data after the user's actual use at sea shows that it significantly improves the success rate of Beidou positioning and communication of the vehicle at sea, and improves the quality and reliability of the product (vehicle). Using the actual effect of the patent of this invention, a test was conducted on a certain type of underwater vehicle, and 10 underwater vehicles were selected as samples for testing before and after the improvement. The test results are shown in Table 2.

[0067] Table 2 Comparison of Beidou test results before and after underwater vehicle improvement

[0068]

[0069] Notes: × Neither positioning nor communication is possible; √ Positioning and communication are normal; □ Communication is possible but positioning is not possible; ○ Positioning is possible but communication is not possible; ☆ Communication or positioning is possible occasionally.

[0070] Test results demonstrate that the BeiDou component of a certain underwater vehicle, after implementing the improved method and system of this invention, maintains stable functionality, significantly improving its BeiDou positioning and communication performance. Subsequently, the invention was verified in actual flights both on lakes and at sea (carrying mode), demonstrating the feasibility of the technology and its significant effectiveness.

[0071] This invention patent can not only be applied to the real-time monitoring of Beidou inside underwater vehicles, but also to real-time satellite remote control, satellite positioning, satellite communication, etc. of various underwater platforms and underwater equipment, especially the real-time monitoring and control of the Beidou satellite status of product-level underwater vehicles. It has high practical value and good prospects for military and civilian applications and promotion.

[0072] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A real-time Beidou status monitoring system for underwater vehicles, characterized in that include: Real-time monitoring unit and energy storage unit. The real-time monitoring unit is used to monitor and control the internal signals of the Beidou component, and the energy storage unit is used to provide backup energy for the power amplifier power supply inside the Beidou component; The power supply and interface of the real-time monitoring unit have hardware initialization states, which can be reset in the event of a real-time monitoring unit failure without affecting the normal operation of the Beidou components inside the underwater vehicle. It can monitor the working status and working parameters of the Beidou components, as well as the working status of its own monitoring system, and record and store information on the Beidou component core signal processor, bus, and the monitoring system's own working parameters in real time. The real-time monitoring unit can monitor the BeiDou working status inside the aircraft in real time, including the current satellite signal reception status of the aircraft’s BeiDou antenna after it extends out of the water; Make a comprehensive judgment based on the communication and positioning status and other relevant information; the comprehensive judgment includes: Obtain and monitor Beidou data and monitor in real time, and also obtain the current satellite signal reception status information of the Beidou antenna of the aircraft after it extends out of the water, determine whether the initial data is obtained within T, if so, start the timer to solve and store, if not, perform the control processing step; determine whether the solved and stored data is valid, if so, reset the timer, if not, read the timer, determine whether the interval is greater than the threshold T, if so, perform the control processing step, if not, read the timer again; determine whether the Beidou status is normal, if so, delay t to send the instruction record information 2, return and continue to monitor Beidou data, if not, wait again for the status to be normal. Determining whether the Beidou status is normal includes: if the working parameter interface monitoring of the Beidou component is interrupted, detect whether the external instruction / working parameter is obtained, if so, read the content of the flash memory to return the parameter and return, if not, perform the Beidou status monitoring step; self-monitoring step: after initialization, perform self-test and record its own parameters, perform Beidou status normal judgment, if not, perform the operation processing step, if so, record information 1 and perform Beidou status monitoring step.

2. The Beidou real-time monitoring system for underwater vehicles according to claim 1 is characterized in that The real-time monitoring unit includes: a first-stage EMC filter (100), a DC isolation converter (101), a second-stage EMC filter (103), a linear voltage regulator I (104), a linear voltage regulator II (105), a front-stage EMC filter (106), a controller (107), a level converter (108), an analog isolation (109), a data fusion processor (110), a digital isolation (111), a control processor (112), and a rear-stage EMC filter (113).

3. The Beidou real-time monitoring system for underwater vehicle status according to claim 2, characterized in that: The power supply end of the real-time monitoring unit adopts double EMC filtering and uses micro-transformer components for physical isolation; the digital communication end adopts digital isolation, including digital isolators and transformers; the status monitoring acquisition end adopts analog signal isolation, including linear optocouplers and isolation op amps; it can further reduce electromagnetic interference and improve long-term stable operation reliability.

4. The Beidou real-time monitoring system for underwater vehicle status according to claim 3 is characterized in that: Between the original vehicle interface and the Beidou signal processor communication port, transistors, diodes and other components are used to form RS-232 bus parallel processing, and the resistance element clarifies the initial state of the RS-232 communication line, which can meet the real-time data acquisition and monitoring needs of the monitoring system and intervene in the control processing at the appropriate time in the future.

5. The Beidou real-time monitoring system for underwater vehicle status according to claim 2, characterized in that: The energy storage unit comprises: a self-recovery fuse (200), an isolation voltage stabilization current limiting (201), an anti-rebound I (202), a high-capacity energy storage I (203), a high-capacity energy storage II (204), and an anti-rebound II (205).

6. A method for real-time monitoring of the Beidou status of underwater vehicles, characterized in that A real-time monitoring unit is provided to perform the following steps: Beidou status monitoring includes: acquiring and monitoring Beidou data in real time, and also acquiring the current satellite signal reception status information after the Beidou antenna of the aircraft extends out of the water; determining whether the initial data is obtained within T; if so, starting the timer to solve and store; if not, performing the control processing steps; determining whether the solved and stored data is valid; if so, resetting the timer; if not, reading the timer; determining whether the interval is greater than a threshold value T; if so, performing the control processing steps; if not, re-reading the timer; The control processing step includes: judging whether the Beidou status is normal, if so, delaying t to send instruction record information 2, returning and continuing to monitor Beidou data, if not, waiting again for the status to be normal, judging whether the Beidou status is normal includes: If the working parameter interface monitoring of the Beidou component is interrupted, check whether the external command / working parameter is obtained. If so, read the content of the flash memory to transmit the parameter back and return it. If not, perform the Beidou status monitoring step; Self-monitoring steps: After initialization, perform self-test and record self-parameters, and judge whether the Beidou status is normal. If not, perform operation processing steps. If so, record information 1 and perform Beidou status monitoring steps.

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