Dual-channel intelligent switching underwater robot self-contained satellite position indicating device and method

Abstract

This invention belongs to the field of underwater robots, specifically a dual-channel intelligent switching self-contained satellite positioning device for underwater robots. It includes an integrated communication system, a BeiDou system, a relay module, a control module, and a power module. Based on intelligently switching between two satellite communication short message communication methods, this device can reliably and timely transmit its own position information to a surface receiver. Installed on various underwater robots, it operates completely independently and is used for emergency positioning display after the underwater robot surfaces. The control module receives and processes positioning data sent by the baseband module; it also interacts with the Iridium or BeiDou module; simultaneously, it outputs control signals to the relay control module to power the baseband, Iridium, and BeiDou modules via the power module. This invention can acquire its own satellite positioning and transmit the positioning information to the surface via satellite short message communication. This invention features high reliability, self-containment, and low power consumption.

Description

Technical Field

[0001] This invention belongs to the field of underwater robots, specifically a dual-channel intelligent switching underwater robot self-contained satellite positioning device and method. Background Technology

[0002] Underwater robots are used for underwater navigation, scientific research, and exploration. The normal workflow is deployment-operation-recovery. However, due to equipment malfunctions, rough sea conditions, and other factors, recovery operations can sometimes face risks, potentially leading to catastrophic consequences such as equipment damage or loss. Therefore, the mother ship must be able to determine the underwater robot's surfacing location. When visibility is obstructed by rough sea conditions, additional methods are needed to obtain the robot's positioning information. Furthermore, these methods must be unaffected by the underwater robot's own condition to ensure the continuity of positioning information in the event of equipment malfunctions, communication interruptions, or other unforeseen circumstances, thus providing a guarantee for the safe recovery of the equipment. Summary of the Invention

[0003] The purpose of this invention is to provide an underwater robot satellite positioning and communication device that is capable of independent operation, continuously acquiring the underwater robot's own positioning and transmitting it to the mother ship, based on intelligent switching between two satellite short message communication methods, in order to overcome the problems existing in the background technology.

[0004] The technical solution adopted by the present invention to achieve the above objectives is: a dual-channel intelligent switching underwater robot self-contained satellite positioning device, comprising: an integrated communication system, a Beidou system, a relay module, a control module, and a power supply module;

[0005] The integrated communication system includes: a baseband module, an integrated antenna, and an Iridium satellite module;

[0006] The baseband module's input terminal is connected to the integrated antenna, and its output terminal is equipped with a TTL serial interface and connected to the control module. It is used to acquire the underwater terminal's own satellite positioning data and send the acquired positioning data to the control module.

[0007] The input terminal of the Iridium satellite module is connected to the integrated antenna, and the output terminal is equipped with a TTL serial interface and connected to the control module. It is used to communicate with the satellite via the integrated antenna through short messages, so as to realize the control and data interaction functions of the Iridium satellite module.

[0008] The integrated antenna is an integrated antenna for Iridium short message service and GPS / BDS, which includes a GPS / BDS interface and an Iridium interface, which are respectively connected to the baseband module and the Iridium module.

[0009] The BeiDou system includes: a BeiDou antenna and a BeiDou module; the BeiDou antenna is provided with a transmitting port and a receiving port, both of which are connected to the BeiDou module for realizing BeiDou short message communication with satellites; the BeiDou module is provided with a TTL serial interface, which is connected to a control module for realizing control and data interaction functions of the BeiDou module.

[0010] The relay control module is connected to the power supply module, control module, baseband module, Iridium module and Beidou module respectively. It is used to receive the output voltage of the power supply module and provide power to each module. It also receives the control signal output by the control module to realize the time-division operation function of the baseband module, Iridium module and Beidou module.

[0011] The control module is used to receive and process positioning data sent by the baseband module; it also interacts with the Iridium module or the Beidou module; at the same time, it outputs control signals to the relay control module to supply power to the baseband module, the Iridium module, and the Beidou module through the power supply module.

[0012] The control module also outputs control signals to the relay control module to enable time-division switching of the baseband module, Iridium module, and Beidou module.

[0013] The Iridium module performs data interaction, including satellite signal strength detection, sending satellite communication requests, and receiving and parsing received satellite communication data;

[0014] The BeiDou module performs data interaction, including satellite signal strength detection, sending satellite communication requests, and receiving and parsing the received satellite communication data.

[0015] The power module includes: a lithium battery compartment, a pressure switch, and a voltage regulator module;

[0016] The lithium battery compartment contains a series lithium battery pack. The positive terminal of the battery pack is directly connected to the voltage regulator module, and the negative terminal is connected to the voltage regulator module via a pressure switch, providing power to the entire underwater end.

[0017] The pressure switch closes under normal pressure and opens when subjected to a certain pressure, so as to cut off the power to the underwater end when the underwater robot dives.

[0018] The voltage regulator module is used to convert the voltage of the lithium battery pack into the voltage used by each module at the underwater end.

[0019] The relay control module has an input interface, a control interface, and three power supply interfaces, which are used to realize the time-division operation function of the baseband module, Iridium module, and Beidou module.

[0020] The input interface is connected to the power module and is used to receive power from the power module;

[0021] The control interface is used to receive control signals output by the control module.

[0022] The three power supply interfaces are used to supply power to the baseband module, Iridium module, and Beidou module, respectively.

[0023] A positioning method for a self-contained satellite positioning device for underwater robots with dual-channel intelligent switching includes the following steps:

[0024] 1) After the underwater robot emerges from the water following deployment and operation, the pressure switch of the power module closes, the position indicator is turned on, and the control module initializes and starts working. At this time, the baseband module, Iridium module, and Beidou module are all in a power-off state, and the process proceeds to step 2).

[0025] 2) When the positioning device enters the positioning stage, the control module sends a control signal to the relay control module, the Beidou module and Iridium module are powered off, the baseband module is turned on, and the baseband module begins to acquire its own satellite positioning data. After successful acquisition, the positioning validity flag is set to position 1, and the system switches to the communication stage. Depending on the current satellite communication mode, if it is Beidou mode, proceed to step 3); if it is Iridium mode, proceed to step 4).

[0026] 3) The control module sends a control signal to the relay control module, the baseband module and Iridium module are powered off, the Beidou module is turned on, and satellite communication in Beidou mode begins. After successful communication, the system determines whether to switch communication modes according to the satellite communication mode switching method. The valid positioning flag is set to 0, and the system switches to the positioning stage and returns to step 2). During the period when communication fails to be completed in Beidou mode, the Beidou communication failure condition judgment is continuously executed. If the judgment is passed, the current Beidou communication mode is abandoned and the system switches to Iridium mode. The control module sends a control signal to the relay control module, the Beidou module is powered off, the Iridium module is turned on, and step 4 is executed.

[0027] 4) The control module sends a control signal to the relay control module, the baseband module and Beidou module are powered off, the Iridium module is turned on, and satellite communication in Iridium mode begins. After successful communication, the system determines whether to switch communication modes according to the satellite communication mode switching method, the valid positioning flag is set to 0, and the system switches to the positioning stage and returns to step 2). During the period when communication in Iridium mode fails to be completed, the Iridium communication failure condition judgment is continuously executed. If the judgment is passed, the current Iridium communication mode is abandoned and the system switches to Beidou mode. The control module sends a control signal to the relay control module, the Iridium module is powered off, the Beidou module is turned on, and the system proceeds to step 3).

[0028] 5) When the device is working normally, it cycles between steps 2), 3), and 4);

[0029] 6) During step 3) or step 4), if the positioning device receives a hibernation command sent by the surface mother ship, the control module sends a hibernation control signal to the relay control module, the baseband module, Iridium module, and Beidou module are all powered off, the control module enters a low-power standby state, and the positioning device stops working.

[0030] In steps 3) and 4), the satellite communication mode switching method includes the following steps:

[0031] Satellite communication includes Iridium mode and BeiDou mode. The method for switching between the two modes is as follows:

[0032] (1) The default travel mode is Beidou mode;

[0033] (2) After completing one satellite communication in BeiDou mode, the number of successful BeiDou communications is accumulated. When the accumulated number exceeds the set threshold, the accumulated number is cleared to zero and the system switches to Iridium mode. The threshold can be set according to the requirements. Iridium mode sets a weight value H. After completing H satellite communications in Iridium mode, the system switches to BeiDou mode. The default value of H is 1. After BeiDou mode experiences a communication failure and jumps, the value of H is incremented by 1. After BeiDou mode successfully completes one satellite communication, H is restored to the default value.

[0034] (3) In Beidou mode, the jump flag is set. It is zero by default when powered on. After successful communication, the jump flag is set to 1. After successful communication in Iridium mode, it jumps to Beidou mode. If the Iridium mode communication fails and the switching condition is met, if the jump flag is 1 at this time, it jumps to Beidou mode. If the jump flag is 0 at this time, the Iridium mode is initialized and the Iridium mode communication process is re-executed, and the jump flag is set to 1.

[0035] Step 3), the BeiDou mode includes the following steps:

[0036] 4-1) The control module continuously receives short message communication data from the Beidou module through the Beidou antenna. After receiving the data, it parses it. If the parsing reveals a hibernation command sent by the surface mother ship, it stops working and enters hibernation mode.

[0037] 4-2) The control module encodes the cached location data into a short message and sends the command;

[0038] 4-3) The control module sends an IC identification command to the Beidou module through the TTL serial interface and waits for the Beidou module to respond. After the Beidou module sends back data that matches the communication protocol between the control module and the Beidou module through the TTL serial interface, the process proceeds to step 4-4). Otherwise, the control module continuously sends an IC identification command to the Beidou module every 2 seconds.

[0039] 4-4) The control module sends a signal strength output command to the Beidou module and waits for feedback from the Beidou module. After that, the Beidou module sends signal strength data to the control module every 1 second. After the Beidou module sends back the signal strength detection data, proceed to step 4-5). Otherwise, the control module continuously sends a signal strength output command to the Beidou module every 2 seconds.

[0040] 4-5) The control module continuously receives signal strength data sent by the Beidou module and performs signal strength determination. If the determination is successful, proceed to step 4-6); otherwise, it continues to receive signal strength data and perform signal strength determination.

[0041] 4-6) The control module sends the short message sending command generated in step 4-2) to the Beidou module and waits for feedback from the Beidou module. If the feedback is successful, proceed to step 4-7. If the feedback is unsuccessful, resend the short message sending command. If there is no feedback, repeat the short message sending command every 10 seconds.

[0042] 4-7) After waiting for 30 seconds, the control module will set the internal positioning valid flag to zero, reset the timer, and jump the flag to position one. It will then determine whether to switch the communication mode according to the satellite communication mode switching method, and the current communication segment will end.

[0043] In step 3), during the period when communication fails to be completed in BeiDou mode, the BeiDou communication failure condition judgment is continuously executed. If the judgment is passed, the current BeiDou communication mode is abandoned and switched to Iridium mode, specifically:

[0044] (1) The time condition for judgment is: the Beidou module will switch after working continuously for 10 minutes;

[0045] (2) The condition for judging signal strength is: the objective function is set as: J = F(Q),

[0046] Where Q is the signal strength data fed back by the Beidou module. Each time the signal strength data of the Beidou module is received, it is calculated and accumulated. When ∑J is greater than the set threshold M, the judgment condition is met.

[0047] in,

[0048] Among them, Q m To ensure the minimum signal strength required for a successful communication, Let be the average value of Q, t be the working time of the BeiDou module, a and b be the polynomial coefficients, and c be the exponent of t. All three values ​​of a, b, and c are greater than zero. In the formula, a(Q) m -Q) 3 As the primary function item, As an auxiliary term, Q m The values ​​of a, b, c, and M are set according to the actual situation;

[0049] (Q m -Q) reflects the signal strength. To reflect the stability of the signal, then:

[0050] (Q m -Q) reflects the signal strength, (Q m -Q)>0 indicates a poor signal, (Q) m When -Q) < 0, it indicates a good signal. Reflects the stability of the signal. The smaller the absolute value, the more stable the signal; conversely, the larger the value, the less stable the signal.

[0051] a. When (Q) m When -Q)>0, the worse the signal, (Q) m The larger the absolute value of -Q), the faster the accumulation rate of ∑J;

[0052] b. When (Q) m When -Q)>0, the signal stability is better. The smaller the absolute value, the faster the accumulation rate of ∑J;

[0053] c. When (Q) m When -Q) < 0, the signal is better, (Q) m The larger the absolute value of -Q), the faster the negative accumulation rate of ∑J;

[0054] d. When (Q) m When -Q) < 0, the signal stability is better. The smaller the absolute value, the faster the negative accumulation rate of ∑J;

[0055] e. Due to t c The presence of [something] means that the influence of signal strength will gradually increase as the continuous working time t of the BeiDou module increases.

[0056] f. When ∑J exceeds the set threshold M, the communication mode switches to Iridium mode.

[0057] Step 4), the Iridium satellite mode, includes the following steps:

[0058] 3-1) The control module sends an activation command to the Iridium module through the TTL serial interface and waits for the Iridium module to respond. After the Iridium module responds with data that conforms to the Iridium module communication protocol through the TTL serial interface, the process proceeds to step 3-2). Otherwise, the control module sends an activation command to the Iridium module every 5 seconds.

[0059] 3-2) The control module sends a buffer write command to the Iridium module to write the positioning data buffered in the positioning process into the Iridium module, and waits for feedback from the Iridium module. If the feedback is successful, proceed to step 3-3). If the feedback is unsuccessful or there is no feedback, send a buffer write command to the Iridium module every 5 seconds.

[0060] 3-3) The control module sends a signal strength detection command to the Iridium module, waits for the signal strength data feedback and makes a judgment. If the signal strength judgment is successful, proceed to step 3-4). If there is no feedback or the signal strength judgment is unsuccessful, send a signal strength detection command to the Iridium module every 10 seconds.

[0061] 3-4) The control module sends satellite short message sending and receiving instructions to the Iridium module and waits for feedback from the Iridium module. If the feedback is successful, proceed to step 3-5). If the feedback is unsuccessful or no data is received, continue to determine the sending status feedback. If the feedback is successful, proceed to step 3-6). If the feedback is unsuccessful, return to step 3-3.

[0062] 3-5) The control module sends a read command to the Iridium module to receive the buffer, waits for the Iridium module to return the data from the buffer and parses it. If the hibernation signal sent by the surface mother ship is parsed, the module stops working and enters hibernation mode.

[0063] 3-6) The control module sets the internal positioning valid flag to zero, resets the timer, and determines whether to switch the communication mode according to the satellite communication mode switching method. This Iridium mode communication segment ends.

[0064] In step 4), during the period when communication fails to be completed in Iridium mode, the Iridium communication failure condition judgment is continuously executed. If the judgment is passed, the current Iridium communication mode is abandoned and the system switches to BeiDou mode. Specifically:

[0065] (1) The timing condition is: the Iridium module will switch after working continuously for 10 minutes;

[0066] (2) Determine the signal strength condition, namely:

[0067] a. Set the cumulative number of times n, which defaults to 0. Each time the signal strength determination fails, the value of n is incremented by 1.

[0068] b. When n equals the judgment threshold N, the judgment is considered passed, n is cleared to zero, and the judgment of the Beidou jump flag is continued;

[0069] c. If the BeiDou jump flag is 1, the BeiDou jump flag is cleared to zero, the current communication session ends, and the communication mode is switched to BeiDou mode;

[0070] d. If the BeiDou jump flag is 0, it is determined that the BeiDou satellite signal is poor, the Iridium module is powered off, the BeiDou jump flag is set to 1, and the Iridium module is restarted after d minutes to re-execute the Iridium communication process.

[0071] The present invention has the following beneficial effects and advantages:

[0072] 1. This invention is self-contained and has the ability to work completely independently, unaffected by the working status of the underwater robot.

[0073] 2. This invention has low power consumption. Based on the functions of module time-sharing operation and ultra-low power sleep mode, the power consumption is extremely low and the battery life is relatively long.

[0074] 3. This invention has high reliability and features dual satellite communication modes: Iridium and BeiDou. The underwater core control module intelligently switches between working modes to ensure reliable transmission of positioning information. Attached Figure Description

[0075] Figure 1 This is a functional diagram of a self-contained satellite positioning device for an underwater robot.

[0076] Figure 2 This is a schematic diagram of a self-contained satellite positioning device for underwater robots.

[0077] Figure 3 This is a schematic diagram of the power module for a self-contained satellite positioning device for underwater robots. Detailed Implementation

[0078] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0079] like Figure 1 The diagram shows a functional schematic of a self-contained satellite positioning device for an underwater robot. This invention relates to a dual-channel intelligent switching self-contained satellite positioning device for an underwater robot (hereinafter referred to as the positioning device). The self-contained satellite positioning device can acquire its own satellite positioning, send the positioning data to the water surface, and simultaneously respond to a sleep command sent from the water surface via satellite communication, entering a low-power sleep state.

[0080] BeiDou short message communication is based on geostationary orbit satellites, where the relative position of the satellite and antenna is relatively fixed. Signal strength is mainly affected by the external environment; if there are no obstructions or interference, the signal strength will remain stable. In contrast, Iridium short message communication is based on low Earth orbit satellites, where the relative position of the satellite and antenna is variable, causing signal strength to change periodically with satellite movement. Furthermore, the BeiDou module can automatically output signal strength with a minimum cycle of 1 second, while the Iridium module's signal strength detection is response-based, requiring continuous transmission of detection commands, resulting in unstable response times and potential data congestion due to continuous transmission.

[0081] Based on the above characteristics, this invention adopts a dual-channel satellite communication method using BeiDou and Iridium, and designs an intelligent switching logic to ensure the timeliness and stability of satellite communication, while minimizing device power consumption.

[0082] like Figure 2 The diagram shown is a schematic of the underwater robot self-contained satellite positioning device of the present invention. The core circuit of the positioning device consists of a satellite antenna, a baseband module, an Iridium module, a Beidou module, a core control module, a power supply module, and a relay control module.

[0083] Satellite antennas include Iridium short message, GPS / BDS integrated antenna, and BeiDou short message antenna.

[0084] The Iridium short message and GPS / BDS integrated antenna has both GPS / BDS and Iridium ports.

[0085] The integrated communication system includes: a baseband module, an integrated antenna, and an Iridium satellite module;

[0086] The baseband module's input is connected to the integrated antenna, and its output has a TTL serial interface that is connected to the control module. This interface is used to acquire the underwater terminal's own satellite positioning data and send the acquired positioning data to the control module.

[0087] The input end of the Iridium satellite module is connected to the integrated antenna, and the output end is equipped with a TTL serial interface and connected to the control module. It is used to communicate with the satellite via the integrated antenna through short messages, so as to realize the control and data interaction functions of the Iridium satellite module.

[0088] The integrated antenna is an integrated antenna for Iridium short message and GPS / BDS, which includes a GPS / BDS interface and an Iridium interface, which are connected to the baseband module and the Iridium module respectively;

[0089] The BeiDou system includes: a BeiDou antenna and a BeiDou module; the BeiDou antenna is provided with a transmitting port and a receiving port, both of which are connected to the BeiDou module for enabling BeiDou short message communication with satellites; the BeiDou module is provided with a TTL serial interface, which is connected to a control module for enabling control and data interaction functions of the BeiDou module.

[0090] The relay control module is connected to the power supply module, control module, baseband module, Iridium module and Beidou module respectively. It is used to receive the output voltage of the power supply module and provide power to each module. It also receives the control signal output by the control module to realize the time-division operation function of the baseband module, Iridium module and Beidou module.

[0091] The control module is used to receive and process positioning data sent by the baseband module; it also interacts with the Iridium or BeiDou module; at the same time, it outputs control signals to the relay control module to supply power to the baseband module, Iridium module, and BeiDou module through the power module.

[0092] The control module also outputs control signals to the relay control module to enable time-division switching of the baseband module, Iridium module, and Beidou module.

[0093] The Iridium module performs data interaction, including satellite signal strength detection, sending satellite communication requests, and receiving and parsing received satellite communication data;

[0094] The BeiDou module performs data interaction, including satellite signal strength detection, sending satellite communication requests, and receiving and parsing the received satellite communication data.

[0095] The relay control module has an input interface, a control interface, and three power supply interfaces, which are used to realize the time-division operation function of the baseband module, Iridium module, and Beidou module;

[0096] The input interface is connected to the power module and is used to receive power from the power module;

[0097] The control interface is used to receive control signals output by the control module.

[0098] The three power supply interfaces are used to supply power to the baseband module, Iridium module, and Beidou module, respectively.

[0099] like Figure 3 The diagram shows the schematic of the power module for the self-contained satellite positioning device of an underwater robot. The power module consists of a lithium battery compartment, a pressure switch, and a voltage regulator module. The lithium battery compartment houses a series-connected lithium battery pack. The positive terminal of the battery pack is directly connected to the voltage regulator module, and the negative terminal is connected to the voltage regulator module via the pressure switch, providing power to the entire underwater end. The pressure switch closes under normal pressure and opens when subjected to a certain pressure, thus achieving the purpose of power cut-off at the underwater end when the underwater robot dives. The voltage regulator module is responsible for converting the voltage of the lithium battery pack into a voltage suitable for use by each module of the underwater end.

[0100] Positioning devices (PSDs) are typically mounted on top of underwater robots. As the robot descends to deep water, the pressure switch is deactivated by water pressure, putting the PSD in a power-off state to reduce power consumption. After the robot completes its mission and surfaces, the PSD powers on and begins operating, sending its location information to the mother ship. Once the mother ship locates the robot and confirms the recovery process is successful, it sends a hibernation command to the PSD. Upon receiving the hibernation command, the PSD enters an ultra-low power hibernation state, ceasing all functions until it undergoes another descent and surfacing process, at which point it powers on again and resumes operation.

[0101] like Figure 2 As shown, the working principle of the position indicator after power-on is as follows:

[0102] The baseband module connects to the Iridium short message service and the GPS / BDS integrated antenna via the GPS / BDS interface, and also connects to the core control module via the TTL serial interface. It can decode GPS / BDS satellite signals, obtain its own positioning, and send the data to the core control module via serial port.

[0103] The Iridium module connects to the Iridium short message and GPS / BDS integrated antenna via the Iridium interface, and also connects to the core control module via a TTL serial interface. Under the control of the core control module, it can realize satellite short message communication functionality. The received control commands and corresponding data feedback include:

[0104] 1. Activation command - Activation success data feedback

[0105] 2. Signal strength detection command - signal strength feedback

[0106] 3. Send cache write command - write success feedback

[0107] 4. Receive cache read command - Receive cache data feedback

[0108] 5. Satellite Short Message Sending & Receiving Commands - Success / Failure / No Data Feedback

[0109] The BeiDou module connects to the BeiDou antenna via a transmit interface and a receive interface, and also connects to the core control module via a TTL serial interface. Under the control of the core control module, it can transmit satellite short messages. Simultaneously, it can receive externally transmitted satellite short message communications via the BeiDou antenna and send the received short messages back to the core control module. The received control commands and corresponding data feedback include:

[0110] 1. IC Identification Command - IC Number Feedback

[0111] 2. Signal strength output command - signal strength data feedback

[0112] 3. Short message sending command - success / failure feedback

[0113] To conserve energy and prevent damage from interference, the baseband module, Iridium module, and BeiDou module operate in a time-division multiplexing mode. These modules are powered by a relay control module. The time-division multiplexing mode is achieved by the core control module sending control signals to the relay control module according to its control logic, thereby controlling the power-on and power-off of the baseband, Iridium, and BeiDou modules.

[0114] The control logic is as follows:

[0115] 1. After power-on initialization, the core control module switches between the positioning and communication phases. In the positioning phase, the baseband module works to acquire its own satellite positioning data. In the communication phase, the Iridium or Beidou module works to send its own satellite positioning data to the mother ship via satellite communication.

[0116] 2. The switching between the positioning and communication stages is determined by the positioning validity flag bit inside the core control module. When the flag bit is zero, the system is in the positioning stage. After obtaining the correct positioning information, the flag bit is set to one. When the flag bit is one, the system is in the communication stage. After successful satellite communication, the flag bit is set to zero.

[0117] 3. Satellite communication includes Iridium mode and BeiDou mode. The method for switching between the two modes is as follows:

[0118] (1) The default selection upon power-on is Beidou mode;

[0119] (2) After BeiDou mode successfully completes one satellite communication, the number of successful BeiDou communications is accumulated. When the accumulated number exceeds a certain threshold, the accumulated number is cleared to zero and the system switches to Iridium mode. The threshold can be set according to the requirements. Iridium mode sets a weight value H. After Iridium mode successfully completes H satellite communications, it switches to BeiDou mode. The default value of H is 1. After BeiDou mode experiences one communication failure and jumps, the value of H is incremented by 1. After BeiDou mode successfully completes one satellite communication, H is restored to the default value.

[0120] (3) In Beidou mode, the jump flag is set. It is zero by default when powered on. After successful communication, the jump flag is set to one. After successful communication in Iridium mode, it will definitely jump to Beidou mode. If the Iridium mode communication fails and the switching condition is met, if the jump flag is one at this time, it will jump to Beidou mode. If the jump flag is zero at this time, the Iridium mode will be initialized and the Iridium mode communication process will be re-executed. The jump flag will be set to one.

[0121] (4) During the period when the Beidou mode fails to complete communication, the Beidou communication failure condition judgment will continue to be executed. If the judgment is passed, the current Beidou communication mode will be abandoned and the Iridium mode will be switched. The method of judging the Beidou communication failure condition will be described in detail later in conjunction with the specific workflow of the Beidou mode.

[0122] (5) During the period when Iridium mode fails to complete communication, Iridium communication failure condition judgment will continue to be executed. If the judgment is passed, the current Iridium communication mode will be abandoned and Beidou mode will be switched. The judgment method of Iridium communication failure condition will be described in detail later in conjunction with the specific workflow of Iridium mode.

[0123] 4. In Iridium or BeiDou mode, after receiving the hibernation command from the surface mother ship, the baseband module, Iridium module, and BeiDou module are all powered down, the core control module enters an ultra-low power standby state, and the positioning device stops working.

[0124] The following describes a complete workflow of the position indicator device during normal operation:

[0125] 1) After the underwater robot emerges from the water following deployment and operation, the pressure switch of the power module closes, the position indicator is turned on, and the control module initializes and starts working. At this time, the baseband module, Iridium module, and Beidou module are all in a power-off state, and the process proceeds to step 2).

[0126] 2) When the positioning device enters the positioning stage, the control module sends a control signal to the relay control module, the Beidou module and Iridium module are powered off, the baseband module is turned on, and the baseband module begins to acquire its own satellite positioning data. After successful acquisition, the positioning validity flag is set to position 1, and the system switches to the communication stage. Depending on the current satellite communication mode, if it is Beidou mode, proceed to step 3); if it is Iridium mode, proceed to step 4).

[0127] 3) The control module sends a control signal to the relay control module, the baseband module and Iridium module are powered off, the Beidou module is turned on, and satellite communication in Beidou mode begins. After successful communication, the system determines whether to switch communication modes according to the satellite communication mode switching method. The valid positioning flag is set to 0, and the system switches to the positioning stage and returns to step 2). During the period when communication fails to be completed in Beidou mode, the Beidou communication failure condition judgment is continuously executed. If the judgment is passed, the current Beidou communication mode is abandoned and the system switches to Iridium mode. The control module sends a control signal to the relay control module, the Beidou module is powered off, the Iridium module is turned on, and step 4 is executed.

[0128] 4) The control module sends a control signal to the relay control module, the baseband module and Beidou module are powered off, the Iridium module is turned on, and satellite communication in Iridium mode begins. After successful communication, the system determines whether to switch communication modes according to the satellite communication mode switching method, the valid positioning flag is set to 0, and the system switches to the positioning stage and returns to step 2). During the period when communication in Iridium mode fails to be completed, the Iridium communication failure condition judgment is continuously executed. If the judgment is passed, the current Iridium communication mode is abandoned and the system switches to Beidou mode. The control module sends a control signal to the relay control module, the Iridium module is powered off, the Beidou module is turned on, and the system proceeds to step 3).

[0129] 5) When the device is working normally, it cycles between steps 2), 3), and 4);

[0130] 6) During step 3) or step 4), if the positioning device receives a hibernation command sent by the surface mother ship, the control module sends a hibernation control signal to the relay control module, the baseband module, Iridium module, and Beidou module are all powered off, the control module enters a low-power standby state, and the positioning device stops working.

[0131] The following section details the specific workflow of the positioning and communication stages.

[0132] Location phase:

[0133] 1. After the baseband module is powered on, it automatically sends satellite positioning data to the core control module through the TTL serial interface;

[0134] 2. The core control module continuously receives positioning data sent by the baseband module. After identifying valid positioning data, it parses and caches the positioning data and sets the valid positioning flag to 1.

[0135] Communication Link - BeiDou Mode:

[0136] 1. The core control module continuously receives short message communication data from the Beidou module through the Beidou antenna. After receiving the data, it parses it. If the parsing reveals a hibernation command sent by the surface mother ship, it stops working and enters hibernation mode.

[0137] 2. The core control module encodes the cached location data into a short message and sends the command.

[0138] 3. The core control module sends an IC identification command to the Beidou module through the TTL serial interface and waits for feedback from the Beidou module. After the Beidou module sends the correct data back to the core module through the TTL serial interface, it proceeds to step 4. Otherwise, the core control module continuously sends an IC identification command to the Beidou module every 2 seconds.

[0139] 4. The core control module sends a signal strength output command to the Beidou module and waits for feedback from the Beidou module. After that, the Beidou module should send signal strength data to the core control module every 1 second. After the Beidou module sends back the signal strength detection data, proceed to step 5. Otherwise, the core control module will continuously send a signal strength output command to the Beidou module every 2 seconds.

[0140] 5. The core control module continuously receives signal strength data sent by the Beidou module and performs signal strength determination. If the determination is successful, proceed to step 6; otherwise, continue receiving signal strength data and the signal strength determination process.

[0141] 6. The core control module sends the short message sending command generated in step 2 to the Beidou module and waits for feedback from the Beidou module. If the feedback is successful, proceed to step 7. If the feedback is unsuccessful, return to step 6. If there is no feedback, repeat the short message sending command every 10 seconds.

[0142] 7. After waiting for 30 seconds, the core control module will set the internal positioning valid flag to zero, reset the timer, and jump the flag to position one. It will then determine whether to switch the communication mode based on the satellite communication mode switching method, and the current communication phase will end.

[0143] 8. After the Beidou module is powered on, the core control module continuously executes the Beidou communication failure condition judgment. When the judgment condition is met, the current communication link will be terminated and the communication mode will be switched to Iridium mode.

[0144] 9. The criteria for determining BeiDou communication failure are as follows:

[0145] During the period when communication fails in BeiDou mode, the BeiDou communication failure condition judgment will continue to be executed. If the judgment is passed, the current BeiDou communication mode will be abandoned and the system will switch to Iridium mode, specifically as follows:

[0146] (1) The time condition for judgment is: the Beidou module will switch after working continuously for 10 minutes;

[0147] (2) The condition for judging signal strength is: the objective function is set as: J = F(Q),

[0148] Where Q is the signal strength data fed back by the Beidou module. Each time the signal strength data of the Beidou module is received, it is calculated and accumulated. When ∑J is greater than the set threshold M, the judgment condition is met.

[0149] in,

[0150] Among them, Q m To ensure the minimum signal strength required for a successful communication, Let be the average value of Q, t be the working time of the BeiDou module, a and b be the polynomial coefficients, and c be the exponent of t. All three values ​​of a, b, and c are greater than zero. In the formula, a(Q) m -Q) 3 As the primary function item, As an auxiliary term, Q m The values ​​of a, b, c, and M are set according to the actual situation;

[0151] (Q m -Q) reflects the signal strength. To reflect the stability of the signal, then:

[0152] (Q m -Q) reflects the signal strength, (Q m -Q)>0 indicates a poor signal, (Q) m When -Q) < 0, it indicates a good signal. Reflects the stability of the signal. The smaller the absolute value, the more stable the signal; conversely, the larger the value, the less stable the signal.

[0153] a. When (Q) m When -Q)>0, the worse the signal, (Q) m The larger the absolute value of -Q), the faster the accumulation rate of ∑J;

[0154] b. When (Q) m When -Q)>0, the signal stability is better. The smaller the absolute value, the faster the accumulation rate of ∑J;

[0155] c. When (Q) m When -Q) < 0, the signal is better, (Q) m The larger the absolute value of -Q), the faster the negative accumulation rate of ∑J;

[0156] d. When (Q) m When -Q) < 0, the signal stability is better. The smaller the absolute value, the faster the negative accumulation rate of ∑J;

[0157] e. Due to t c The presence of [something] means that the influence of signal strength will gradually increase as the continuous working time t of the BeiDou module increases.

[0158] f. When ∑J exceeds the set threshold M, the communication mode switches to Iridium mode.

[0159] Communication Link - Iridium Mode:

[0160] 1. The core control module sends an activation command to the Iridium module through the TTL serial interface and waits for the Iridium module to respond. After the Iridium module responds with correct data through the TTL serial interface, it proceeds to step 2. Otherwise, the core control module sends an activation command to the Iridium module every 5 seconds.

[0161] 2. The core control module sends a buffer write command to the Iridium module to write the positioning data cached in the positioning process into the Iridium module's transmission buffer, and waits for feedback from the Iridium module. If the feedback indicates that the writing was successful, proceed to step 3. If the feedback indicates that the writing failed or there is no feedback, send a transmission buffer write command to the Iridium module every 5 seconds.

[0162] 3. The core control module sends a signal strength detection command to the Iridium module, waits for signal strength data feedback and makes a judgment. If the signal strength judgment is successful, proceed to step 4. If there is no feedback or the signal strength judgment is unsuccessful, send a signal strength detection command to the Iridium module every 10 seconds.

[0163] 4. The core control module sends satellite short message sending and receiving instructions to the Iridium module and waits for feedback from the Iridium module. If the feedback is successful, proceed to step 5. If the feedback is unsuccessful or no data is received, continue to determine the sending status feedback. If the feedback is successful, proceed to step 6. If the feedback is unsuccessful, return to step 3.

[0164] 5. The core control module sends a read command to the Iridium satellite module to receive the buffer data, waits for the Iridium satellite module to return the data to the buffer and parses it. If the hibernation signal sent by the surface mother ship is parsed, the module stops working and enters hibernation mode.

[0165] 6. The core control module sets the internal positioning valid flag to zero, resets the timer, and determines whether to switch communication modes based on the satellite communication mode switching method. This communication phase ends.

[0166] 7. After the Iridium module is powered on, the core control module will continuously enable the Iridium communication failure condition judgment. When the judgment condition is met, the current communication segment will be terminated and the communication mode will be switched to Beidou mode.

[0167] 8. The criteria for determining Iridium communication failure are as follows:

[0168] (1) The timing condition is: the Iridium module will switch after working continuously for 10 minutes;

[0169] (2) Determine the signal strength condition, namely:

[0170] a. Set the cumulative number of times n, which defaults to 0. Each time the signal strength determination fails, the value of n is incremented by 1.

[0171] b. When n equals the judgment threshold N, the judgment is considered passed, n is cleared to zero, and the judgment of the Beidou jump flag is continued;

[0172] c. If the BeiDou jump flag is 1, the BeiDou jump flag is cleared to zero, the current communication session ends, and the communication mode is switched to BeiDou mode;

[0173] d. If the BeiDou jump flag is 0, it is determined that the BeiDou satellite signal is poor, the Iridium module is powered off, the BeiDou jump flag is set to 1, and the Iridium module is restarted after d minutes to re-execute the Iridium communication process.

[0174] The design concept for intelligent switching between BeiDou and Iridium communication modes is as follows:

[0175] 1. BeiDou satellite communication is based on geostationary orbit satellites, which usually have stable signal strength, while Iridium satellite communication is based on low Earth orbit satellites, whose signal strength changes periodically. Therefore, when the external environment is suitable, BeiDou mode can complete satellite communication more quickly and stably, while Iridium mode may need to wait for the satellite to reach a suitable position. Therefore, setting BeiDou mode as the default mode upon power-on and setting an appropriate cumulative successful communication threshold can enable the position display device to function more promptly and stably.

[0176] 2. However, when there are external influences that prevent BeiDou mode from communicating, if the external influences cannot be eliminated, BeiDou communication will usually fail. In this case, it is necessary to switch to Iridium mode as soon as possible.

[0177] 3. There are two scenarios when Iridium mode starts working. First, BeiDou mode is working well and after several successful communications, it switches to Iridium mode. When Iridium mode successfully communicates or meets the mode switching criteria, it will switch back to BeiDou mode normally. Second, BeiDou mode communication fails and it switches to Iridium mode. If the Iridium signal strength is low, switching back to BeiDou mode will most likely still fail to communicate, wasting power and time. In this case, you can turn off both Iridium and BeiDou modules at the same time to save power and wait for a while before trying to communicate with Iridium again.

[0178] 4. Initially, the device primarily uses the BeiDou mode. As the number of failed BeiDou communication attempts increases, the weight of the Iridium mode will gradually increase. Once the BeiDou communication is successful, the weight of the Iridium mode will be restored.

[0179] 5. A maximum continuous working time for the mode is set to avoid the signal strength being in a critical state, which would prevent communication from being completed and the judgment action from being too slow to switch in time.

[0180] In summary, this invention has the ability to operate completely independently and is not affected by the working status of the underwater robot.

[0181] 2. This invention features low power consumption and high reliability. Based on module time-sharing operation and ultra-low power sleep functions, it consumes very little power and has a long endurance. Through Iridium and BeiDou dual-satellite communication, the underwater core control module intelligently switches operating modes to ensure reliable transmission of positioning information.

[0182] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A self-contained satellite positioning method for underwater robots with dual-channel intelligent switching, characterized in that, The method comprises the following steps: 1) After the underwater robot is launched and the work is completed, the power module is closed, the position indicating device is turned on, and the control module is initialized and starts to work. At this time, the baseband module, the Iridium module and the Beidou module are in a power-off state, and step 2) is performed; 2) The position indicating device enters the positioning link, the control module sends a control signal to the relay control module, the Beidou module and the Iridium module are powered off, the baseband module is turned on, and the baseband module starts to acquire satellite positioning data of itself. After successful acquisition, the positioning effective flag is set to 1, the communication link is switched, and according to the current satellite communication mode, if it is the Beidou mode, step 3) is entered, and if it is the Iridium mode, step 4) is performed; 3) The control module sends a control signal to the relay control module, the baseband module and the Iridium module are powered off, the Beidou module is turned on, and satellite communication in the Beidou mode is started. After successful communication, whether the communication mode is switched is determined according to the satellite communication mode switching method, the positioning effective flag is set to 0, the positioning link is switched, and step 2) is returned to. During the Beidou mode, the Beidou communication failure condition is continuously determined. If the determination is passed, the current Beidou communication mode is abandoned, the Iridium mode is switched, the control module sends a control signal to the relay control module, the Beidou module is powered off, the Iridium module is turned on, and step 4) is performed; In step 3), the Beidou mode comprises the following steps: 3-1) The control module continuously receives short message communication data received by the Beidou module through the Beidou antenna. After receiving the data, the data is analyzed. If the sleep instruction sent by the surface mother ship is analyzed out, the work is stopped, and the sleep state is entered; 3-2) The control module encodes the positioning data in the short message sending instruction; 3-3) The control module sends an IC identification instruction to the Beidou module through the TTL serial interface, waits for the feedback of the Beidou module, and after the Beidou module feeds back the data consistent with the communication protocol of the Beidou module and the control module to the control module through the TTL serial interface, step 3-4) is entered. Otherwise, the control module continuously sends an IC identification instruction to the Beidou module every 2 seconds; 3-4) The control module sends a signal strength output instruction to the Beidou module, waits for the feedback of the Beidou module, and then the Beidou module sends signal strength data to the control module every 1 second. After the Beidou module feeds back the signal strength detection data, step 3-5) is entered. Otherwise, the control module continuously sends a signal strength output instruction to the Beidou module every 2 seconds; 3-5) The control module continuously receives the signal strength data sent by the Beidou module and performs signal strength determination. If the determination is passed, step 3-6) is entered. Otherwise, the signal strength data and the signal strength determination are continuously received; 3-6) The control module sends the short message sending instruction generated in step 3-2) to the Beidou module, waits for the feedback of the Beidou module, and if the feedback indicates that the sending is successful, step 3-7) is entered. If the feedback indicates that the sending fails, the short message sending instruction is re-sent. If there is no feedback, the short message sending instruction is repeatedly sent every 10 seconds; 3-7) After waiting for 30 seconds, the control module sets the internal positioning valid flag to zero, clears the timer, sets the jump flag to one, determines whether to switch the communication mode according to the satellite communication mode switching method, and ends the current communication link; In step 3), if the Beidou mode fails to successfully complete the communication, the Beidou communication failure condition determination is continuously performed, and if the determination is passed, the current Beidou communication mode is abandoned, and the Iridium mode is switched to, specifically as follows: (1) The time condition for determination is that the Beidou module is continuously operated for 10 minutes before switching; (2) The signal strength condition is determined as follows: let the target function be: , Wherein, Q is the signal strength data fed back by the Beidou module, and the calculation and accumulation are performed every time the signal strength data of the Beidou module is received, and when is greater than a set threshold M, that is, the determination condition is satisfied. wherein ; Wherein, To ensure the minimum signal strength of the set communication success rate, To The average value of t is the working time of the Beidou module, a and b are polynomial coefficients, c is the index of t, a, b and c are all greater than zero, and in the formula is the main action item, is the auxiliary action item, The values of a, b, c and M are set according to the actual situation. the intensity of the reflected signal, the stability of the reflected signal, then: the strength of the reflected signal, the difference between the signals, the better the signal, the stability of the reflected signal, the smaller the absolute value, the more stable the signal, and vice versa: a、when the signal is worse, the absolute value is larger, the cumulative speed is faster; b. when the signal stability is better, the absolute value is smaller, the cumulative speed is faster; c. When the signal is better, the absolute value is larger, the negative cumulative speed is faster; d. when the signal stability is better, the absolute value is smaller, the negative cumulative speed is faster; e、Due to The influence of signal strength will gradually increase with the increase of the continuous working time t of the Beidou module due to the presence of f. when When the set threshold M is exceeded, the communication mode is switched to the iridium mode. 4) The control module sends a control signal to the relay control module, the baseband module and the Beidou module are powered off, the Iridium module is turned on, and satellite communication in the Iridium mode is started. After the communication is successfully completed, it is determined whether to switch the communication mode according to the satellite communication mode switching method, the positioning valid flag is set to 0, and the positioning link is switched to, returning to step 2). If the Iridium mode fails to successfully complete the communication, the Iridium communication failure condition determination is continuously performed, and if the determination is passed, the current Iridium communication mode is abandoned, and the Beidou mode is switched to. The control module sends a control signal to the relay control module, the Iridium module is powered off, the Beidou module is turned on, and step 3) is entered. In steps 3) and 4), the satellite communication mode switching method comprises the following steps: The satellite communication link has an Iridium mode and a Beidou mode, and the switching method between the two modes is as follows: (1) The default communication mode is the Beidou mode; (2) After the Beidou mode completes a satellite communication, the number of successful Beidou communications is accumulated. When the accumulated number exceeds a set threshold, the accumulated number is cleared, and the Iridium mode is switched to. The threshold can be set according to requirements, and the Iridium mode is provided with a weight value H. After the Iridium mode completes H satellite communications, the Iridium mode is switched to the Beidou mode. The value of H is 1 by default. After the Beidou mode experiences a communication failure jump, the value of H is increased by 1. After the Beidou mode successfully completes a satellite communication, the value of H returns to the default value; (3) The Beidou mode is provided with a jump flag. The default value of the jump flag is 0 after power-on. After the communication is successfully completed, the jump flag is set to 1. After the Iridium mode communication is successfully completed, the Iridium mode jumps to the Beidou mode. When the Iridium mode communication fails to meet the switching condition determination, if the jump flag is 1 at this time, the Iridium mode jumps to the Beidou mode. If the jump flag is 0 at this time, the Iridium mode is initialized, and the Iridium mode communication link is re-executed. The jump flag is set to 1; 5) When the device is normally operated, it is cycled between steps 2), 3) and 4); 6) During steps 3) or 4), if the positioning device receives a sleep instruction sent by the mother ship on the water surface, the control module sends a sleep control signal to the relay control module, the baseband module, the Iridium module and the Beidou module are all powered off, the control module enters a low-power standby state, and the positioning device stops working.

2. The dual pass intelligent switched AUV self-contained satellite fix method of claim 1, wherein, In step 4), the Iridium mode comprises the following steps: 4-1) The control module sends an activation instruction to the Iridium module through a TTL serial interface, and waits for feedback from the Iridium module. After the Iridium module feeds back data consistent with the Iridium module communication protocol through the TTL serial interface, step 4-2) is entered. Otherwise, the control module sends an activation instruction to the Iridium module every 5 seconds; 4-2) the control module sends a buffer write instruction to the iridium module to write the positioning data cached by the positioning link to the iridium module, and waits for feedback from the iridium module, if the feedback indicates that the writing is successful, step 4-3) is entered, if the feedback indicates that the writing fails or there is no feedback, the iridium module is sent a buffer write instruction every 5 seconds; 4-3) the control module sends a signal strength detection instruction to the iridium module, waits for signal strength data feedback and makes a judgment, if the signal strength judgment passes, step 4-4) is entered, if there is no feedback or the signal strength judgment does not pass, the iridium module is sent a signal strength detection instruction every 10 seconds; 4-4) the control module sends a satellite short message sending instruction and a receiving instruction to the iridium module, waits for feedback from the iridium module, if the feedback indicates that the receiving is successful, step 4-5) is entered, if the feedback indicates that the receiving fails or there is no receiving data, the sending state feedback is continuously judged, if the feedback indicates that the sending is successful, step 4-6) is entered, if the feedback indicates that the sending fails, step 4-3) is returned to; 4-5) the control module sends a receiving buffer reading instruction to the iridium module, waits for the iridium module to feedback the receiving buffer data and analyzes it, if the sleep signal sent by the surface mother ship is parsed, the work is stopped and a sleep state is entered; 4-6) the control module sets the internal positioning valid flag bit to zero, clears the timer, judges whether to switch the communication mode according to the satellite communication mode switching method, and the iridium mode communication link ends this time.

3. The dual passageway intelligently switched autonomous underwater vehicle satellite position indicating method of claim 1, wherein, In step 4), during the iridium mode fails to successfully complete the communication, the iridium communication failure condition judgment is continuously performed, if the judgment passes, the current iridium communication mode is given up and the Beidou mode is switched to, which is specifically: (1) the judgment time condition is that the iridium module is continuously worked for 10 minutes and then switched; (2) the judgment signal strength condition is that: a, the cumulative number n is set to 0 by default, and the value of n is increased by 1 each time the signal strength judgment does not pass; b, when n is equal to the judgment threshold N, it is considered that the judgment passes, n is cleared, and the Beidou jump flag bit is continuously judged; c, if the Beidou jump flag bit is 1, the Beidou jump flag bit is cleared, the communication link ends this time, and the communication mode is switched to the Beidou mode; d, if the Beidou jump flag bit is 0, it is determined that the Beidou satellite signal is poor, the iridium module is powered off, the Beidou jump flag bit is set to 1, the iridium module is restarted after waiting for d minutes, and the iridium communication link is re-executed.

4. The position indicating device of the self-contained position indicating method for underwater robots with dual pass intelligent switching of the satellite of claim 1, characterized in that, It comprises: an integrated communication system, a Beidou system, a relay control module, a control module and a power module; the integrated communication system comprises a baseband module, an integrated antenna and an iridium module; the input end of the baseband module is connected with the integrated antenna, the output end is provided with a TTL serial interface, is connected with the control module, is used for acquiring the satellite positioning data of the underwater end itself, and sends the acquired positioning data to the control module; the input end of the iridium module is connected with the integrated antenna, the output end is provided with a TTL serial interface, is connected with the control module, is used for short message communication with the satellite through the integrated antenna, and realizes the control and data interaction function of the iridium module; The integrated antenna is an integrated antenna of iridium short message and GPS / BDS, which comprises a GPS / BDS interface and an iridium interface connected with a baseband module and an iridium module respectively; The Beidou system comprises a Beidou antenna and a Beidou module; the Beidou antenna is provided with a sending port and a receiving port, and is connected with the Beidou module to realize Beidou short message communication with satellites; the Beidou module is provided with a TTL serial interface connected with the control module to realize control and data interaction of the Beidou module; The relay control module is connected with the power module, the control module, the baseband module, the iridium module and the Beidou module to receive output voltage of the power module and provide power supply for each module, and receive control signals output by the control module to realize time-sharing work of the baseband module, the iridium module and the Beidou module; The control module is used for receiving and processing positioning data sent by the baseband module, and performing data interaction with the iridium module or the Beidou module, and outputting control signals to the relay control module to supply power for the baseband module, the iridium module and the Beidou module through the power module; The control module also outputs control signals to the relay control module to realize time-sharing switching work of the baseband module, the iridium module and the Beidou module.

5. The position indicating device of claim 4 wherein, The iridium module performs data interaction, including satellite signal strength detection, sending satellite communication request, receiving and analyzing received satellite communication data; The Beidou module performs data interaction, including satellite signal strength detection, sending satellite communication request, receiving and analyzing received satellite communication data.

6. The position indicating device of claim 4 wherein, The power module comprises a lithium battery cabin, a pressure switch and a voltage stabilizing module; The lithium battery cabin is internally provided with a series lithium battery pack, the positive pole of the battery pack is directly connected with the voltage stabilizing module, and the negative pole is connected with the voltage stabilizing module through the pressure switch to provide power supply for the whole underwater end; The pressure switch is closed under normal pressure and is disconnected when a certain pressure is reached, so as to achieve the purpose of power cut-off of the underwater end when the underwater robot dives; The voltage stabilizing module is used for converting voltage of the lithium battery pack into voltage used by each module of the underwater end.

7. The position indicating device of claim 4 wherein, The relay control module has an input interface, a control interface and three power supply interfaces to realize time-sharing work of the baseband module, the iridium module and the Beidou module; The input interface is connected with the power module to receive power supply provided by the power module; The control interface is used for receiving control signals output by the control module; The three power supply interfaces are respectively used for supplying power for the baseband module, the iridium module and the Beidou module.

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