A remote user-controlled buoy anti-transfer acoustic system

Abstract

The present invention belongs to the technical field of marine engineering equipment, and specifically relates to a submerged buoy anti-retransmission acoustic system controlled by a remote user end. It includes a satellite module, a surface buoy module and a submerged buoy. The satellite module is used to receive an encrypted communication frame structure containing submerged buoy control instructions sent by a remote user end. The submerged buoy stores a password key before being deployed, which is used to decrypt the encrypted communication frame structure. After the submerged buoy releases the mounted counterweight, it floats to the surface through a buoyancy device for recovery. The present application utilizes a combination of a space-based satellite and a surface buoy platform to achieve remote user-end control and monitoring of an underwater submerged buoy system. The present invention designs an encrypted communication frame structure for the command signal, and improves the anti-retransmission capability of the command signal by setting an encryption step, thereby overcoming the risk of the existing submerged buoy releasing acoustic signal instructions being recorded and forwarded, and improving the operational safety of the submerged buoy system.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering equipment, and in particular relates to a submerged buoy anti-transfer acoustic system controlled by a remote user end. Background Art

[0002] As an important part of the entire ocean monitoring system, the ocean buoy system is an important means of offshore monitoring and ocean development, and has great scientific research value and economic value. The buoy system is deployed below the sea surface and is usually recovered by an acoustic releaser. It has the characteristics of long continuous working time and good concealment, and can collect various signals at different depths in the ocean. It has been widely used in marine scientific research.

[0003] The directive control of the submerged buoy system mainly includes the status query of the submerged buoy system and the recovery of the submerged buoy system. In view of the extremely high requirements of the submerged buoy system for reliability and safety, the current directive control of the submerged buoy is still insufficient. On the one hand, with regard to the reliability of the submerged buoy system, due to the absorption of seawater, the radio and light waves used on land are severely attenuated underwater. The recovery and status query of the existing submerged buoy system usually use a single sound wave command signal to wake up the acoustic releaser to complete the corresponding command. However, in harsh marine environments or under strong noise interference conditions, the signal-to-noise ratio of the command signal is relatively low, and there is a possibility that the submerged buoy system cannot be awakened. On the other hand, with regard to the safety of the submerged buoy system, there is a risk that the command signal will be recorded and forwarded during the transmission of the acoustic release command signal, resulting in a threat to the safety of the submerged buoy system. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings in the reliability and safety of the existing buoy system status query and recovery process, and to provide a buoy anti-transfer acoustic system controlled by a remote user end.

[0005] A remote user-controlled submerged buoy anti-transfer acoustic system comprises a satellite module, a surface buoy module and a submerged buoy; the surface buoy module comprises a surface buoy platform and a first underwater sensor node, and the first underwater sensor node is arranged in shallow waters; the submerged buoy comprises a buoyancy device, a second underwater sensor node, an acoustic releaser and a counterweight, the buoyancy provided by the buoyancy device is greater than the gravity of the submerged buoy excluding the counterweight, and when the submerged buoy is mounted with the counterweight, the overall gravity is greater than the buoyancy, so that the submerged buoy sinks to the seabed;

[0006] Before being deployed, the buoy stores a password key through its own second underwater sensor node; the satellite module is used to receive an encrypted communication frame structure containing buoy control instructions sent by a remote user terminal, and transmit it to the surface buoy platform, the surface buoy platform transmits data with the first underwater sensor node through a data transmission line, the first underwater sensor node and the second underwater sensor node are transmitted through acoustic signals, and the second underwater sensor node is used to control the acoustic releaser to release the mounted counterweight; after the buoy releases the mounted counterweight, it floats to the surface of the water for recovery through the buoyancy device.

[0007] Furthermore, the encrypted communication frame structure includes an LFM signal, a wake-up signal, a subkey confirmation signal and an acoustic control signal; the LFM signal is used for signal synchronization; when the buoy is deployed on the seabed, the second underwater sensor node remains in a dormant state to save power; the wake-up signal is used to wake up the second underwater sensor node in a dormant state; and the subkey confirmation signal is used to encrypt the acoustic control signal.

[0008] Furthermore, the method for encrypting the acoustic control signal is: multiple rounds of encryption are performed on the plain text instruction data, and the data is transmitted in binary digital form during the encryption process; for a certain latent marker, a cryptographic key containing n subkeys is stored. ;

[0009] Every four bits of plaintext data is a round of data group; during the encryption process, the second, third, and fourth bits in the data group are With a cryptographic key sequence A subkey in XOR is performed and the result is then added to the first digit of the data group. XOR; in this process, the new number obtained The position is the fourth digit of the next round of encryption, and the other three digits are postponed to the first three digits of the next round of encryption. The data group after one round of encryption is ;

[0010] After n rounds of encryption, the data group becomes , and reverse the order to obtain the final transmitting end encrypted data group .

[0011] Furthermore, if the first underwater sensor node can normally wake up the second underwater sensor node of the buoy, the second underwater sensor node selects the corresponding cryptographic key in reverse order to decrypt the encrypted plaintext data after being woken up;

[0012] In the subkey confirmation signal of the encrypted communication frame structure, the plaintext data is encrypted into the following data group: , using the reverse order of the subkeys The encrypted data group is decrypted in succession. After n rounds of decryption, the data group obtained is , after reverse transformation, we get the plaintext data before encryption , complete the decryption; after the decryption is successful, delete the password key sequence used this time.

[0013] Furthermore, the buoy anti-transfer acoustic system controlled by the remote user terminal also includes an AUV module; the first underwater sensor node and the second underwater sensor node are both equipped with an optical communication transceiver and an acoustic positioning system; the optical communication transceiver is used to transmit linear light control instructions with the AUV module; the acoustic positioning system is used to assist the AUV module in finding the position of the first underwater sensor node or the second underwater sensor node, so as to facilitate the alignment of the AUV module with the optical communication transceiver for optical communication transmission.

[0014] Further, if the first underwater sensor node fails to wake up the second underwater sensor node of the buoy through the encrypted communication frame structure, the AUV module is used to execute the AUV-assisted acoustic-optical hybrid buoy remote control method;

[0015] The AUV module approaches the first underwater sensor node through the acoustic positioning system carried by the first underwater sensor node; if the AUV module is successfully aligned with the optical communication transceiver carried by the first underwater sensor node for optical communication transmission, the first underwater sensor node transmits the wake-up and control instructions to the AUV module through the optical communication transceiver; if the AUV module fails to align with the optical communication transceiver carried by the first underwater sensor node, the first underwater sensor node transmits the wake-up and control instructions to the AUV module through acoustic signals;

[0016] After receiving the wake-up and control instructions transmitted by the first underwater sensor node, the AUV module moves to the second underwater sensor node of the buoy, and transmits the wake-up and control instructions through the optical communication transceiver carried by the second underwater sensor node, or through acoustic signal transmission.

[0017] Further, the awakened or dormant part of the second underwater sensor node is a second acoustic communication sensor.

[0018] Furthermore, the first underwater sensor node and the second underwater sensor node are both equipped with an environmental data collector for collecting ocean acoustic data information near the surface buoy platform and the submerged buoy at a fixed point to monitor the marine environment;

[0019] After the second underwater sensor node of the buoy completes the decryption of the encrypted plaintext data, if the decryption does not receive a release instruction, the buoy transmits the information collected by the environmental data collector it carries to the first underwater sensor node through the second underwater sensor node in the form of an acoustic signal; during the transmission process, if the acoustic signal cannot be directly transmitted back to the first underwater sensor node, the second underwater sensor node transmits the information to the AUV module, which is then transmitted to the first underwater sensor node; the first underwater sensor node transmits the information to the surface buoy platform through the data transmission line, and then transmits it to the remote user end through the satellite module to query the status of the buoy system.

[0020] Furthermore, the surface buoy platform is equipped with a Beidou communication module, a wired transceiver and a solar charging panel; the Beidou communication module is used to receive or transmit command signals to the satellite module; the wired transceiver is connected to the first underwater sensor node via a data transmission line; the solar charging panel is used to ensure the long-term operation of the surface buoy platform.

[0021] Furthermore, the AUV module is equipped with an optical communication transceiver, an acoustic positioning system, a terrain detection sonar and a third communication sensor; the optical communication transceiver is used to transmit information to the buoy through optical communication instructions when the acoustic communication instructions fail; the acoustic positioning system is used to assist the AUV module to approach the optical communication transceiver carried by the first underwater sensor node or the second underwater sensor node; the terrain detection sonar is used to ensure that the AUV module can detect terrain information, prevent bottoming or collision, and collect underwater geological data and send it to a remote user terminal; the third communication sensor is used to transmit acoustic signal instructions bidirectionally with the first underwater sensor node and the second underwater sensor node.

[0022] The beneficial effects of the present invention are:

[0023] This application realizes remote user-side control and monitoring of underwater buoy systems by combining space-based satellites with surface buoy platforms. The present invention designs an encrypted communication frame structure for command signals, and improves the anti-forwarding capability of command signals by setting encryption steps, thereby overcoming the risk of existing buoy release sound signal commands being recorded and forwarded, and improving the operational safety of the buoy system. The present invention also designs an AUV-assisted remote user-side acoustic and optical hybrid command transmission system, which uses the AUV's relay transmission and selects both acoustic and optical transmission methods to overcome the failure of acoustic signal transmission in harsh sea conditions or strong background noise environments. At the same time, even if there is a problem with the underwater acoustic communication module of the buoy system, the release of the buoy system can be achieved through optical communication, which improves the reliability of the buoy system compared to existing solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1It is an overall schematic diagram of a buoy anti-transfer acoustic system controlled by a remote user end in the present invention.

[0025] Figure 2 It is a schematic diagram of the encrypted communication frame structure in the present invention.

[0026] Figure 3 It is a schematic diagram of the method for encrypting the acoustic control signal in the present invention.

[0027] Figure 4 It is a control flow chart of the remote user end querying the status of the buoy system and releasing and recovering it in the present invention.

[0028] Figure 5 It is a schematic diagram of the surface buoy platform of the present invention.

[0029] Figure 6 It is a schematic diagram of the first underwater sensor node in the present invention.

[0030] Figure 7 It is a schematic diagram of the second underwater sensor node in the present invention.

[0031] Figure 8 Schematic diagram of the AUV module of the present invention. DETAILED DESCRIPTION

[0032] The present invention is further described below in conjunction with the accompanying drawings.

[0033] A remote user-controlled submerged buoy anti-transfer acoustic system comprises a satellite module 16, a surface buoy module and a submerged buoy; the surface buoy module comprises a surface buoy platform 11 and a first underwater sensor node 13, and the first underwater sensor node 13 is arranged in shallow waters; the submerged buoy comprises a buoyancy device 111, a second underwater sensor node 15, an acoustic releaser 18 and a counterweight 19, the buoyancy provided by the buoyancy device 111 is greater than the gravity of the submerged buoy except the counterweight 19, and when the submerged buoy is mounted with the counterweight 19, the overall gravity is greater than the buoyancy, so that the submerged buoy sinks to the seabed;

[0034] Before the buoy is deployed, it stores the password key through its own second underwater sensor node 15; the satellite module 16 is used to receive the encrypted communication frame structure containing the buoy control instructions sent by the remote user terminal, and transmit it to the surface buoy platform 11, the surface buoy platform 11 transmits data with the first underwater sensor node 13 through the data transmission line 14, the first underwater sensor node 13 and the second underwater sensor node 15 transmit through the acoustic signal, and the second underwater sensor node 15 is used to control the acoustic releaser 18 to release the mounted counterweight 19; after the buoy releases the mounted counterweight 19, it floats to the water surface through the buoyancy device 111 for recovery.

[0035] The encrypted communication frame structure includes an LFM signal, a wake-up signal, a subkey confirmation signal and an acoustic control signal; the LFM signal is used for signal synchronization; when the buoy is deployed on the seabed, the second underwater sensor node 15 remains in a dormant state to save power; the wake-up signal is used to wake up the second underwater sensor node 15 in a dormant state; the subkey confirmation signal is used to encrypt the acoustic control signal.

[0036] The method for encrypting the acoustic control signal is: multiple rounds of encryption are performed on the plain text instruction data, and the data is transmitted in binary digital form during the encryption process; for a certain latent marker, it stores a cryptographic key containing n subkeys. ;

[0037] Every four bits of plaintext data is a round of data group; during the encryption process, the second, third, and fourth bits in the data group are With a cryptographic key sequence A subkey in XOR is performed and the result is then added to the first digit of the data group. XOR; in this process, the new number obtained The position is the fourth digit of the next round of encryption, and the other three digits are postponed to the first three digits of the next round of encryption. The data group after one round of encryption is ;

[0038] After n rounds of encryption, the data group becomes , and reverse the order to obtain the final transmitting end encrypted data group .

[0039] If the first underwater sensor node 13 can normally wake up the second underwater sensor node 15 of the buoy, the second underwater sensor node 15 will select the corresponding cryptographic key in reverse order to decrypt the encrypted plaintext data after being woken up;

[0040] In the subkey confirmation signal of the encrypted communication frame structure, the plaintext data is encrypted into the following data group: , using the reverse order of the subkeys The encrypted data group is decrypted in succession. After n rounds of decryption, the data group obtained is , after reverse transformation, we get the plaintext data before encryption , complete the decryption; after the decryption is successful, delete the password key sequence used this time.

[0041] The buoy anti-transfer acoustic system controlled by the remote user end also includes an AUV module 17; the first underwater sensor node 13 and the second underwater sensor node 15 are both equipped with an optical communication transceiver and an acoustic positioning system; the optical communication transceiver is used to transmit linear light control instructions with the AUV module 17; the acoustic positioning system is used to assist the AUV module 17 in finding the position of the first underwater sensor node 13 or the second underwater sensor node 15, so as to facilitate the alignment of the AUV module 17 with the optical communication transceiver for optical communication transmission.

[0042] If the first underwater sensor node 13 fails to wake up the second underwater sensor node 15 of the buoy through the encrypted communication frame structure, the AUV module 17 is used to execute the AUV-assisted acoustic-optical hybrid buoy remote control method;

[0043] The AUV module 17 approaches the first underwater sensor node 13 through the acoustic positioning system carried by the first underwater sensor node 13; if the AUV module 17 is successfully aligned with the optical communication transceiver carried by the first underwater sensor node 13 for optical communication transmission, the first underwater sensor node 13 transmits the wake-up and control instructions to the AUV module 17 through the optical communication transceiver; if the AUV module 17 fails to align with the optical communication transceiver carried by the first underwater sensor node 13, the first underwater sensor node 13 transmits the wake-up and control instructions to the AUV module 17 through acoustic signals;

[0044] After receiving the wake-up and control instructions transmitted by the first underwater sensor node 13, the AUV module 17 moves toward the second underwater sensor node 15 of the buoy, and transmits the wake-up and control instructions through the optical communication transceiver carried by the second underwater sensor node 15, or through acoustic signal transmission.

[0045] The first underwater sensor node 13 and the second underwater sensor node 15 are both equipped with an environmental data collector 25, which is used to collect ocean acoustic data information near the surface buoy platform 11 and the submerged buoy at a fixed point to monitor the marine environment;

[0046] After the second underwater sensor node 15 of the buoy completes the decryption of the encrypted plaintext data, if the decryption does not receive a release instruction, the buoy transmits the information collected by the environmental data collector 25 carried by it to the first underwater sensor node 13 through the second underwater sensor node 15 in the form of an acoustic signal; during the transmission process, if the acoustic signal cannot be directly transmitted back to the first underwater sensor node 13, the second underwater sensor node 15 transmits the information to the AUV module 17, and the AUV module 17 transmits it to the first underwater sensor node 13; the first underwater sensor node 13 transmits the information to the surface buoy platform 11 through the data transmission line 14, and then transmits it to the remote user end through the satellite module 16, so as to query the status of the buoy system.

[0047] Embodiment 1:

[0048] The present invention proposes a remote user-controlled buoy anti-transfer acoustic system, such as Figure 1 As shown, the system includes a surface part 12, an underwater buoy part, a space-based satellite, and an AUV module 17, which are used to enable a remote user end to query and recover the status of the buoy system.

[0049] The space-based satellite is used to complete the transmission of radio commands from the remote user end to the surface buoy platform; the surface part 12, such as Figure 5 As shown, it includes a surface buoy platform 11, a data transmission line 14, and a first underwater sensor node 13, which are used to realize cross-media information interaction between the surface and underwater. The surface buoy platform 11 includes a Beidou communication module 22, a wired transceiver 23, and a solar charging panel 30; the Beidou communication module 22 is used to receive command signals transmitted by a remote user terminal using a space-based satellite, the wired transceiver 23 is connected to the first underwater sensor node through a data transmission line, and the solar charging panel 30 is used to ensure the long-term operation of the surface buoy platform.

[0050] The first underwater sensor node 13, such as Figure 6 As shown, it is used to transmit the control instructions received by the Beidou communication module of the buoyancy platform underwater and receive the acoustic signals fed back by the submerged buoy system; the top of the first underwater sensor node 13 is connected to the surface buoy platform 11 through a data transmission line. The first underwater sensor node 13 specifically includes a first acoustic communication sensor 26, an acoustic positioning system 28, an environmental data collector 25, an optical communication transceiver 24, and a wired transceiver 23; the first acoustic communication sensor 26 is used to transmit acoustic control instructions to the submerged buoy system or AUV. The acoustic positioning system is used to assist the AUV in finding the position of the first underwater sensor node, so that the AUV can align with the optical communication transceiver for optical communication transmission; the optical communication transceiver is used to transmit linear light control instructions with the AUV; the environmental data collector is used to collect ocean acoustic data information near the buoyancy platform at a fixed point, so as to facilitate monitoring of the marine environment;

[0051] like Figure 1 As shown, the underwater buoy part includes a buoyancy ball, a second underwater sensor node 15, a deep-sea data line, an acoustic releaser 18, and a counterweight anchor block; the buoyancy ball is located at the top of the buoy system to ensure that the buoyancy of the buoy system (except the counterweight anchor block) is greater than the gravity of the equipment, thereby ensuring that the buoy system floats.

[0052] The second underwater sensor node 15, such as Figure 7As shown, it includes a second acoustic communication sensor 27, an acoustic positioning system 28, an environmental data collector 25, and an optical communication transceiver 24. The upper part of the second underwater sensor node 15 is connected to the buoyancy ball through a chain, and the lower part is connected to the acoustic releaser 18 through a deep-sea data line; the second acoustic communication sensor 27 is used to receive the acoustic control command of the first underwater sensor node 13, and can also feedback the status information of the submerged buoy system to the first underwater sensor node 13; the function of the acoustic positioning system is the same as that of the acoustic positioning system of the first underwater sensor node, and is used to assist the AUV in information transmission with the optical communication transceiver; the function of the optical communication transceiver is the same as that of the optical communication transceiver of the first underwater sensor node, and is used to recover the submerged buoy system through the optical communication command transmission assisted by the AUV when the acoustic communication command fails; the upper end of the acoustic releaser 18 is connected to the wired transceiver of the second underwater sensor node 15 through a deep-sea data line, and the lower end is connected to the counterweight anchor block through a release chain 110.

[0053] When the second underwater sensor node 15 receives the release command, the acoustic releaser 18 is immediately unhooked from the counterweight anchor block, and the submerged buoy system floats to the surface under the buoyancy of the buoyant ball to realize the recovery of the submerged buoy system; the counterweight anchor block is used to make the gravity of the submerged buoy greater than the buoyancy of the buoyant ball, so that the entire submerged buoy system sinks stably to the seabed. When the submerged buoy system is recovered, the counterweight anchor block remains on the seabed;

[0054] Buoy system auxiliary relay AUV module 17, such as Figure 8 As shown, it specifically includes a third acoustic communication sensor, an acoustic positioning system 28, a terrain detection sonar 31, an optical communication transceiver 24, and an underwater thruster 29; the third acoustic communication sensor is used for bidirectional transmission of acoustic commands between the first underwater sensor node 13, the second underwater sensor node 15 and the AUV; the acoustic positioning system is used to assist the AUV to approach the optical communication transceiver of the first underwater sensor and the second underwater sensor; the terrain detection sonar is used to ensure that the AUV can detect terrain information and prevent bottoming or collision, and at the same time can collect underwater geological data and send it to a remote user terminal; the optical communication transceiver is used to recover the buoy system through optical communication command transmission when the acoustic communication command fails; the underwater thruster 29 is used for the AUV's underwater actions.

[0055] In order to realize the acoustic encryption recovery and status query of the buoy system, the present invention designs a communication frame structure containing encryption steps, such as Figure 2 As shown, it includes LFM signal (synchronization signal), wake-up signal, subkey confirmation signal, and acoustic control signal;

[0056] The LFM signal is used to enable the second acoustic communication sensor 27 of the second underwater sensor node 15 to find the signal transmission position and complete the signal synchronization; since the buoy system needs to be deployed underwater for a long time, the second acoustic communication sensor 27 needs to remain in a dormant state to save power; the wake-up signal is used to wake up the second acoustic communication sensor 27 in the dormant state; the subkey confirmation signal is used to encrypt the acoustic control signal to prevent the release signal from being recorded and forwarded; the acoustic control signal is used to perform operations on the second underwater sensor node 15 to perform the task of releasing the buoy or returning the status; in the design of the communication frame structure, the underwater buoy anti-forwarding acoustic remote control release encryption algorithm is as follows Figure 3 As shown;

[0057] Before the buoy is deployed, the user sets multiple sets of cryptographic key sequences. Taking one set of cryptographic key sequences as an example, the number of subkeys in each set of cryptographic key sequences is n. ;

[0058] When designing the algorithm, all the cryptographic key sequences are imported into the latent marker system, and the data is transmitted in binary digits during the encryption process;

[0059] Among them, every four digits of plaintext data is a round of data set;

[0060] During the data group encryption process, the second, third, and fourth bits in the data group are With a cryptographic key sequence A subkey in Perform XOR;

[0061] After the above XOR calculation, the result is then added to the first digit of the data group. Perform XOR;

[0062] In this process, the new numbers The first digit is the fourth digit of the next round of encryption, and the other three digits are the first three digits of the next round of encryption.

[0063] After a round of encryption, the digital bits become ;

[0064] After n rounds of XOR with the cipher key digits, the encrypted data group becomes ;

[0065] Finally, the encrypted array is reversed to obtain the final encrypted data group at the transmitting end. ;

[0066] After the second acoustic communication sensor 27 is awakened by the awakening signal, it starts to decrypt the encrypted plaintext data;

[0067] In the subkey confirmation signal of the signal frame structure, the data group after the plaintext data is encrypted is ,

[0068] Utilize the reverse order of the cryptographic key sequence used for encryption The encrypted data group is decrypted in succession. After n rounds of decryption, the resulting array is ;

[0069] After the reverse transformation, the plaintext data before encryption is obtained , decryption completed;

[0070] After completing the decryption of the plaintext data, the second acoustic communication sensor 27 of the second underwater sensor node 15 automatically deletes the cryptographic key sequence of this round of decryption; in the next round of communication frame structure decryption, it switches to the next set of unused cryptographic key sequences; the cryptographic key sequences used in each round of executing the release command are different, so as to achieve the purpose of anti-recording and forwarding;

[0071] The workflow of the present invention is as follows Figure 4 As shown, it includes an anti-forwarding encrypted acoustic link buoy remote control command method, an AUV-assisted acoustic-optical hybrid buoy remote control method, a remote user end to realize buoy status query and marine environment information monitoring, and a remote user end to realize buoy system recovery. The specific work flow is as follows:

[0072] First, the remote user terminal sends a submerged buoy encrypted communication frame structure to the space-based satellite, and the frame structure includes a submerged buoy control instruction; after receiving the instruction, the space-based satellite sends the encrypted instruction to the surface buoy platform 11 through the Beidou communication module 22; the surface buoy platform 11 transmits the instruction to the first underwater sensor node 13 through the data transmission line 14;

[0073] The first acoustic communication sensor 26 of the first underwater sensor node 13 directly sends an acoustic wake-up signal to the second acoustic communication sensor 27 of the second underwater sensor node 15 to perform anti-forwarding acoustic link buoy remote control command transmission;

[0074] If the first underwater sensor node 13 can normally wake up the second acoustic communication sensor 27 of the second underwater sensor node 15, the second acoustic communication sensor 27 selects the corresponding reverse sequence of the cryptographic key to decrypt the encrypted plaintext data after being woken up;

[0075] After successful decryption, the cryptographic key sequence used this time is deleted, and the control command is ready to be executed to realize the transmission of acoustic link command with anti-forwarding encryption;

[0076] If the first underwater sensor node 13 fails to wake up the second acoustic communication sensor 27, the AUV-assisted acoustic-optical hybrid submersible remote control method is executed. The AUV approaches the first underwater sensor node 13 through the acoustic positioning system, and the first underwater sensor node 13 can transmit the wake-up command to the AUV through the optical signal transceiver. After that, the AUV approaches the submersible system and transmits the signal; if the water quality is turbid or the optical communication transceiver is not aligned, the first underwater sensor node 13 transmits the wake-up command to the AUV through an acoustic signal. After approaching the second underwater sensor node 15 of the submersible system, the AUV can also choose to wake up the second underwater sensor node through an acoustic signal or an optical signal. After waking up, the submersible system decrypts the encrypted plaintext data.

[0077] If the buoy does not receive the release control command, the buoy executes the status and ocean data feedback command, and the buoy status information and environmental data are transmitted to the first underwater sensor node 13 through the second underwater sensor node 15; during the transmission process, if the second underwater sensor node 15 successfully returns the status information directly to the first underwater sensor node 13 through the acoustic signal, the first underwater sensor node 13 transmits the status information of the buoy to the surface buoy platform 11 through the data transmission line 14; if the acoustic signal cannot be directly transmitted back to the first underwater sensor node 13, the second sensor node transmits the status information to the relay AUV through an acoustic signal or an optical signal, and transmits it to the first underwater sensor node 13 using the AUV;

[0078] After receiving the data information, the surface buoy platform 11 transmits the data to the space-based satellite through the Beidou communication module 22; the space-based satellite transmits the data to the remote user end through radio to query the status of the submerged buoy system;

[0079] If the submerged buoy system demodulates the release command after decrypting the plaintext data, the second underwater sensor node 15 transmits the release command to the acoustic releaser 18 through the deep-sea data line, the acoustic releaser 18 is unhooked from the counterweight anchor block, and the submerged buoy system successfully floats up through the buoyancy ball, completing the recovery of the submerged buoy system by the remote user end.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A buoy anti-transfer acoustic system controlled by a remote user, characterized by: The invention comprises a satellite module (16), a surface buoy module and a submerged buoy; the surface buoy module comprises a surface buoy platform (11) and a first underwater sensor node (13), and the first underwater sensor node (13) is arranged in shallow waters; the submerged buoy comprises a buoyancy device (111), a second underwater sensor node (15), an acoustic releaser (18) and a counterweight (19); the buoyancy provided by the buoyancy device (111) is greater than the gravity of the submerged buoy excluding the counterweight (19); when the submerged buoy is equipped with the counterweight (19), the overall gravity is greater than the buoyancy, so that the submerged buoy sinks to the seabed; Before the buoy is deployed, the buoy stores a password key through its own second underwater sensor node (15); the satellite module (16) is used to receive an encrypted communication frame structure containing a buoy control instruction sent by a remote user terminal, and transmit it to the surface buoy platform (11); the surface buoy platform (11) transmits data with the first underwater sensor node (13) through a data transmission line (14); the first underwater sensor node (13) and the second underwater sensor node (15) are transmitted through acoustic signals; the second underwater sensor node (15) is used to control the acoustic releaser (18) to release the mounted counterweight (19); after the buoy releases the mounted counterweight (19), it floats to the water surface through the buoyancy device (111) for recovery; The encrypted communication frame structure comprises an LFM signal, a wake-up signal, a subkey confirmation signal and an acoustic control signal; the LFM signal is used for signal synchronization; when the buoy is deployed on the seabed, the second underwater sensor node (15) remains in a dormant state to save power; the wake-up signal is used to wake up the second underwater sensor node (15) in the dormant state; and the subkey confirmation signal is used to encrypt the acoustic control signal.

2. A remote user-controlled latent buoy anti-transfer acoustic system according to claim 1, characterized in that: The method for encrypting the acoustic control signal is as follows: performing multiple rounds of encryption on the plain text instruction data, during which the data is transmitted using binary digits; for a certain latent marker, a cryptographic key (Sc0, Sc1, Sc2, ..., Sc n-1 ); Every four bits of plaintext data (X i , X i+1 , X i+2 , X i+3 ) is a round of data group; during the encryption process, the second, third, and fourth bits (X i+1 , X i+2 , X i+3 ) and a set of cryptographic key sequences (Sc0, Sc1, Sc2, ....Sc n-1 ) is a subkey Sc i XOR is performed and the result is then added to the first digit X of the data group. i XOR; in this process, the new number X i+4 The position is the fourth digit of the next round of encryption, and the other three digits are postponed to the first three digits of the next round of encryption. The data group after one round of encryption is (X i+1 , X i+2 , X i+3 , X i+4 ); After n rounds of encryption, the data group becomes (X n , X n+1 , X n+2 , X n+3 ), and reverse the order to obtain the final transmitting end encrypted data group (Y0, Y1, Y2, Y3).

3. A remote user-controlled buoy anti-transfer acoustic system according to claim 2, characterized in that: If the first underwater sensor node (13) can normally wake up the second underwater sensor node (15) of the buoy, then after being woken up, the second underwater sensor node (15) selects the corresponding cryptographic key in reverse sequence to decrypt the encrypted plaintext data; In the subkey confirmation signal of the encrypted communication frame structure, the plaintext data is encrypted into a data group (Y0, Y1, Y2, Y3), and the subkey is reversed (Sc n-1 , Sc n-2 , Sc n-3 , ..., Sc0) to perform round-by-round XOR decryption on the encrypted data group. After n rounds of decryption, the data group obtained is (Y n , Y n+1 , Y n+2 , Y n+3 ), after reverse transformation, the plaintext data before encryption (X0, X1, X2, X3) is obtained to complete the decryption; after successful decryption, the cryptographic key sequence used this time is deleted.

4. The remote user-controlled buoy anti-transfer acoustic system according to claim 3, characterized in that: The buoy anti-transfer acoustic system controlled by a remote user terminal also includes an AUV module (17); the first underwater sensor node (13) and the second underwater sensor node (15) are both equipped with an optical communication transceiver and an acoustic positioning system; the optical communication transceiver is used to transmit linear light control instructions to the AUV module (17); and the acoustic positioning system is used to assist the AUV module (17) in finding the position of the first underwater sensor node (13) or the second underwater sensor node (15), so as to facilitate the alignment of the AUV module (17) and the optical communication transceiver for optical communication transmission.

5. The remote user-controlled buoy anti-transfer acoustic system according to claim 4, characterized in that: If the first underwater sensor node (13) fails to wake up the second underwater sensor node (15) of the buoy through the encrypted communication frame structure, the AUV module (17) is used to execute the AUV-assisted acoustic-optical hybrid buoy remote control method; The AUV module (17) approaches the first underwater sensor node (13) through the acoustic positioning system carried by the first underwater sensor node (13); if the AUV module (17) is successfully aligned with the optical communication transceiver carried by the first underwater sensor node (13) to perform optical communication transmission, the first underwater sensor node (13) transmits the wake-up and control instructions to the AUV module (17) through the optical communication transceiver; if the AUV module (17) fails to be aligned with the optical communication transceiver carried by the first underwater sensor node (13), the first underwater sensor node (13) transmits the wake-up and control instructions to the AUV module (17) through acoustic signals; After receiving the wake-up and control instructions transmitted by the first underwater sensor node (13), the AUV module (17) moves toward the second underwater sensor node (15) of the buoy, and transmits the wake-up and control instructions through the optical communication transceiver carried by the second underwater sensor node (15), or through acoustic signal transmission.

6. A remote user-controlled buoy anti-transfer acoustic system according to claim 5, characterized in that: The awakened or dormant part of the second underwater sensor node (15) is the second acoustic communication sensor (27).

7. A remote user-controlled buoy anti-transfer acoustic system according to claim 6, characterized in that: The first underwater sensor node (13) and the second underwater sensor node (15) are both equipped with an environmental data collector (25) for collecting ocean acoustic data information near the surface buoy platform (11) and the submerged buoy at a fixed point to monitor the ocean environment; After the second underwater sensor node (15) of the buoy completes the decryption of the encrypted plaintext data, if the decryption does not receive a release instruction, the buoy transmits the information collected by the environmental data collector (25) carried by it to the first underwater sensor node (13) via the second underwater sensor node (15) in the form of an acoustic signal; during the transmission process, if the acoustic signal cannot be directly transmitted back to the first underwater sensor node (13), the second underwater sensor node (15) transmits the information to the AUV module (17), which transmits the information to the first underwater sensor node (13); the first underwater sensor node (13) transmits the information to the surface buoy platform (11) via the data transmission line (14), and then transmits the information to the remote user end via the satellite module (16), thereby realizing the query of the status of the buoy system.

8. The remote user-controlled buoy anti-transfer acoustic system according to claim 7, characterized in that: The surface buoy platform (11) is equipped with a Beidou communication module (22), a wired transceiver (23) and a solar charging panel (30); the Beidou communication module (22) is used to receive or transmit a command signal to a satellite module (16); the wired transceiver (23) is connected to a first underwater sensor node (13) via a data transmission line (14); and the solar charging panel (30) is used to ensure the long-term operation of the surface buoy platform (11).

9. The remote user-controlled buoy anti-transfer acoustic system according to claim 8, characterized in that: The AUV module (17) is equipped with an optical communication transceiver, an acoustic positioning system, a terrain detection sonar (31) and a third communication sensor (32); the optical communication transceiver is used to transmit information to the buoy through the optical communication command when the acoustic communication command fails; the acoustic positioning system is used to assist the AUV module (17) to approach the optical communication transceiver carried by the first underwater sensor node (13) or the second underwater sensor node (15); the terrain detection sonar (31) is used to ensure that the AUV module (17) can detect terrain information, prevent bottoming or collision, and collect underwater geological data and send it to a remote user terminal; the third communication sensor (32) is used to bidirectionally transmit acoustic signal commands with the first underwater sensor node (13) and the second underwater sensor node (15).

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