An underwater acoustic wave data communication system

Abstract

The present application discloses an underwater acoustic wave data communication system, which relates to the field of communication technology. The system includes: a central processor, a transmitting end and a receiving end. The central processor divides the data to be transmitted into multiple information arrays in sequence, adds sequence codes, positive and negative reverse complementary processing, and adds start and end check codes to the data in each information array to obtain a transmitting array; the positive and negative reverse complementary processing is to process a positive number as a combination of the positive number and its complementary code; the central processor performs a first error detection on the receiving array according to a preset error accuracy, restores the receiving array that passes the first error detection to a complementary array using geometric ratios, performs a second error detection on the complementary array using positive and reverse complementation, and for the complementary array that passes the second error detection, takes the positive numbers in the complementary array to obtain a restored sequence array, and takes the sequence number from the restored sequence array for missing code detection. The present application improves the transmission rate of sound waves in turbid water while reducing bit errors and missing codes.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to an underwater acoustic wave data communication system. Background Art

[0002] The communication connection between the underwater robot and the surface control system is difficult due to the difficulty of seawater and water communication. For example, electromagnetic waves decay quickly in water, and ultra-long waves with strong penetrating ability can only penetrate the water surface for about 100 meters; light waves are affected by absorption and scattering in water and can only be transmitted over short distances. The longest-transmitting blue-green laser can only achieve a transmission of several hundred meters underwater. Sound waves can propagate relatively long distances in water, and underwater acoustic communication is the main means of underwater wireless information transmission.

[0003] In current underwater acoustic communications, sound waves are affected by turbid water during transmission in the channel between the transmitter and the receiver. The absorption of sound waves by turbid water increases exponentially with the frequency. For example, 1kHz can be transmitted tens or even hundreds of kilometers, 10kHz can be transmitted more than ten kilometers, 100kHz can be transmitted hundreds of meters, and 1MHz can only be transmitted a few meters. The transmission rate is inversely proportional to the frequency. Within the 10KHZ bandwidth, the communication rate can reach 10kb / s and 20kb / s. Within the 20KHz bandwidth and the effective distance of 1km, the expected data transmission rate is 40kb / s, and the time delay is about 0.667s / km. Therefore, the current transmission rate of sound waves in turbid water is low. Summary of the invention

[0004] The purpose of the present application is to provide an underwater acoustic wave data communication system, which can improve the transmission rate of acoustic waves in turbid water.

[0005] To achieve the above-mentioned purpose, the present application provides the following scheme: an underwater acoustic wave data communication system comprises: a central processor, a voltage module, a transmitting end and a receiving end, wherein the voltage module is connected to the central processor, and the central processor is used to divide the data to be transmitted into a plurality of information arrays in sequence with a set number of data as a group, and to add a sequence code, positive and negative reverse complementary processing and start and end check code processing to each data in the information array to obtain a transmitting array; the positive and negative reverse complementary processing is to process a positive number into a combination of the positive number and its complementary code, and the relationship between the positive number and its complementary code is that the positive number minus its complementary code is a set value; the transmitting array converts the data into a voltage signal through the voltage module, The voltage signal and the carrier are modulated and then transmitted through the transmitting end; after the receiving end receives the modulated signal transmitted by the transmitting end, it is demodulated and converted into an analog-to-digital conversion to obtain a receiving end array, and the central processor is also used to generate a receiving array according to the start and end check codes of the receiving end array, perform a first error detection on the receiving array according to a preset error accuracy, restore the receiving array that passes the first error detection to a complementary array using a geometric ratio, perform a second error detection on the complementary array using positive and reverse complementation, take the complementary array that passes the second error detection, take the positive numbers in the complementary array to obtain a restored sequence array, take the sequence number from the restored sequence array to perform missing code detection, and obtain the restored transmission data according to the restored sequence array that passes the missing code detection.

[0006] Optionally, the data in the information array is decimal data; the complementary code of a positive number is the positive number minus its complementary code, which is 10.

[0007] Optionally, in the aspect of adding a sequence code, performing positive and negative reverse complementary processing, and adding a start and end check code processing to the data in each information array to obtain a transmission array, the central processor is specifically used to:

[0008] Add a sequence code to the information data group to obtain a sequence array after the sequence code is added; wherein the information data group is represented as [X0X1X2…X n ], the sequence array is represented as [N1N2X0X1X2… X n ];X j represents the jth data in the information data group, j ranges from 0 to n, N1 and N2 constitute the sequence code, n+1 is the set number, and the sequence code ranges from 0 to 99;

[0009] Performing positive and negative reverse complementation on each bit of the sequence array after adding the sequence code, to obtain a complementary array after positive and negative reverse complementation processing;

[0010] The complementary array is represented as [N 1+ N 1- N 2+ N 2- X0+ X 0- X 1+ X 1- X 2+ X 2- …X n+ X n- ]; where N i+ =N i , N i- =N i -10,X j+ =X j , X j- =X j -10, i ranges from 1 to 2;

[0011] Add start and end check codes before and after the complementary array after positive and negative reverse complementary processing to obtain a transmission array, which is represented by [A 起+ A 起- N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- …X n+ X n- A 止+ A 止- ]; the start and end verification code includes A 起 , A 止 , A 起- and A 止- , A 起 =A 止 =10, A 起- =A 止- =-10.

[0012] Optionally, in terms of generating a receiving array according to the start and end check codes of the receiving end array, and performing a first error detection on the receiving array according to a preset error accuracy, the central processor is specifically configured to:

[0013] Calculate V 均 =(V 起+ -V 起- +V 止+ -V 止- ) / 2; where V 均 is the average peak-to-peak value of the start and end voltages of the voltage data in the receiving end array;

[0014] The receiving end array is represented as [V 起+ V 起- V 序1+ V序1- V 序2+ V 序2- V 0+ V 0- V 1+ V 1- … V n+ V n- V 止+ V 止- ], where V 起+ is the positive starting voltage, V 起- V 起+ The complementary code, V 止+ Until the voltage is positive, V 止- V 止+ The complementary code of V 序1+ is the positive value of the first digit in the sequence code, V 序1- V 序1+ The complementary code, V 序2+ is the positive value of the second digit in the sequence code, V 序2- V 序2+ The complementary code of V j+ is the positive value of the jth voltage data, V j- V j+ The complementary code of

[0015] Calculate C=U 均 / V 均 ; C is the attenuation constant of the receiving array, U 均 is the peak-to-peak value of the start and end voltage during transmission;

[0016] Multiply each data in the receiving end array by the attenuation constant C to generate the receiving array;

[0017] The receiving array is represented as [U 起+ U 起- U 序1+ U 序1- U 序2+ U 序2- U 0+ U 0- U 1+ U 1- … U n+ U n- U 止+ U 止- ], where U 起+ is the positive value of the voltage after decay, U 起- For U 起+ The complementary code, U 止+ is the positive value of the voltage after decay, U 止- For U 止+ The complementary code of 序1+ is the positive value of the first bit in the attenuated sequence code, U 序1-For U 序1+ The complementary code, U 序2+ is the positive value of the second bit in the attenuated sequence code, U 序2- For U 序2+ The complementary code of j+ is the positive value of the jth voltage data after attenuation, U j- For U j+ The complementary code of

[0018] If|2 U 起+ -U 均 | 误 、|2 U 起- +U 均 | 误 、|2 U 止+ -U 均 | 误 and |2 U 止+ +U 均 | 误 If both are true, the first bit error detection is passed, otherwise the received array is determined to be bit error; U 误 is the preset bit error accuracy.

[0019] Optionally, in terms of restoring a received array that has passed the first error detection into a complementary array by using geometric ratios, and performing a second error detection on the complementary array by using forward and reverse complementation, the central processor is specifically configured to:

[0020] If the first bit error detection is passed, calculate K=20 / U 均 ; Where K is the geometric ratio of data information;

[0021] Multiply the geometric ratio of the data information by the amount of each voltage data in the receiving array except the start and end voltages, and round it off to get a complementary array [N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- …X n+ X n- ], the start and end voltages include U 起+ , U 起- , U 止+ and U 止- ;

[0022] Determine whether the subtraction of each pair of complementary codes in the complementary array is 10,​​​​

[0023] If so, the second bit error detection is passed, otherwise the received array is determined to be bit erroneous.

[0024] Optionally, in the aspect of taking the complementary array that passes the second bit error detection, taking the positive numbers in the complementary array to obtain a restored sequence array, and taking the sequence number from the restored sequence array to perform missing code detection, the central processor is specifically used to:

[0025] If the second bit error detection is passed, the positive numbers in the complementary array are taken to obtain a restored sequence array, a sequence code is taken from the restored sequence array, and a missing code detection is performed by comparing the current sequence code with the sequence code of the previous restored sequence array;

[0026] If the difference between the current sequence code and the sequence code of the previous restoration sequence array is 1 or 99, the missing code detection is passed, otherwise it is determined that there is a missing code or a bit error between the restoration sequence array and the previous restoration sequence array.

[0027] Optionally, the underwater acoustic wave data communication system further comprises a modulation module; the input end of the voltage module is connected to the output end of the central processor, the output end of the voltage module is connected to the input end of the modulation module, and the output end of the modulation module is connected to the transmitting end;

[0028] The voltage module is used to convert the data in the transmitting array into a voltage signal and then send it to the modulation module; the modulation module is used to modulate the received voltage signal with a carrier to generate a modulation signal and then send it to the transmitting end.

[0029] Optionally, the voltage module includes a single-chip microcomputer, a first group of resistors, a second group of resistors and 22 photosensitive switches, the first group of resistors and the second group of resistors each include 11 resistors connected in series; one end of the first group of resistors is grounded, and the other end is connected to a +10V voltage, one end of the second group of resistors is grounded, and the other end is connected to a -10V voltage; each resistor in the first group of resistors and the second group of resistors is correspondingly connected to one of the photosensitive switches, and each of the photosensitive switches is connected to the single-chip microcomputer, and the single-chip microcomputer is used to generate a voltage signal by controlling each of the photosensitive switches according to the read-in transmitting array using a swhich case statement, and the voltage signal is a square wave voltage signal, and the high-level delay duration of each of the photosensitive switches is half the wavelength of the carrier.

[0030] Optionally, the underwater acoustic wave data communication system further comprises a receiving end, a demodulation module and an analog-to-digital module, wherein the receiving end is connected to the input end of the demodulation module, the output end of the demodulation module is connected to the input end of the analog-to-digital module, and the output end of the analog-to-digital module is connected to the input end of the central processor;

[0031] The receiving end is used to send the received modulated signal to the demodulation module, and the demodulation module is used to demodulate the modulated signal into a voltage signal; the analog-to-digital module is used to convert the demodulated voltage signal into a digital signal to obtain the receiving end array.

[0032] Optionally, the set number is 8 and the frequency of the carrier is 2KHz.

[0033] According to the specific embodiments provided by the present application, the present application discloses the following technical effects: the present application provides an underwater acoustic wave data communication system, which divides the data to be transmitted into multiple information arrays, performs carrier modulation after positive and negative complementary code processing on each information array, reduces the influence of turbid water on data amplitude attenuation interference, reduces bit errors, and thus improves the transmission rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is a schematic diagram of the structure of an underwater acoustic wave data communication system in one embodiment of the present application;

[0036] Figure 2 This is a schematic diagram of the interaction between two underwater acoustic wave data communication systems in one embodiment of the present application;

[0037] Figure 3 A schematic diagram of a data transmission process provided by an embodiment of the present application;

[0038] Figure 4 A schematic diagram of a data receiving and processing flow provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of a square wave signal, a carrier signal and a modulated signal provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of a code error and code omission judgment process provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of the voltage module structure provided in one embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0044] The present application provides an underwater acoustic wave data communication system, such as Figure 1 As shown, the underwater acoustic wave data communication system includes: a central processor, a voltage module, a transmitting end and a receiving end, the voltage module is connected to the central processor, the central processor is used to divide the data to be transmitted into a plurality of information arrays in sequence with a set number of data as a group, and add a sequence code (generating a sequence array), positive and negative reverse complementary processing (generating a complementary array) and add a start and end check code processing for each data in the information array to obtain a transmitting array; the positive and negative reverse complementary processing is to process a positive number as a combination of the positive number and its complementary code, and the relationship between the positive number and its complementary code is that the positive number minus its complementary code is a set value; the transmitting array is connected to the voltage module The block converts data into a voltage signal, and the voltage signal and the carrier are modulated and then transmitted through the transmitting end; after the receiving end receives the modulated signal transmitted by the transmitting end, it demodulates and performs analog-to-digital conversion to obtain a receiving end array, and the central processor is also used to generate a receiving array according to the start and end check codes of the receiving end array, perform a first error detection on the receiving array according to a preset error accuracy, restore the receiving array that passes the first error detection to a complementary array using a geometric ratio, perform a second error detection on the complementary array using positive and reverse complementation, take the complementary array that passes the second error detection, take the positive numbers in the complementary array to obtain a restored sequence array, and take the sequence number from the restored sequence array for missing code detection.

[0045] The present application adopts a transmission method of carrier and positive and negative complementary codes, which effectively improves the transmission rate, reduces bit errors and ensures the accuracy of transmission.

[0046] As an exemplary embodiment, the data in the information array is decimal data. The complementary code of a positive number is the positive number minus its complementary code, which is 10.

[0047] The underwater acoustic wave data communication system also includes a modulation module; the input end of the voltage module is connected to the output end of the central processor, the output end of the voltage module is connected to the input end of the modulation module, and the output end of the modulation module is connected to the transmitting end.

[0048] The voltage module is used to convert the data in the transmitting array into a voltage signal and then send it to the modulation module; the modulation module is used to modulate the received voltage signal with the carrier to generate a modulation signal and then send it to the transmitting end. The processing flow of the data transmitter is as follows: Figure 3 shown. Figure 3 Information encoding is the process in which the central processor processes the data to be transmitted into multiple transmission arrays.

[0049] The frequency of the carrier wave is 2KHz.

[0050] The underwater acoustic wave data communication system also includes a receiving end, a demodulation module and an analog-to-digital module. The receiving end is connected to the input end of the demodulation module, the output end of the demodulation module is connected to the input end of the analog-to-digital module, and the output end of the analog-to-digital module is connected to the input end of the central processor.

[0051] The receiving end is used to send the received modulated signal to the demodulation module, and the demodulation module is used to demodulate the modulated signal to obtain a voltage signal (demodulated signal); the analog-to-digital module is used to convert the demodulated voltage signal (analog quantity) into a digital signal (voltage data quantity) to obtain the receiving end array, and the receiving end array is sent to the central processor to generate a receiving array according to the start and end check codes of the receiving end array. The processing flow of the data receiving party is as follows: Figure 4 shown.

[0052] The present invention discloses an underwater acoustic wave data communication system to realize the process of transmitting and receiving information. The interaction process between two underwater acoustic wave data communication systems is as follows: Figure 2 As shown, Figure 2 The underwater acoustic wave data communication systems on the left and right are the two parties of information transmission respectively. The data transmitted by the transmitter on the left is received by the receiver on the right, and the data transmitted by the transmitter on the right is received by the receiver on the left.

[0053] The central processor converts the data to be transmitted into data information in a standard code format.

[0054] In the aspect of adding sequence code, positive and negative reverse complementary processing and adding start and end check code processing to the data in each information array to obtain the transmission array, the central processor is specifically used to: n ]Add the sequence code to get the sequence array after adding the sequence code [N1N2X0X1X2… X n ]; where X j It represents the jth data in the information data group, j ranges from 0 to n, N1 and N2 constitute the sequence code, n+1 is the set number, the sequence code ranges from 0 to 99, starts from 0 and ends at 99, and then starts from 0 to 99 and repeats the cycle.

[0055] Perform positive and negative reverse complementation on each bit of the sequence array after adding the sequence code to obtain a complementary array after positive and negative reverse complementation processing [N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- … X n ]; where N i+ =N i , N i- =N i -10,X j+ =X j , X j- =X j -10, i ranges from 1 to 2.

[0056] Add start and end check codes to the complementary array after positive and negative reverse complementary processing to obtain the transmission array. The transmission array is expressed as [A 起+ A 起- N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- … X n A 止+ A 止- ]; the start and end verification code includes A 起 , A 止 , A 起- and A 止- , A 起 =A 止 =10, A 起- =A 止- =-10.

[0057] Error and missing bit analysis process Figure 6 As shown, firstly, a preset bit error accuracy is determined.

[0058] In terms of generating a receiving array according to the start and end check codes of the receiving end array and performing a first error detection on the receiving array according to a preset error accuracy, the central processor is specifically used to: calculate V 均 =(V 起+ -V 起- +V 止+ -V止- ) / 2; where V 均 is the average peak-to-peak value of the start and end voltages of the voltage data in the receiving end array.

[0059] The receiving end array is represented as [V 起+ V 起- V 序1+ V 序1- V 序2+ V 序2- V 0+ V 0- V 1+ V 1- … V n+ V n- V 止+ V 止- ], where V 起+ is the positive starting voltage, V 起- V 起+ The complementary code, V 止+ Until the voltage is positive, V 止- V 止+ The complementary code of V 序1+ is the positive value of the first digit in the sequence code, V 序1- V 序1+ The complementary code, V 序2+ is the positive value of the second digit in the sequence code, V 序2- V 序2+ The complementary code of V j+ is the positive value of the jth voltage data, V j- V j+ The complementary code.

[0060] Calculate C=U 均 / V 均 ; C is the attenuation constant of the receiving array, U 均 It is the peak-to-peak value of the start and end voltage during transmission.

[0061] Each data in the receiving end array is multiplied by the attenuation constant C to generate the receiving array.

[0062] The receiving array is represented as [U 起+ U 起- U 序1+ U 序1- U 序2+ U 序2- U 0+ U 0- U 1+ U 1- … U n+ U n- U 止+ U 止- ], where U 起+is the positive value of the voltage after decay, U 起- For U 起+ The complementary code, U 止+ is the positive value of the voltage after decay, U 止- For U 止+ The complementary code of 序1+ is the positive value of the first bit in the sequence code after attenuation, U 序1- For U 序1+ The complementary code, U 序2+ is the positive value of the second bit in the attenuated sequence code, U 序2- For U 序2+ The complementary code of j+ is the positive value of the jth voltage data after attenuation, U j- For U j+ The complementary code.

[0063] If|2 U 起+ -U 均 | 误 、|2 U 起- +U 均 | 误 、|2 U 止+ -U 均 | 误 and

[0064] |2 U 止+ +U 均 | 误 If both are true, the first bit error detection is passed, otherwise the received array is determined to be bit error; U 误 is the preset bit error accuracy.

[0065] If the first bit error detection is passed, calculate K=20 / U 均 ; Where K is the geometric number of data information.

[0066] Multiply the geometric ratio of the data information by the amount of each voltage data in the receiving array except the start and end voltages, and round it off to get a complementary array [N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- …X j+ X j- ].

[0067] ​​​​In terms of restoring the received array that passes the first error detection to a complementary array using geometric ratios, and performing a second error detection on the complementary array using forward and reverse complementation, the central processor is specifically used to: if the first error detection is passed, calculate K=20 / U 均 ; Where K is the geometric number of data information. 均 It contains both positive and negative peak voltages. This example uses decimal data, dividing the positive or negative peak into 10 equal parts. 均 It needs to be divided into 20 equal parts, so the geometric ratio of data information K=20 / U 均 (The number of equal parts of voltage per V).

[0068] The data information geometric number is multiplied by the amount of each voltage data in the receiving array except the start and end voltages, and the result is rounded off to obtain a complementary array.

[0069] It is determined whether the subtraction of each pair of complementary codes in the complementary array is 10. If so, the second bit error detection is passed. Otherwise, it is determined that the received array is bit erroneous.

[0070] In terms of taking the sequence number in the complementary array that passes the second bit error detection for missing code detection, the central processor is specifically used to: if the second bit error detection is passed, take the positive number in the complementary array to obtain a restored sequence array, take the sequence code from the restored sequence array, and perform missing code detection by comparing the current sequence code with the sequence code of the previous sequence array.

[0071] If the difference between the current sequence code and the sequence code of the previous restoration sequence array is 1 or 99, the missing code detection is passed, otherwise it is determined that there is a missing code or a bit error between the restoration sequence array and the previous restoration sequence array.

[0072] In an exemplary embodiment, the set number is 8.

[0073] 1) The information data group is expressed as [X0X1X2X3X4X5X6X7]. For example, the information data group is [1 2 3 4 5 6 7 8].

[0074] 2) Add sequence codes N1 and N2 to each set of data. The new data set is updated to the sequence array (the data set after adding the sequence code) as [N1N2X0X1X2X3X4X5X6X7].

[0075] For example, if the sequence number of the information data group is 1 (represented by 01), then a new sequence array [0 1 1 2 34 5 6 7 8] is generated.

[0076] 3) Use a pair of positive and negative reverse complementary N i+ =N i , N i-=N i -10 and X j+ =X j , X j- =X j -10, a new set of complementary arrays (information data set after positive and negative reverse complementary processing) is formed. 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- X 3+ X 3- X 4+ X 4- X 5+ X 5- X 6+ X 6- X 7+ X 7- ].

[0077] For example, generate a new complementary array [0 -10 1 -9 1 -9 2 -8 3 -7 4 -6 5 -56 -4 7 -3 8 -2] from the sequence array.

[0078] 4) Add a set of start and end check codes before and after each set of data (information data set after positive and negative reverse complementary processing), a set of start and end check codes includes A 起+ , A 起- , A 止+ , A 止- , then a new set of transmission arrays (transmitting arrays) is formed as follows:

[0079] [A 起+ A 起- N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- X 3+ X 3- X 4+ X 4- X 5+ X 5- X 6+ X 6- X 7+ X 7- A 止+ A止- The start and stop code check code plays the role of starting and stopping the data transmission, and also plays the role of checking each data.

[0080] For example: by adding start and end check codes, the complementary array generates a new transmission array [10 -10 0 -10 1 -9 1 -92 -8 3 -7 4 -6 5 -5 6 -4 7 -3 8 -2 10 -10].

[0081] like Figure 7 As shown, the voltage module includes a single chip microcomputer, a first group of resistors (resistors R101 to R111), a second group of resistors (resistors R201 to R211) and 22 photosensitive switches (photosensitive switches S101 to S111, and photosensitive switches S201 to S211), the first group of resistors and the second group of resistors each include 11 resistors connected in series, Figure 7 (a) is the first group of resistors, the second group of resistors and the photosensitive switch circuit parts. Figure 7 (b) is the microcontroller part; one end of the first group of resistors is grounded, and the other end is connected to a +10V voltage. The first group of resistors from resistor R101 to resistor R111 form different voltage divisions of +0, +1, +2, ..., +10; one end of the second group of resistors is grounded (GND), and the other end is connected to a -10V voltage. The second group of resistors from resistor R201 to resistor R211 form different voltage divisions of -0, -1, -2, ..., -10; each resistor in the first group of resistors and the second group of resistors is correspondingly connected to one of the photosensitive switches (for example, resistor R101 is connected to photosensitive switch S101, resistor R102 is connected to photosensitive switch S102, ..., resistor R211 is connected to photosensitive switch S211), and each of the photosensitive switches is connected to the microcontroller, and the microcontroller is used to read the transmitting array ( Figure 7 In D), the swhich case statement is used to control each of the photosensitive switches to generate a voltage signal, wherein the voltage signal is a square wave voltage signal (out), and the high level delay time length of each of the photosensitive switches is half the wavelength of the carrier.

[0082] The microcontroller is specifically an 8051 microcontroller U1. The photosensitive switch S111 connected to the resistor R111 is connected to the microcontroller via the microcontroller pin 1 (1.0). The photosensitive switch S110 connected to the resistor R110 is connected to the microcontroller via the microcontroller pin 2 (1.1). The photosensitive switch S109 connected to the resistor R109 is connected to the microcontroller via the microcontroller pin 3 (1.2). The photosensitive switch S108 connected to the resistor R108 is connected to the microcontroller via the microcontroller pin 4 (1.3). The photosensitive switch S107 connected to the resistor R107 is connected to the microcontroller via the microcontroller pin 5 (1.4). The photosensitive switch S106 connected to the resistor R108 is connected to the microcontroller via the microcontroller pin 6 (1.7). The photosensitive switch S106 is connected to the single-chip microcomputer through the single-chip microcomputer pin 6 (1.5), the photosensitive switch S105 connected to the resistor R105 is connected to the single-chip microcomputer through the single-chip microcomputer pin 7 (1.6), the photosensitive switch S104 connected to the resistor R104 is connected to the single-chip microcomputer through the single-chip microcomputer pin 8 (1.7), the photosensitive switch S103 connected to the resistor R103 is connected to the single-chip microcomputer through the single-chip microcomputer pin 10 (3.0), the photosensitive switch S102 connected to the resistor R102 is connected to the single-chip microcomputer through the single-chip microcomputer pin 11 (3.1), and the photosensitive switch S101 connected to the resistor R101 is connected to the single-chip microcomputer through the single-chip microcomputer pin 12 (3.2). The photosensitive switch S211 connected to the resistor R211 is connected to the single-chip microcomputer through the single-chip microcomputer pin 39 (0.0), the photosensitive switch S210 connected to the resistor R210 is connected to the single-chip microcomputer through the single-chip microcomputer pin 38 (0.1), the photosensitive switch S209 connected to the resistor R209 is connected to the single-chip microcomputer through the single-chip microcomputer pin 37 (0.2), the photosensitive switch S208 connected to the resistor R208 is connected to the single-chip microcomputer through the single-chip microcomputer pin 36 (0.3), the photosensitive switch S207 connected to the resistor R207 is connected to the single-chip microcomputer through the single-chip microcomputer pin 35 (0.4), and the photosensitive switch S207 connected to the resistor R206 is connected to the single-chip microcomputer through the single-chip microcomputer pin 36 (0.3). 6 is connected to the single-chip microcomputer through the single-chip microcomputer pin 34 (0.5), the photosensitivity switch S205 connected to the resistor R205 is connected to the single-chip microcomputer through the single-chip microcomputer pin 33 (0.6), the photosensitivity switch S204 connected to the resistor R204 is connected to the single-chip microcomputer through the single-chip microcomputer pin 32 (0.7), the photosensitivity switch S203 connected to the resistor R203 is connected to the single-chip microcomputer through the single-chip microcomputer pin 21 (2.0), the photosensitivity switch S202 connected to the resistor R202 is connected to the single-chip microcomputer through the single-chip microcomputer pin 22 (2.1), and the photosensitivity switch S201 connected to the resistor R201 is connected to the single-chip microcomputer through the single-chip microcomputer pin 23 (2.2).

[0083] The resistance values ​​of the resistors R111 and R211 are both 10 kΩ. The resistance values ​​of the resistors R101 to R110 and the resistance values ​​of the resistors R201 to R210 are all 1 kΩ.

[0084] The control lines of the photosensitive switches corresponding to the first group of resistors are connected to the single-chip microcomputer via bus 1 , and the control lines of the photosensitive switches corresponding to the first group of resistors are connected to the single-chip microcomputer via bus 2 .

[0085] The first group of resistors and the second group of resistors include 11 1KΩ resistors. The first group of resistors and the second group of resistors are connected to -10V and +10V voltages respectively for series voltage division. The 22 pins of the 51 single-chip microcomputer are used to control the 22 photosensitive switches to output different voltages according to the read data using the swhichcase statement. The switch time control delay is half the wavelength of the carrier signal to generate a square wave voltage signal.

[0086] For example: The first step is to generate a carrier signal: The carrier signal uses a frequency of f = 2KHz, then the half wavelength is the voltage signal obtained after processing. Figure 5 The modulated square wave signal waveform UΩ is shown in (a).

[0087] The waveform of the carrier signal is as follows Figure 5 The carrier signal waveform Uc is shown in (b).

[0088] Modulate the modulation signal UΩ and the carrier signal Uc into a modulated signal, and get Figure 5 The modulated signal AM is shown in (c).

[0089] The processing of the voltage data volume (receiving end array) of the voltage signal received by the central processor is as follows:

[0090] The received voltage data array is:

[0091] [V 起+ V 起- V 序1+ V 序1- V 序2+ V 序2- V 0+ V 0- V 1+ V 1- V 2+ V 2- V 3+ V 3- V 4+ V 4- V 5+ V 5- V 6+ V 6- V 7+ V 7- V 止+ V 止- ].

[0092] Calculate V 均 =(V 起+ -V起- +V 止+ -V 止- ) / 2; C=U 均 / V 均 .

[0093] Separation U 起+ =C V 起+ , U 起- =C V 起- , U 序1+ =C V 序1+ , U 序1- =C V 序1- ,

[0094] U 序2+ =C V 序2+ , U 序2- =C V 序2- , U 0+ =C V 0+ , U 0- =C V 0- , U 1+ =C V 1+ , U 1- =C V 1- , ..., U 7+ =C V 7+ , U 7- =C V 7- , U 止+ =C V 止+ , U 止- =C V 止- Calculate each number, generate a possible number of accruals. Connection number group display: [U 起+ U 起- U 序1+ U 序1- U 序2+ U 序2- U 0+ U 0- U 1+ U 1- U 2+ U 2- U 3+ U 3- U 4+ U 4- U5+ U 5- U 6+ U 6- U 7+ U 7- U 止+ U 止- ].

[0095] First error detection: If |2 U 起+ -U 均 | 误 、|2 U 起- +U 均 | 误 、|2 U 止+ -U 均 | 误 and |2 U 止+ +U 均 | 误 If they are all in compliance, it is considered that the attenuation interference conditions of the 12-bit data code in the receiving array are the same within the error range during the transmission process and can be analyzed and compared. If they are not in compliance, it is considered that the attenuation interference conditions of the 12-bit data code in the transmission process have large fluctuations and there are special unexpected attenuation interference. The receiving array is considered to be bit error.

[0096] According to N 1+ =K U 序1+ 、N 1- =K U 序1-、 N 2+ =K U 序2+ 、N 2- =K U 序2-、 X 0+ =K U 0+ , X 0+ =K U 0+ , ..., X 7+ =K U 7+ , X 7- =K U 7- Calculate each value. And round each value to the nearest integer, and the complementary array is [N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ ​​​​X 1- X 2+ X 2- X 3+ X 3- X 4+ X 4- X 5+ X 5- X 6+ X 6- X 7+ X 7- ].

[0097] Second error detection: If both meet the complementary number subtraction equal to 10, such as: N 1+ -N 1- =10, N 2+ -N 2- =10, ..., X 7+ -X 7- =10. This group of data is considered to have no errors. If there are any discrepancies, this group of values ​​is considered to have errors.

[0098] Take the positive numbers in the complementary array to get the restored sequence array [N 1+ N 2+ X 0+ X 1+- X 2+ X 3+ X 4+ X 5+ X 6+ X 7+ ].

[0099] Take sequence number N 1+ N 2+ Compare the sequence number with the previous set of data to check whether there are any missing or incorrect codes.

[0100] If a bit error or missing code is detected, the missing code or the missing sequence number N1, N2 information corresponding to the error code is sent back to request the bit error or missing code information to be resent.

[0101] The theoretical transmission distance of a 2KHz carrier wave is at the kilometer level. It takes 6ms to transmit 12 wavelengths. 12 wavelengths transmit 12-bit signals (including 2-bit check codes, 2-bit sequence numbers, and 8-bit information codes). The theoretical transmission rate is 13Kb / s. If the transmission distance is at the hundred-meter level and a carrier frequency of 200KHz is used, the theoretical transmission rate can reach 1.3Mb / s.

[0102] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An underwater acoustic wave data communication system, characterized in that: The underwater acoustic wave data communication system comprises: a central processor, a voltage module, a transmitting end and a receiving end, wherein the voltage module is connected to the central processor, and the central processor is used to divide the data to be transmitted into a plurality of information arrays in sequence with a set number of data as a group, and to add a sequence code, positive and negative reverse complementary processing and start and end check code processing to each data in the information array to obtain a transmitting array; the positive and negative reverse complementary processing is to process a positive number as a combination of the positive number and its complementary code, and the relationship between the positive number and its complementary code is that the positive number minus its complementary code is a set value; the transmitting array converts the data into a voltage signal through the voltage module, and the voltage signal and the carrier are processed The receiving end is modulated and then transmitted through the transmitting end; after receiving the modulated signal transmitted by the transmitting end, the receiving end performs demodulation and analog-to-digital conversion to obtain a receiving end array, the central processor is also used to generate a receiving array according to the start and end check codes of the receiving end array, perform a first error detection on the receiving array according to a preset error accuracy, restore the receiving array that passes the first error detection to a complementary array using a geometric ratio, perform a second error detection on the complementary array using positive and reverse complementation, for the complementary array that passes the second error detection, take a positive number in the complementary array to obtain a restored sequence array, take a sequence number from the restored sequence array to perform missing code detection, and obtain restored transmission data according to the restored sequence array that passes the missing code detection.

2. The underwater acoustic wave data communication system according to claim 1, characterized in that: The data in the information array is decimal data; the complementary code of a positive number is the positive number minus its complementary code, which is 10.

3. The underwater acoustic wave data communication system according to claim 2, characterized in that: In terms of adding sequence codes, positive and negative reverse complementary processing, and adding start and end check code processing to the data in each information array to obtain a transmission array, the central processor is specifically used to: Add a sequence code to the information data group to obtain a sequence array after adding the sequence code; wherein the information data group is represented as [X0 X1 X2 … X n ], the sequence array is represented as [N1 N2 X0 X1 X2 … X n ];X j represents the jth data in the information data group, j ranges from 0 to n, N1 and N2 constitute the sequence code, n+1 is the set number, and the sequence code ranges from 0 to 99; Performing positive and negative reverse complementation on each bit of the sequence array after adding the sequence code, to obtain a complementary array after positive and negative reverse complementation processing; The complementary array is represented as [N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- …X n+ X n- ]; where N i+ =N i , N i- =N i -10,X j+ =X j , X j- =X j -10, i value range is 1 and 2; Add start and end check codes before and after the complementary array after positive and negative reverse complementary processing to obtain a transmission array, which is represented by [A 起+ A 起- N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- …X n+ X n- A 止+ A 止- ]; the start and end verification code includes A 起 , A 止 , A 起- and A 止- , A 起 =A 止 =10, A 起- =A 止- =-10.

4. The underwater acoustic wave data communication system according to claim 3, characterized in that: In terms of generating a receiving array according to the start and end check codes of the receiving end array, and performing a first error detection on the receiving array according to a preset error accuracy, the central processor is specifically used to: Calculate V 均 =(V 起+ -V 起- +V 止+ -V 止- ) / 2; Among them, V 均 is the average peak-to-peak value of the start and end voltages of the voltage data in the receiving end array; The receiving end array is represented as [V 起+ V 起- V 序1+ V 序1- V 序2+ V 序2- V 0+ V 0- V 1+ V 1- … V n+ V n- V 止+ V 止- ], where V 起+ is the positive starting voltage, V 起- V 起+ The complementary code, V 止+ Until the voltage is positive, V 止- V 止+ The complementary code of V 序1+ is the positive value of the first digit in the sequence code, V 序1- V 序1+ The complementary code, V 序2+ is the positive value of the second digit in the sequence code, V 序2- V 序2+ The complementary code of V j+ is the positive value of the jth voltage data, V j- V j+ The complementary code of Calculate C=U 均 / V 均 ; C is the attenuation constant of the receiving array, U 均 is the peak-to-peak value of the start and end voltage during transmission; Multiply each data in the receiving end array by the attenuation constant C to generate the receiving array; The receiving array is represented as [U 起+ U 起- U 序1+ U 序1- U 序2+ U 序2- U 0+ U 0- U 1+ U 1- … U n+ U n- U 止+ U 止- ], where U 起+ is the positive value of the voltage after decay, U 起- For U 起+ The complementary code, U 止+ is the positive value of the voltage after decay, U 止- For U 止+ The complementary code of 序1+ is the positive value of the first bit in the attenuated sequence code, U 序1- For U 序1+ The complementary code, U 序2+ is the positive value of the second bit in the attenuated sequence code, U 序2- For U 序2+ The complementary code of j+ is the positive value of the jth voltage data after attenuation, U j- For U j+ The complementary code of If|2 U 起+ -U 均 | 误 、|2 U 起- +U 均 | 误 、|2 U 止+ -U 均 | 误 and |2 U 止+ +U 均 | 误 If both are true, the first bit error detection is passed, otherwise the received array is determined to be bit error; U 误 is the preset bit error accuracy.​​​​ 5. The underwater acoustic wave data communication system according to claim 4, characterized in that: In terms of restoring the received array that has passed the first error detection into a complementary array by using geometric ratios, and performing a second error detection on the complementary array by using forward and reverse complementation, the central processor is specifically used to: If the first bit error detection is passed, calculate K=20 / U 均 ; Where K is the geometric ratio of data information; The data information geometric number is multiplied by the amount of each voltage data in the receiving array except the start and end voltages, and rounded to the nearest integer to obtain the complementary array [N 1+ N 1- N 2+ N 2- X 0+ X 0- X 1+ X 1- X 2+ X 2- …X n+ X n- ], the start and end voltages include U 起+ , U 起- , U 止+ and U 止- ; It is determined whether the subtraction of each pair of complementary codes in the complementary array is 10. If so, the second bit error detection is passed. Otherwise, it is determined that the received array is bit erroneous.

6. The underwater acoustic wave data communication system according to claim 5, characterized in that: In terms of taking the complementary array that has passed the second error detection, taking the positive numbers in the complementary array to obtain a restored sequence array, and taking the sequence number from the restored sequence array to perform missing code detection, the central processor is specifically used to: If the second bit error detection is passed, the positive numbers in the complementary array are taken to obtain a restored sequence array, the current sequence code is taken from the restored sequence array, and the missing code detection is performed by comparing the current sequence code with the sequence code of the previous restored sequence array; If the difference between the current sequence code and the sequence code of the previous restoration sequence array is 1 or 99, the missing code detection is passed, otherwise it is determined that there is a missing code or a bit error between the restoration sequence array and the previous restoration sequence array.

7. The underwater acoustic wave data communication system according to claim 1, characterized in that: The underwater acoustic wave data communication system further comprises a modulation module; the input end of the voltage module is connected to the output end of the central processor, the output end of the voltage module is connected to the input end of the modulation module, and the output end of the modulation module is connected to the transmitting end; The voltage module is used to convert the data in the transmitting array into a voltage signal and then send it to the modulation module; The modulation module is used to modulate the received voltage signal and the carrier to generate a modulation signal and then send it to the transmitting end.

8. The underwater acoustic wave data communication system according to claim 7, characterized in that: The voltage module includes a single-chip microcomputer, a first group of resistors, a second group of resistors and 22 photosensitive switches, the first group of resistors and the second group of resistors each include 11 resistors connected in series; one end of the first group of resistors is grounded, and the other end is connected to a +10V voltage, one end of the second group of resistors is grounded, and the other end is connected to a -10V voltage; each resistor in the first group of resistors and the second group of resistors is correspondingly connected to a photosensitive switch, each of the photosensitive switches is connected to the single-chip microcomputer, the single-chip microcomputer is used to generate a voltage signal by controlling each of the photosensitive switches according to the read-in transmitting array using the swhich case statement, the voltage signal is a square wave voltage signal, and the high-level delay duration of each of the photosensitive switches is half the wavelength of the carrier.

9. The underwater acoustic wave data communication system according to claim 7, characterized in that: The underwater acoustic wave data communication system further comprises a receiving end, a demodulation module and an analog-to-digital module, wherein the receiving end is connected to the input end of the demodulation module, the output end of the demodulation module is connected to the input end of the analog-to-digital module, and the output end of the analog-to-digital module is connected to the input end of the central processor; The receiving end is used to send the received modulated signal to the demodulation module, and the demodulation module is used to demodulate the modulated signal into a voltage signal; the analog-to-digital module is used to convert the demodulated voltage signal into a digital signal to obtain the receiving end array.

10. The underwater acoustic wave data communication system according to claim 1, characterized in that: The set number is 8, and the frequency of the carrier is 2KHz.

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