A bidirectional cross-media method and system integrating communication, positioning and detection

Abstract

The present invention discloses a bidirectional cross-medium method and system for integrated communication, positioning and detection, including: coarse positioning and navigation, aerial equipment continuously emits laser-induced acoustic signals to the water surface, generates acoustic signals that are received by underwater equipment, and obtains the target point; uses a path planning algorithm to update the navigation path from the underwater equipment to the target point in real time, and calibrates the time; the underwater equipment continuously sends acoustic wave signals to the water surface, the aerial equipment uses laser vibration measurement technology to detect the surface vibration of the detection point, combines the water surface wave formula excited by the sound source in the actual marine environment, establishes a water surface vibration model and updates it in real time, obtains the alignment point, and the aerial and underwater equipment move to the alignment point; after the aerial and underwater equipment are aligned, the two establish a communication link. The present invention can accurately locate the position of the underwater equipment and update it in real time, improves the positioning accuracy, ensures the efficient operation of the equipment and the accuracy of the path planning, and realizes the integration of communication, positioning and detection.

Description

Technical Field

[0001] The present invention relates to the field of communications, and in particular to a bidirectional cross-media method and system integrating communication, positioning and detection. Background Art

[0002] In the current field of cross-media communications, especially when it comes to information transfer between underwater and above-water or airborne devices, there are several key technical challenges. Traditional methods rely on single-medium technologies that cannot effectively penetrate the water-air interface for long-distance transmission, which limits the functionality and efficiency of underwater communication and navigation systems. Existing cross-media communication methods mainly support one-way communication, such as uplink communication combining sound and electrical signals or downlink communication using laser-induced sound. Although direct laser communication can achieve some form of two-way communication, it does not have the ability to combine communication with precise positioning, both of which are particularly important in underwater operations that require precise navigation and are used for precise positioning and path planning in complex seabed terrain. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention proposes a bidirectional cross-media method and system integrating communication, positioning and detection.

[0004] The specific technical solutions are as follows:

[0005] A bidirectional cross-media method integrating communication, positioning and detection, comprising the following steps:

[0006] S1. Coarse positioning and navigation: The aerial device continuously emits laser acoustic signals to the water surface at fixed intervals, and the generated underwater acoustic signals contain the coordinates and time information of the aerial device; the underwater device receives the underwater acoustic signals and takes the water surface point with the strongest underwater acoustic signal as the target point; the current coordinates of the underwater device are calculated using the multilateral measurement method, and the navigation path from the underwater device to the target point is planned using the path planning algorithm; the underwater device navigates to the target point according to the navigation path; the time of the underwater device is calibrated according to the time information carried by the underwater acoustic signal;

[0007] S2: While the underwater device is traveling along the navigation path, it continuously receives new underwater acoustic signals and uses the method in S1 to update the navigation path in real time;

[0008] S3: The underwater device continuously sends sound wave signals to the water surface at fixed intervals, and the aerial device selects multiple detection points and uses laser vibration measurement technology to detect the water surface vibration of the detection points; the vibration data detected by the multiple detection points are combined with the water surface wave formula excited by the sound source in the actual marine environment to establish a water surface vibration model;

[0009] S4: According to the water surface vibration model, the water surface point with the largest vibration is obtained as the alignment point, the aerial device moves toward the alignment point, and the underwater device updates the navigation path according to the new underwater acoustic signal and moves toward the alignment point synchronously;

[0010] S5: During the movement of the aerial device toward the alignment point, vibration data of new observation points are continuously collected, the water surface vibration model is updated, and a new alignment point is obtained;

[0011] S6: When the aerial device and the underwater device are aligned, the aerial device first sends a positioning end signal and then sends a communication signal to establish a communication link with the underwater device.

[0012] Furthermore, in S3, the expression of the water surface vibration model is as follows:

[0013] ;

[0014] Wherein, δ(t) represents the water surface vibration wave, η(t) represents the water surface wave excited only by the underwater equipment, W(t) represents the ocean ambient noise; p represents the sound pressure, which is only considered in the vertical direction; ρ represents the density of water, α represents the attenuation coefficient, θ represents the incident angle of the sound wave signal relative to the water surface, ω represents the angular frequency of the sound wave signal, and k represents the beam; the point where the underwater equipment intersects the water surface in the vertical direction is taken as the origin, x represents the distance between the detection point and the origin; N represents the number of frequencies of the ocean ambient noise, A n represents the amplitude of each wave component, ω n represents the angular frequency, Φ n Indicates phase shift.

[0015] Furthermore, in S1, the expression for calculating the current coordinates of the underwater device using the multilateral measurement method is as follows:

[0016] ;

[0017] In the formula, ( x t , y t , z t ) represents the target point coordinates, ( x u , y u , z u ) represents the coordinates of the underwater device; c is the speed of sound propagation in water, t i is the time when the hydrophone i carried on the underwater equipment receives the underwater acoustic signal, is the measurement error.

[0018] Furthermore, in S2, a Kalman filter algorithm is used to update the heading and speed of the underwater device.

[0019] Furthermore, in S1, the path planning algorithm is selected from A* or Dijkstra algorithm.

[0020] Furthermore, the distance of the underwater device relative to the aerial device is determined based on the vibration signal amplitude of the detection point detected by the laser vibration measurement technology; if the vibration signal amplitude of the detection point exceeds the set threshold, it means that the underwater device has approached the target point, and S4 is executed, otherwise the underwater device continues to perform coarse positioning and navigation.

[0021] A bidirectional cross-medium system integrating communication, positioning and detection, used to implement the bidirectional cross-medium method integrating communication, positioning and detection, comprising: an aerial device, an underwater device, a laser acoustic module, a laser vibration measurement module, a data processing unit, and a dynamic data processing module; the underwater device is equipped with a hydrophone array and an underwater acoustic transducer;

[0022] The laser acoustic module is arranged on the aerial device and is used to continuously and at fixed intervals emit laser acoustic signals to the water surface, wherein the laser acoustic signals encode the coordinates and time information of the aerial device;

[0023] The laser vibration measurement module is arranged on the aerial device to detect the vibration of the water surface;

[0024] The data processing unit is used to receive and process the initial data obtained by the laser acoustic module and the laser vibrometer module, and preliminarily calculate the position of the underwater device using the multilateral measurement method; analyze the water surface vibration data collected by the laser vibrometer module, and further optimize the position information of the underwater device using the signal processing algorithm;

[0025] The dynamic data processing module dynamically updates the parameters in the water surface vibration model in real time using an adaptive algorithm through the real-time collected vibration data and positioning information; the dynamic data processing module can also adaptively adjust the parameters in the communication protocol to cope with different environmental conditions or changes in signal strength.

[0026] Furthermore, in the data processing unit, the signal processing algorithm includes a Kalman filter algorithm or a least squares method.

[0027] Furthermore, in the dynamic data processing module, the adaptive algorithm includes an adaptive filtering algorithm or a machine learning algorithm.

[0028] The beneficial effects of the present invention are:

[0029] (1) High-precision positioning and navigation functions:

[0030] By using the water surface acoustic wave signals generated by laser acoustics and laser vibration measurement technology, the present invention can accurately locate the position of underwater equipment and update it in real time. Through accurate monitoring and optimized modeling of water surface vibrations, the system achieves accurate navigation of underwater equipment, especially in complex seabed terrain. This two-way positioning method not only improves positioning accuracy, but also enables continuous navigation adjustments of underwater equipment in a dynamic environment, ensuring efficient operation of the equipment and accuracy of path planning.

[0031] (2) Implementation of bidirectional cross-media communication:

[0032] The present invention realizes two-way cross-media communication between underwater and aerial devices by integrating laser acoustic and laser vibrometric technologies. This technology breaks through the bottleneck of traditional cross-media communication limited by the water-air interface, ensuring long-distance transmission and efficient information exchange in cross-media communication. This advantage enables underwater equipment to communicate seamlessly with aerial equipment in complex marine environments, thereby greatly improving the communication efficiency and reliability of the system.

[0033] (3) Real-time data processing and communication optimization:

[0034] The present invention includes a dynamic data processing module that can adaptively adjust communication protocol parameters by updating the water surface vibration model and positioning data in real time. This dynamic adjustment can optimize data transmission rate and communication reliability, ensuring that the system can maintain the best communication effect under different water quality, wave and underwater environments, and the system has strong anti-interference ability.

[0035] (4) Wide range of application scenarios:

[0036] The invention can be used in many fields, such as marine scientific research, military reconnaissance, commercial resource exploration, etc., and can effectively cope with the common long-distance communication and high-precision navigation challenges in these fields. The system not only enhances the detection capability of the equipment, but also ensures the safety and operation efficiency of the equipment in complex marine environments through the positioning function. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of a bidirectional cross-media method integrating communication, positioning and detection in an embodiment of the present invention.

[0038] Figure 2 It is a schematic diagram of a bidirectional cross-media system integrating communication, positioning and detection in an embodiment of the present invention.

[0039] Figure 3 It is a schematic diagram of realizing cross-water-air communication through laser-induced sound in an embodiment of the present invention.

[0040] Figure 4 It is a schematic diagram of realizing cross-water-to-air communication through laser vibrometer in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become more clear. The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] A two-way cross-medium method integrating communication, positioning and detection adopts two cross-water and air communication mechanisms. The first is laser-induced acoustic technology. An aerial device (an aerial drone is selected in this embodiment) transmits a high-energy light wave pulse signal to the water surface, causing the water surface to expand due to heat and generate an acoustic signal received by an underwater device (an underwater drone is selected in this embodiment). This acoustic signal is a communication signal and contains the coordinates and time information of the aerial drone. The underwater device navigates in the direction of the aerial device according to the coordinates of the aerial device. The second is laser vibration measurement technology. The underwater device sends an acoustic wave signal to vibrate the water surface. The aerial drone uses a laser to detect these vibrations to achieve further positioning, navigation and communication. Figure 1 As shown, communication and positioning navigation has three stages: coarse positioning navigation, fine positioning navigation, and communication establishment. The operations performed in each stage are described as follows:

[0043] Phase 1: Coarse positioning and navigation, see attached Figure 3 .

[0044] S1.1: Signal transmission: The aerial drone continuously emits a laser-induced acoustic signal to the water surface at fixed intervals to generate an underwater acoustic signal; the laser-induced acoustic signal is specifically a high-energy light wave pulse signal, which contains the coordinates and time information of the aerial drone.

[0045] S1.2: Signal reception and preliminary positioning: The underwater drone receives underwater acoustic signals through its onboard hydrophone array.

[0046] S1.3: Target positioning: The underwater drone locates the point on the water surface where the underwater acoustic signal is the strongest, that is, the point illuminated by the laser, which is regarded as the target point.

[0047] S1.4: Calculate the position of the underwater drone. Specifically: Assume that the underwater drone is equipped with four hydrophones, which are evenly distributed on the bottom of the device to form a square layout to improve the accuracy and reliability of positioning. The underwater drone is used to receive underwater acoustic signals. Assume that the coordinates of the target point are ( x t , y t , z t ), the time it takes for the underwater acoustic signal to be transmitted from the target point is t tThe position of the underwater drone is calculated using multilateration, and the expression is as follows:

[0048] ;

[0049] In the formula, ( x u , y u , z u ) is the coordinate of the underwater drone; c is the speed of sound propagation in water, usually 1500m / s; t i is the time when hydrophone i receives the underwater acoustic signal; is the measurement error, which can be minimized by the least squares method or other optimization techniques.

[0050] S1.5: Calculate the navigation path: Use a path planning algorithm (such as A* or Dijkstra algorithm) to plan the best navigation path, update the heading and speed of the underwater drone, and navigate to the target point obtained by (1.3) using the navigation path.

[0051] S1.6: Time synchronization and calibration: The underwater drone calibrates its own clock based on the time information contained in the received underwater acoustic signal to ensure the time synchronization between the underwater drone and the aerial drone.

[0052] S1.7: Continuously locate and update the navigation path: When the underwater drone is navigating towards the target point, the underwater drone continuously receives underwater acoustic signals from the target point and uses the methods of S1.2-S1.6 to adjust and optimize the navigation path. The Kalman filter algorithm is used to continuously update the state (heading and speed) of the underwater drone to adapt to the dynamically changing environment.

[0053] Through the above steps, the underwater drone can accurately determine its position and time and effectively navigate to the target point. This method utilizes modern signal processing and navigation technology to achieve high-precision operations in complex underwater environments.

[0054] Phase 2: Precise positioning and navigation.

[0055] In order to accurately predict and locate the vertical point (i.e., the alignment point) of the underwater drone relative to the aerial drone, we need to further refine the process of measuring and analyzing the water surface vibration. This includes determining the number of detection points required and how to continuously optimize the water surface vibration model during the moving process. The specific steps are as follows:

[0056] S2.1: Determine the number of detection points, including the following two options:

[0057] (1) Minimum number of detection points: In theory, in order to be able to reconstruct the vibration pattern of the water surface and perform effective three-dimensional positioning, at least three detection points are required. This allows the approximate location of the vibration source on the water surface to be calculated by triangulation. However, in order to improve accuracy and reliability, it is recommended to use more detection points.

[0058] (2) Ideal number of detection points: In practical applications, five to seven detection points is an ideal number, which can provide sufficient data for the water surface vibration model for more complex data analysis and prediction, such as using multivariate regression or machine learning methods to predict the precise location of the underwater drone.

[0059] S2.2: Collect initial data: e.g. Figure 4 As shown in the figure, the underwater drone regularly sends sound wave signals to the water surface through its hydroacoustic transducer, which causes the water surface to vibrate; the aerial drone uses laser vibrometer technology to continuously detect the vibration of the water surface, that is, sending laser pulses above different detection points and collecting vibration data reflected from these detection points. Once the amplitude of the vibration signal is detected to exceed the preset threshold, it indicates that the underwater drone has approached the target and executes the next step.

[0060] S2.3: Use the initial data to establish a water surface vibration model. The water surface vibration model is constructed by substituting the initial data into the water surface wave formula excited by the sound source in the actual ocean environment. The formula is expressed as follows:

[0061] ;

[0062] Wherein, δ(t) represents the water surface vibration wave, η(t) represents the water surface wave excited only by the sound source (i.e., the underwater drone), W(t) represents the ocean ambient noise; p represents the sound pressure, which is only considered in the vertical direction; ρ represents the density of water, α represents the attenuation coefficient, θ represents the incident angle of the sound wave signal relative to the water surface, ω represents the angular frequency of the sound wave signal, and k represents the beam; the point where the underwater drone intersects the water surface in the vertical direction is defined as the origin, x represents the distance between the detection point and the origin; N represents the number of frequencies of the ocean ambient noise, A n represents the amplitude of each wave component, ω n represents the angular frequency, Φ n Indicates phase shift.

[0063] S2.4: Calculate the alignment point: According to the water surface vibration model, obtain the coordinates of the maximum point of water surface vibration (i.e., the alignment point).

[0064] S2.5, Precision Navigation: The aerial drone moves toward the aiming point, while the underwater drone updates the navigation path based on the new underwater sound signals received and moves toward the aiming point.

[0065] S2.6, Dynamically optimize the water surface vibration model, which is specifically achieved through the following sub-steps:

[0066] (1) Data update: During the movement, the aerial drone continues to collect vibration data from new detection points.

[0067] (2) Model adjustment: Use the latest vibration data collected from the detection points to update the water surface vibration model. This process is iterative. After each new data is collected, the water surface vibration model is updated to reflect the latest water surface status. This process involves adjusting model parameters or using more complex algorithms to fit the data.

[0068] S2.7 Alignment confirmation: When the aerial drone and the underwater drone are aligned (the underwater drone is directly below the alignment point), the aerial drone sends a positioning end signal. The aerial drone and the underwater drone should have real-time communication capabilities to adjust their navigation and positioning strategies based on the latest water surface vibration model.

[0069] Through this refined approach, the aerial drone can more accurately predict the position of the underwater drone, and can continuously optimize the water surface vibration model based on the latest data while moving. This dynamic model adjustment is key to ensuring efficient and precise navigation.

[0070] Phase 3: Communication establishment.

[0071] Communication signal sending: After completing positioning, the aerial drone sends a communication signal to establish a communication link with the underwater drone.

[0072] The present invention can realize the integration of communication, positioning and detection through the three stages of coarse positioning navigation, precise positioning navigation and communication establishment described above, and provides a feasible solution for the long-distance return of underwater detection data to aerial devices in actual marine environments.

[0073] like Figure 2 As shown, in order to realize the above-mentioned bidirectional cross-medium method integrating communication, positioning and detection, this embodiment also proposes a bidirectional cross-medium system integrating communication, positioning and detection, including: aerial equipment, underwater equipment, laser acoustic module, laser vibration measurement module, data processing unit, dynamic data processing module. In this embodiment, the aerial equipment uses an aerial drone, and the underwater equipment uses an underwater drone, equipped with a hydrophone array and an underwater acoustic transducer.

[0074] The laser acoustic module is arranged on the aerial drone and is used to continuously and at fixed intervals emit laser acoustic signals (specifically high-energy light wave pulse signals) to the water surface to generate underwater acoustic signals that encode the coordinates and time information of the aerial drone.

[0075] The laser vibration measurement module is arranged on the aerial drone to detect the vibration of the water surface. This vibration is generated by the sound wave signal sent by the underwater drone and is used to obtain the position information of the underwater drone.

[0076] The data processing unit is used to receive and process the initial data obtained by the laser acoustic module and the laser vibrometer module, and preliminarily calculate the position of the underwater drone through multilateral measurement. It can also be used to analyze the water surface vibration data collected from the laser vibrometer module, which reflects the interaction between the sound waves emitted by the underwater drone and the water surface; by comprehensively analyzing these vibration data and using signal processing algorithms such as the Kalman filter algorithm or the least squares method, the data processing unit can further optimize the position information of the underwater drone to ensure accurate two-way cross-media communication and navigation.

[0077] The dynamic data processing module is used to update and optimize the water surface vibration model in real time. Due to the complex and changeable underwater environment (affected by factors such as water flow and waves), this module can adaptively adjust the water surface vibration model according to real-time environmental changes. Specifically, through the collected vibration data and positioning information, the dynamic data processing module uses adaptive algorithms (such as adaptive filtering algorithms or machine learning algorithms) to dynamically update various parameters in the water surface vibration model, such as the speed of sound wave propagation, to ensure the reliability of communication and positioning. This module is also responsible for adaptively adjusting the parameters in the communication protocol, such as data transmission rate, signal encoding method, etc., to cope with different environmental conditions or changes in signal strength, thereby maximizing communication efficiency and system reliability.

[0078] The present invention breaks through the limitations of traditional cross-medium communications and realizes the integration of communication, positioning and detection by comprehensively using laser acoustic and laser vibrometer technologies. This method not only allows for two-way information transmission across water and air media, but also can accurately locate above-water and underwater equipment, thereby effectively guiding navigation and subsequent communication tasks. Through laser acoustic technology, aerial drones can emit laser pulses to the water surface to generate underwater acoustic signals. These underwater acoustic signals carry position and time information, which are received by underwater drones and used for their rough positioning and navigation. At the same time, the laser vibrometer detects the vibrations on the water surface caused by the sound waves emitted by the underwater drone, and these vibration data are used to further correct and optimize the location information of underwater equipment. This method significantly improves the accuracy of positioning and the real-time nature of communication, and is suitable for fields such as marine scientific research, military reconnaissance, and commercial resource exploration with high precision requirements.

[0079] Those skilled in the art can understand that the above are only preferred examples of the invention and are not intended to limit the invention. Although the invention is described in detail with reference to the above examples, those skilled in the art can still modify the technical solutions recorded in the above examples or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, etc. made within the spirit and principle of the invention shall be included in the protection scope of the invention.

Claims

1. A bidirectional cross-media method integrating communication, positioning and detection, characterized in that: The following steps are involved: S1. Coarse positioning and navigation: The aerial device continuously transmits laser acoustic signals to the water surface at fixed intervals. The generated underwater acoustic signals contain the coordinates and time information of the aerial device. The underwater device receives the underwater acoustic signals and takes the water surface point with the strongest underwater acoustic signal as the target point. The current coordinates of the underwater device are calculated using the multilateration method, and the navigation path from the underwater device to the target point is planned using the path planning algorithm; The underwater device navigates to the target point according to the navigation path; the time of the underwater device is calibrated according to the time information carried by the underwater acoustic signal; S2: While the underwater device is traveling along the navigation path, it continuously receives new underwater acoustic signals and uses the method in S1 to update the navigation path in real time; S3: The underwater device continuously sends sound wave signals to the water surface at fixed intervals, and the aerial device selects multiple detection points and uses laser vibration measurement technology to detect the water surface vibration of the detection points; the vibration data detected by the multiple detection points are combined with the water surface wave formula excited by the sound source in the actual marine environment to establish a water surface vibration model; S4: According to the water surface vibration model, the water surface point with the largest vibration is obtained as the alignment point, the aerial device moves toward the alignment point, and the underwater device updates the navigation path according to the new underwater acoustic signal and moves toward the alignment point synchronously; S5: During the movement of the aerial device toward the alignment point, vibration data of new observation points are continuously collected, the water surface vibration model is updated, and a new alignment point is obtained; S6: When the aerial device and the underwater device are aligned, the aerial device first sends a positioning end signal, and then sends a communication signal to establish a communication link with the underwater device; In S3, the expression of the water surface vibration model is as follows: ； Wherein, δ(t) represents the water surface vibration wave, η(t) represents the water surface wave excited only by the underwater equipment, W(t) represents the ocean ambient noise; p represents the sound pressure, which is only considered in the vertical direction; ρ represents the density of water, α represents the attenuation coefficient, θ represents the incident angle of the sound wave signal relative to the water surface, ω represents the angular frequency of the sound wave signal, and k represents the beam; the point where the underwater equipment intersects the water surface in the vertical direction is taken as the origin, x represents the distance between the detection point and the origin; N represents the number of frequencies of the ocean ambient noise, A n represents the amplitude of each wave component, ω n represents the angular frequency, Φ n Indicates phase shift.

2. The bidirectional cross-media method for integrated communication, positioning and detection according to claim 1, characterized in that: In S1, the expression for calculating the current coordinates of the underwater device using the multilateral measurement method is as follows: ； In the formula, ( x t , y t , z t ) represents the target point coordinates, ( x u , y u , z u ) represents the coordinates of the underwater device; c is the speed of sound propagation in water, t i is the time when the hydrophone i carried on the underwater equipment receives the underwater acoustic signal, and є is the measurement error.

3. The bidirectional cross-media method for integrated communication, positioning and detection according to claim 1, characterized in that: In S2, a Kalman filter algorithm is used to update the heading and speed of the underwater device.

4. The bidirectional cross-media method for integrated communication, positioning and detection according to claim 1, characterized in that: In S1, the path planning algorithm is selected from A* or Dijkstra algorithm.

5. The bidirectional cross-media method for integrated communication, positioning and detection according to claim 1, characterized in that: According to the vibration signal amplitude of the detection point detected by the laser vibration measurement technology, the distance of the underwater device relative to the aerial device is judged; if the vibration signal amplitude of the detection point exceeds the set threshold, it means that the underwater device has approached the target point, and S4 is executed, otherwise the underwater device continues to perform coarse positioning and navigation.

6. A bidirectional cross-media system integrating communication, positioning and detection, used to implement the bidirectional cross-media method integrating communication, positioning and detection as described in any one of claims 1 to 5, characterized in that: include: Aerial equipment, underwater equipment, laser acoustic module, laser vibration measurement module, data processing unit, dynamic data processing module; the underwater equipment is equipped with a hydrophone array and a hydroacoustic transducer; The laser acoustic module is arranged on the aerial device and is used to continuously and at fixed intervals emit laser acoustic signals to the water surface, wherein the laser acoustic signals encode the coordinates and time information of the aerial device; The laser vibration measurement module is arranged on the aerial device to detect the vibration of the water surface; The data processing unit is used to receive and process the initial data obtained by the laser acoustic module and the laser vibrometer module, and preliminarily calculate the position of the underwater device using the multilateral measurement method; analyze the water surface vibration data collected by the laser vibrometer module, and further optimize the position information of the underwater device using the signal processing algorithm; The dynamic data processing module dynamically updates the parameters in the water surface vibration model in real time using an adaptive algorithm through the real-time collected vibration data and positioning information; the dynamic data processing module can also adaptively adjust the parameters in the communication protocol to cope with different environmental conditions or changes in signal strength.

7. The bidirectional cross-media system integrating communication, positioning and detection according to claim 6, characterized in that: In the data processing unit, the signal processing algorithm includes a Kalman filter algorithm or a least squares method.

8. The bidirectional cross-media system integrating communication, positioning and detection according to claim 6, characterized in that: In the dynamic data processing module, the adaptive algorithm includes an adaptive filtering algorithm or a machine learning algorithm.

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