Underwater information interaction and guidance integrated system and control method thereof

Abstract

The present invention discloses an underwater information interaction and guidance integrated system and a control method thereof, comprising a fixed submerged buoy and a mobile unit, wherein the fixed submerged buoy comprises a hydroacoustic transducer 1, and the mobile unit comprises an underwater mobile carrier and two groups of hydroacoustic transducers 2 installed on the underwater mobile carrier, wherein the underwater mobile carrier can move relative to the fixed submerged buoy, and the two groups of hydroacoustic transducers 2 of the mobile unit are installed on both sides of the underwater mobile carrier; the hydroacoustic transducer 1 and the hydroacoustic transducer 2 are both horizontal omnidirectional, and adopt a transceiver transducer to receive and transmit signals; the two groups of hydroacoustic transducers 2 of the mobile unit respectively exchange signals with the hydroacoustic transducer 1 of the fixed submerged buoy, and the distances between the two groups of hydroacoustic transducers 2 and the hydroacoustic transducer 1 can be respectively obtained. The present invention can realize motion guidance and information transmission interaction in an underwater environment.

Description

Technical Field

[0001] The present invention relates to underwater equipment, and more specifically, to an underwater information interaction and guidance integrated system, and also to an underwater information interaction and guidance control method. Background Art

[0002] Marine resources are of enormous value waiting to be developed and utilized. However, human exploration of the ocean is far from enough at present. The main reason is that the hearing and vision of ocean exploration equipment are affected by the marine environment in the deep sea, and they cannot use satellite nodes, land base stations or radio equipment to exchange information and guide directions like land or surface equipment.

[0003] In order to promote ocean transparency, it is necessary to provide directional guidance for ocean exploration equipment and store and covertly transmit important parameters. However, current equipment systems on land and on the water cannot be used in underwater environments.

[0004] Therefore, it is necessary to design an interactive guidance system suitable for underwater environments to realize motion guidance and information transmission interaction in underwater environments. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and provide an integrated underwater information interaction and guidance system.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An underwater information interaction and guidance integrated system, comprising a fixed submerged buoy and a mobile unit, wherein the fixed submerged buoy comprises a hydroacoustic transducer 1, and the mobile unit comprises an underwater mobile carrier and two groups of hydroacoustic transducers 2 installed on the underwater mobile carrier, wherein the underwater mobile carrier can move relative to the fixed submerged buoy, and the two groups of hydroacoustic transducers 2 of the mobile unit are installed on both sides of the underwater mobile carrier;

[0008] The hydroacoustic transducer 1 and the hydroacoustic transducer 2 are both horizontal omnidirectional, and adopt a transceiver-transducer to receive and transmit signals; the two groups of hydroacoustic transducers 2 of the mobile unit respectively exchange signals with the hydroacoustic transducer 1 of the fixed buoy, and can respectively obtain the distance between the two groups of hydroacoustic transducers 2 and the hydroacoustic transducer 1.

[0009] The present invention is further configured such that the fixed submersible buoy is fixed underwater; the underwater mobile carrier is movable, and the moving direction is adjustable.

[0010] The present invention is further configured such that the signals exchanged between the first and second hydroacoustic transducers include a control signal and an information signal, and the underwater mobile carrier adjusts the moving direction according to the control signal.

[0011] The present invention is further configured such that the fixed submersible buoy also includes a pressure sensor, and the pressure sensor is used to obtain water pressure information, and can obtain depth information through the water pressure.

[0012] The present invention is further configured such that the fixed latent buoy also includes a storage unit, a transmitting and receiving unit, a power amplifier, an information processing unit and a battery unit; the storage unit of the fixed latent buoy is used for storing information, and the transmitting and receiving unit of the fixed latent buoy includes a signal transmitting circuit and a signal receiving circuit.

[0013] The present invention is further configured such that the mobile unit also includes an information processing unit, a power amplifier, a transmitting and receiving unit and a battery unit; the information processing unit of the mobile unit includes a receiving module, the receiving module is divided into two paths, and the two paths of the receiving module respectively correspond to two groups of underwater acoustic transducers; the transmitting and receiving unit of the mobile unit includes a signal transmitting circuit and a signal receiving circuit, the signal receiving circuit is divided into two paths, and the two paths of the signal receiving circuit respectively correspond to two groups of underwater acoustic transducers.

[0014] The present invention also provides an underwater information interaction and guidance control method, which uses the above-mentioned underwater information interaction and guidance integrated system to guide and control the movement state of the mobile unit relative to the fixed buoy, and the guidance process includes the following steps:

[0015] Step 1: Real-time sampling, the sampled data is amplified and filtered, and then enters the frequency domain through FFT:

[0016]

[0017] is the number of Fourier transform points, To collect the signal frequency position, is the original signal frequency point position, is the signal sampling rate, and the starting frequency point position and the ending frequency point position of the signal in the frequency domain are obtained respectively;

[0018] Step 2: Extract all frequency points within the bandwidth of the acquired signal and perform calculations:

[0019]

[0020] is the correlation coefficient, is the original signal, is the frequency point within the acquired signal bandwidth;

[0021] Step 3: Convert the frequency domain to the time domain to find the starting point of the signal:

[0022]

[0023] Step 4: After the modulo operation, find the position of the maximum value, which is the starting point of the signal, and then extract the signal for identification:

[0024]

[0025] Step 5: Two channels are formed between the two groups of hydroacoustic transducers 2 and 1. The two channels stop timing after waiting for the signal to arrive, and the specific time delay and distance are obtained. The direction of the buoy is determined by comparing the distance between the two channels, and the angle is calculated. :

[0026]

[0027] is the azimuth angle between the mobile unit and the fixed buoy, The distance measured by the first group of channels, The distance measured by the second channel group, is the distance between two groups of hydroacoustic transducers;

[0028] Step 6: After obtaining the distance and angle direction between the mobile unit and the buoy, the guidance of the single buoy is realized, and multiple ranging responses are performed during the movement to guide.

[0029] The present invention is further configured such that the two groups of hydroacoustic transducers 2 of the mobile unit respectively exchange signals with the hydroacoustic transducer 1 of the fixed submerged buoy, so that the distances between the two groups of hydroacoustic transducers 2 of the mobile unit and the hydroacoustic transducer 1 of the fixed submerged buoy can be obtained, which are A1 and A2 respectively, and the distance between the two groups of hydroacoustic transducers 2 of the mobile unit is B; the distance and azimuth angle between the mobile unit and the fixed submerged buoy can be obtained through the three distances A1, A2 and B.

[0030] The present invention is further configured such that the moving direction of the mobile unit forms an inclination angle z with the straight line where the two groups of hydroacoustic transducers are located, and the inclination angle z is adjustable.

[0031] The present invention is further configured such that, according to the distance and azimuth angle between the mobile unit and the fixed buoy, the fixed buoy can transmit a control signal to the mobile unit, the mobile unit can adjust the direction of movement according to the control signal, the moving state of the mobile unit is corrected, and repeated guidance adjustment can achieve guidance of the mobile unit.

[0032] In summary, the present invention has the following beneficial effects:

[0033] This scheme adopts the cooperation between the underwater fixed buoy and the mobile unit of the underwater mobile carrier to realize the work. Two hydroacoustic transducers are arranged on both sides of the underwater mobile carrier, which can simultaneously realize the transmission and reception of signals with the hydroacoustic transducer one of the fixed buoy. Since there is a certain distance difference between the two hydroacoustic transducers two of the underwater mobile carrier, a certain time delay will be generated when exchanging signals with the hydroacoustic transducer one of the fixed buoy. The mobile unit can identify the position of the buoy according to the time delay difference of the two receptions of the underwater mobile carrier, and correct its own moving trajectory.

[0034] At the same time, information can also be transmitted between the fixed buoy and the mobile unit. The relay function of multiple fixed buoys can facilitate the transmission of information and ensure the long-distance, stable and reliable transmission of information. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the module of the fixed latent buoy in this embodiment;

[0036] Figure 2 is a schematic diagram of the modules of the mobile unit in this embodiment;

[0037] Figure 3 is a schematic diagram of signal transmission and reception between a fixed latent buoy and a mobile unit in this embodiment;

[0038] Figure 4 Schematic diagram of the position between the fixed buoy and the mobile unit in this embodiment.

[0039] Reference numerals: 100, fixed submersible buoy; 101, hydroacoustic transducer 1; 200, mobile unit; 201, underwater mobile carrier; 202, hydroacoustic transducer 2; DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] This embodiment discloses an underwater information interaction and guidance integrated system, referring to Figure 1-Figure 4 As shown, it includes a fixed buoy 100 and a mobile unit 200, wherein the fixed buoy 100 is fixedly installed at a specific position underwater, and stores its own positioning depth information and "letter" information. In the absence of interaction and guidance, the low-power duty mode can be maintained for a long time, passively waiting for the wake-up command.

[0042] The mobile unit 200 includes an underwater mobile carrier 201, which can move underwater. When passing near the fixed submerged buoy 100, the mobile unit 200 can transmit a signal to the fixed submerged buoy 100 to wake up the fixed submerged buoy 100, and the fixed submerged buoy 100 will enter the working state. Through the signal exchange between the fixed submerged buoy 100 and the mobile unit 200, the mobile unit 200 can obtain the positioning and depth information of the fixed submerged buoy 100, as well as the "letter" information pre-stored in the fixed submerged buoy 100. The signals exchanged between the fixed submerged buoy 100 and the mobile unit 200 include control signals and information signals, wherein the control signal is used to guide the specific movement state of the underwater mobile carrier 201, and the information signal includes "letter" information and other information, which is used to transmit important information.

[0043] The mobile unit 200 can correct its own moving trajectory. At the same time, the mobile unit 200 can obtain the "letter" information of the fixed buoy 100 by issuing a "get letter" command, and can also send a "send letter" command to store the "letter" information in the buoy. The "letter" information can realize signal relay and transfer between each fixed buoy 100 and the mobile unit 200, and the surrounding cooperative underwater mobile carrier 201 can jointly obtain the "letter" information. In addition, as the underwater mobile carrier 201 moves, the mobile unit 200 will pass by different fixed buoys 100, and the "letter" information will be transmitted farther through the relay information of the fixed buoy 100. The "letter" information can be repeatedly extracted many times, ensuring the long-distance, stable and reliable concealed transmission of information.

[0044] Reference Figure 1 As shown, the fixed submersible buoy 100 includes an underwater acoustic transducer 101, a pressure sensor, a storage unit, a transmitting and receiving unit, a power amplifier, an information processing unit and a battery unit.

[0045] The information processing unit of the fixed buoy 100 includes an MSP430 module and an FPGA module. The MSP430 module is used to control the low-power duty circuit and can demodulate the frequency domain underwater acoustic wake-up signal; the FPGA module is used for software filtering and forward and reverse Fourier transform of underwater acoustic signals, as well as coded transmission and receiving demodulation. In addition, the FPGA module is also used for release control, information storage and reading, and intersection processing of depth information.

[0046] The releaser of the fixed buoy 100 controls the deployment and retraction of the entire buoy, and usually includes a pressure-resistant shell, a mechanical release mechanism, and a motor for driving the release, which is used for the deployment and recovery of the buoy.

[0047] The underwater acoustic transducer 101 of the fixed submerged buoy 100 is a horizontal omnidirectional type, and adopts a transducer for receiving and transmitting signals. The underwater acoustic transducer 101 can realize signal exchange between the fixed submerged buoy 100 and the mobile unit 200.

[0048] The pressure sensor can obtain the pressure information of the external environment, that is, the water pressure, and can obtain the current depth information based on the water pressure information. The pressure sensor can collect the current depth information and send it to the information processing unit. When the current depth is needed, the information processing unit needs to send a request instruction.

[0049] The storage unit of the fixed latent marker 100 is used to store information. Specifically, an EEPROM, which does not lose data after power failure, and an electrically erasable programmable read-only memory can be used to facilitate the storage of important information.

[0050] The transmitting and receiving unit of the fixed buoy 100 includes a signal transmitting circuit and a signal receiving circuit; the signal transmitting circuit includes a DA analog-to-digital conversion circuit, a signal amplifying circuit and an amplitude modulation circuit. The signal transmitting circuit can convert the digital signal modulated by the information processing unit into an analog signal and send it to the power amplifier module after two amplifications, wherein the amplitude modulation circuit can adjust the transmission amplitude according to the requirements of the transmitting sound source level; the signal receiving circuit includes a signal amplifying circuit, a filtering circuit and an AD analog-to-digital conversion circuit. When the effective distance is far, the received underwater acoustic signal is relatively weak, and it is necessary to add a stage of AD620 pre-small signal amplifier. After the signal is amplified, it is filtered and then amplified by AD8065 to enter the AD analog-to-digital conversion, and then the signal is obtained and sent to the information processing unit.

[0051] The power amplifier of the fixed buoy 100 includes an impedance matching circuit and an excitation amplifier circuit, which are used to amplify the analog signal after DA conversion and then send it out through the underwater acoustic transducer 101.

[0052] The battery unit of the fixed buoy 100 includes several groups of batteries, which are used for the functions of each unit of the fixed buoy 100. It can be composed of multiple groups of 18650 batteries. According to power consumption calculation, usage frequency inference and service time requirements, the battery unit is designed around power consumption and volume and installed inside the fixed buoy 100.

[0053] Reference Figure 2 , Figure 4 As shown, the mobile unit 200 uses an underwater mobile carrier 201 as a mounting carrier, and specifically includes two groups of underwater acoustic transducers 202, an information processing unit, a power amplifier, a transmitting and receiving unit, and a battery unit. The underwater mobile carrier 201 can move underwater and can actively control its own moving direction.

[0054] Reference Figure 4As shown, two groups of hydroacoustic transducers 202 are respectively installed on both sides of the underwater mobile carrier 201. The hydroacoustic transducer 202 of the mobile unit 200 is a horizontal omnidirectional type, and adopts a transducer that transmits and receives, and can receive and transmit signals. The two groups of hydroacoustic transducers 202 of the mobile unit 200 respectively exchange signals with the hydroacoustic transducer 1 101 of the fixed submerged buoy 100, and the distance between the two groups of hydroacoustic transducers 202 of the mobile unit 200 and the hydroacoustic transducer 1 101 of the fixed submerged buoy 100 can be obtained. Since the width of the underwater mobile carrier 201 is determined, the installation positions of the two groups of hydroacoustic transducers 202 are fixed, and therefore the spacing between the two groups of hydroacoustic transducers 202 is also fixed.

[0055] The two groups of hydroacoustic transducers 202 of the underwater mobile carrier 201 and the hydroacoustic transducer 101 of the fixed submerged buoy 100, the three hydroacoustic transducers can form three reference points, and thus the relative position of the underwater mobile carrier 201 and the fixed submerged buoy 100 can be obtained.

[0056] The information processing unit of the mobile unit 200 is basically similar to the transmitting and receiving unit of the fixed submerged buoy 100. Since the information processing unit of the mobile unit 200 needs to control the signal transmission and reception of the two hydroacoustic transducers 202 on both sides, the information processing unit of the mobile unit 200 is divided into two paths and can be solved at the same time. The solution result is the time delay of the signal of the two hydroacoustic transducers 202 on both sides. Through the signal delay on both sides, the distance difference on both sides can be obtained, and then the orientation of the mobile unit 200 relative to the fixed submerged buoy 100 can be determined, thereby guiding the movement state of the underwater mobile carrier 201.

[0057] The transmitting and receiving unit of the mobile unit 200 includes a signal transmitting circuit and a signal receiving circuit. The signal receiving circuit is divided into a two-way structure, which can control the underwater acoustic transducer 202 on both sides respectively. The signal receiving circuit also includes a signal isolation circuit, which is used to prevent the two-way signal from interfering with each other.

[0058] The power amplifier and battery pack of the mobile unit 200 are basically the same as those of the fixed buoy, and are not described in detail here.

[0059] In the underwater information interaction and guidance integrated system of this embodiment, when it is put into use, the fixed submerged buoy 100 is fixed underwater, and multiple fixed submerged buoys 100 are pre-arranged at different underwater positions as needed. In order to determine the precise position of the mobile unit 200, multiple fixed submerged buoys 100 can be used to jointly locate. The underwater mobile carrier 201 can move, and the moving direction can be adjusted.

[0060] The two groups of hydroacoustic transducers 202 of the underwater mobile carrier 201 form two points, which can determine a straight line L. During the movement of the underwater mobile carrier 201, an inclination angle z is formed between the moving direction and the straight line L. When the underwater mobile carrier 201 moves forward and backward, the inclination angle z is approximately 90°. When the motion state of the underwater mobile carrier 201 is adjusted, that is, when the underwater mobile carrier 201 turns, the moving direction of the underwater mobile carrier 201 will change, that is, the inclination angle z between the moving direction and the straight line L will also change, thereby controlling the moving direction of the underwater mobile carrier 201.

[0061] This embodiment also discloses an underwater information interaction and guidance control method, which uses the underwater information interaction and guidance integrated system as in the above embodiment to adjust the movement state of the mobile unit 200 relative to the fixed buoy 100.

[0062] Reference Figure 4 As shown, the two groups of hydroacoustic transducers 202 of the mobile unit 200 respectively exchange signals with the hydroacoustic transducer 1 101 of the fixed submerged buoy 100, and the distances between the two groups of hydroacoustic transducers 202 of the mobile unit 200 and the hydroacoustic transducer 1 101 of the fixed submerged buoy 100 can be obtained, which are A1 and A2 respectively, and the distance between the two groups of hydroacoustic transducers 202 of the mobile unit 200 is B; the distance and azimuth angle between the mobile unit 200 and the fixed submerged buoy 100 can be obtained through the three distances A1, A2 and B.

[0063] According to the distance and azimuth angle between the mobile unit 200 and the fixed buoy 100, the fixed buoy 100 can transmit a control signal to the mobile unit 200, and the mobile unit 200 can adjust the direction of movement according to the control signal. The moving state of the mobile unit 200 is corrected, and the above steps are repeated to guide the mobile unit 200.

[0064] In the control system of this embodiment, the boot process includes the following steps:

[0065] (1) AD real-time sampling, the sampled data is amplified and filtered, and then enters the frequency domain through FFT:

[0066]

[0067] is the number of Fourier transform points, To collect the signal frequency position, is the original signal frequency point position, is the signal sampling rate, and the starting frequency point position and the ending frequency point position of the signal in the frequency domain are obtained by formula (1).

[0068] (2) Extract all frequency points within the bandwidth of the acquired signal and perform relevant operations:

[0069]

[0070] is the correlation coefficient, is the original signal, is the frequency point within the acquired signal bandwidth.

[0071] (3) Convert the frequency domain into the time domain to find the starting point of the signal:

[0072]

[0073] (4) After the modulo operation, the position of the maximum value is found, which is the starting point of the signal, so that the signal can be extracted for identification.

[0074]

[0075] (5) The two groups of hydroacoustic transducers 202 of the mobile unit form two groups of channels. The two groups of channels respectively wait for the signal to arrive and then stop timing to obtain the specific time delay and the distance. The direction of the buoy is determined by comparing the distances of the two channels, and the angle b is obtained by calculation:

[0076]

[0077] is the azimuth angle between the mobile unit and the fixed buoy, The distance measured by the first group of channels, The distance measured by the second channel group, is the distance between the two channels of the platform.

[0078] (6) After obtaining the distance and angle azimuth between the mobile unit and the buoy, the guidance of a single buoy can be realized, and the guidance process can be completed by multiple ranging responses during the movement. The fixed buoy can transmit a control signal to the mobile unit, and the mobile unit performs corresponding actions according to the control signal and corrects the movement state. Then, the above method is used to detect the distance and azimuth angle multiple times, and the movement state of the mobile unit is repeatedly corrected multiple times to achieve the guidance of the mobile unit.

[0079] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An underwater information interaction and guidance integrated system, characterized in that: The invention comprises a fixed submerged buoy (100) and a mobile unit (200), wherein the fixed submerged buoy (100) comprises a first underwater acoustic transducer (101), and the mobile unit (200) comprises an underwater mobile carrier (201) and two groups of second underwater acoustic transducers (202) installed on the underwater mobile carrier (201), wherein the underwater mobile carrier (201) is capable of moving relative to the fixed submerged buoy (100), and the two groups of second underwater acoustic transducers (202) of the mobile unit (200) are installed on both sides of the underwater mobile carrier (201); The first underwater acoustic transducer (101) and the second underwater acoustic transducer (202) are both horizontal omnidirectional and adopt a transducer that transmits and receives signals, so as to realize receiving and transmitting signals; the two groups of second underwater acoustic transducers (202) of the mobile unit (200) respectively exchange signals with the first underwater acoustic transducer (101) of the fixed buoy (100), so as to respectively obtain the distance between the two groups of second underwater acoustic transducers (202) and the first underwater acoustic transducer (101); The underwater information interaction and guidance integrated system is used to guide and control the movement state of the mobile unit (200) relative to the fixed buoy (100), and the guidance process includes the following steps: Step 1: Real-time sampling, the sampled data is amplified and filtered, and then enters the frequency domain through FFT: ； is the number of Fourier transform points, To collect the signal frequency position, is the original signal frequency point position, is the signal sampling rate, and the starting frequency point position and the ending frequency point position of the signal in the frequency domain are obtained respectively; Step 2: Extract all frequency points within the bandwidth of the acquired signal and perform calculations: ； is the correlation coefficient, is the original signal, is the frequency point within the acquired signal bandwidth; Step 3: Convert the frequency domain to the time domain to find the starting point of the signal: ； Step 4: After the modulo operation, find the position of the maximum value, which is the starting point of the signal, and then extract the signal for identification: ； Step 5: Two groups of channels are formed between the two groups of hydroacoustic transducers 2 (202) and 1 (101). The two groups of channels respectively wait for the signal to arrive and then stop timing to obtain the specific time delay and the distance. The direction of the buoy is determined by comparing the distance between the two channels, and the angle is calculated. : ； is the azimuth angle between the mobile unit and the fixed buoy, The distance measured by the first group of channels, The distance measured by the second set of channels, is the distance between two groups of hydroacoustic transducers; Step 6: After obtaining the distance and angle between the mobile unit and the buoy, the guidance of the single buoy is realized, and multiple ranging responses are performed during the movement to guide; A plurality of fixed buoys (100) are pre-arranged at different underwater positions as required, and each fixed buoy (100) detects the distance and the azimuth angle multiple times, and repeatedly corrects the movement state of the mobile unit multiple times, thereby guiding the mobile unit; The two groups of underwater acoustic transducers (202) of the underwater mobile carrier (201) form two points, which can determine a straight line L; when the underwater mobile carrier (201) moves, an inclination angle z is formed between the moving direction and the straight line L; when the underwater mobile carrier (201) moves forward and backward, the inclination angle z is (90)°, and when the movement state of the underwater mobile carrier (201) is adjusted, the inclination angle z between the moving direction and the straight line L will also change, thereby controlling the moving direction of the underwater mobile carrier (201); The signals exchanged between the first underwater acoustic transducer (101) and the second underwater acoustic transducer (202) include a control signal and an information signal, and the underwater mobile carrier (201) adjusts the moving direction according to the control signal; The information signal is used for information transmission, the mobile unit (200) and the fixed latent buoy (100) can realize information transmission, and the information signal can realize signal relay transmission between the fixed latent buoys (100) through the mobile unit (200); The storage unit of the fixed latent marker (100) is used to store information and adopts an EEPROM (Electrically Erasable Programmable Read-Only Memory) whose data will not be lost after power failure.

2. The underwater information interaction and guidance integrated system according to claim 1, characterized in that: The fixed submersible buoy (100) is fixed underwater; the underwater mobile carrier (201) is movable, and the moving direction is adjustable.

3. The underwater information interaction and guidance integrated system according to claim 1, characterized in that: The fixed submersible buoy (100) further comprises a pressure sensor, which is used to obtain water pressure information and can obtain depth information through the water pressure.

4. The underwater information interaction and guidance integrated system according to claim 1, characterized in that: The fixed buoy (100) further comprises a storage unit, a transmitting and receiving unit, a power amplifier, an information processing unit and a battery unit; the storage unit of the fixed buoy (100) is used for storing information, and the transmitting and receiving unit of the fixed buoy (100) comprises a signal transmitting circuit and a signal receiving circuit.

5. The underwater information interaction and guidance integrated system according to claim 1, characterized in that: The mobile unit (200) further comprises an information processing unit, a power amplifier, a transmitting and receiving unit and a battery unit. The information processing unit of the mobile unit (200) comprises a receiving module, the receiving module is divided into two paths, and the two paths of the receiving module correspond to two groups of underwater acoustic transducers (202) respectively; the transmitting and receiving unit of the mobile unit (200) comprises a signal transmitting circuit and a signal receiving circuit, the signal receiving circuit is divided into two paths, and the two paths of the signal receiving circuit correspond to two groups of underwater acoustic transducers (202) respectively.

6. The underwater information interaction and guidance integrated system according to claim 1, characterized in that: The two groups of second hydroacoustic transducers (202) of the mobile unit (200) respectively exchange signals with the first hydroacoustic transducer (101) of the fixed submerged buoy (100), and the distances between the two groups of second hydroacoustic transducers (202) of the mobile unit (200) and the first hydroacoustic transducer (101) of the fixed submerged buoy (100) can be obtained, which are A1 and A2 respectively, and the distance between the two groups of second hydroacoustic transducers (202) of the mobile unit (200) is B; the distance and azimuth angle between the mobile unit (200) and the fixed submerged buoy (100) can be obtained through the three distances A1, A2 and B.

7. The underwater information interaction and guidance integrated system according to claim 1, characterized in that: The moving direction of the moving unit (200) forms an inclination angle z with the straight line where the two groups of hydroacoustic transducers (202) are located, and the inclination angle z is adjustable.

8. The underwater information interaction and guidance integrated system according to claim 1, characterized in that: According to the distance and azimuth angle between the mobile unit (200) and the fixed latent buoy (100), the fixed latent buoy (100) can transmit a control signal to the mobile unit (200), and the mobile unit (200) can adjust the direction of movement according to the control signal, so that the movement state of the mobile unit (200) is corrected, and the guidance adjustment is repeated to achieve the guidance of the mobile unit (200).

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