A floating marine hybrid atmospheric waveguide monitoring device and method

Abstract

The present invention relates to the technical field of marine meteorological observation, and discloses a floating marine hybrid atmospheric waveguide monitoring device and method, comprising a buoy platform, a communication antenna transceiver module arranged on the buoy platform, a multi-band radar module, an AIS module, an ADS-B module, a motion attitude measurement module, a data acquisition control module, a data correction module, a hybrid atmospheric waveguide inversion module, a data transmission module and a power supply module; the device and method disclosed in the present invention can realize real-time inversion of a hybrid atmospheric waveguide composed of an evaporation waveguide, a surface waveguide and a suspended waveguide at the same time; and multi-target inversion of a hybrid waveguide composed of a surface waveguide and a suspended waveguide is realized by combining Class A and Class B AIS receiving power data with ADS-B receiving power data, thereby significantly improving the inversion accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of marine meteorological observation, and in particular to a floating marine hybrid atmospheric waveguide monitoring device and method. Background Art

[0002] The tropospheric atmosphere is the main medium for most radio systems to work, and is also the main carrier of complex electromagnetic environments. Atmospheric waveguides are an abnormal state in the tropospheric atmosphere that can confine electromagnetic waves to a certain atmospheric layer for propagation, thereby changing the propagation trajectory of electromagnetic waves and forming beyond-horizon propagation. Atmospheric waveguides can be divided into evaporation waveguides, surface waveguides, and suspended waveguides. Evaporation waveguides are relatively low and generally below 40m; surface waveguides are slightly higher than evaporation waveguides, and the formation conditions are similar to those of suspended waveguides. Under certain conditions, the two can be converted into each other, but suspended waveguides are generally higher than surface waveguides; at the same time, different waveguide types have different effects on electromagnetic wave propagation.

[0003] At present, there are two main ways to obtain atmospheric duct profiles at sea: direct and indirect. The direct detection method mainly uses instruments such as microwave refractometers or lidar to directly detect the atmospheric environment and obtain the atmospheric correction refractive index profile, but it is difficult to install and has high construction and maintenance costs; the indirect detection method mainly uses meteorological gradient towers, scientific research ships and sounding balloons to collect meteorological and hydrological information at sea, and obtains atmospheric duct profiles by indirectly calculating the atmospheric correction rate based on empirical formulas or duct models. Although the indirect method of obtaining atmospheric duct data reduces the construction and maintenance costs, it is still impossible to achieve long-term detection of ocean atmospheric ducts due to its detection method. At the same time, whether it is the above-mentioned indirect or direct detection methods, it is difficult to achieve long-term, simultaneous and accurate detection of all duct types. Therefore, how to achieve unmanned, long-term and real-time detection of mixed atmospheric ducts in the vast ocean area is the current research focus. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a floating offshore mixed atmosphere waveguide monitoring device and method to achieve the purpose of realizing real-time and accurate detection of the mixed atmosphere waveguide of evaporation waveguide, surface waveguide and suspended waveguide.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A floating offshore hybrid atmospheric waveguide monitoring device comprises a buoy platform, a communication antenna transceiver module, a multi-band radar module, an AIS module, an ADS-B module, a motion attitude measurement module, a data acquisition control module, a data correction module, a hybrid atmospheric waveguide inversion module, a data transmission module and a power supply module arranged on the buoy platform; the communication antenna transceiver module, the multi-band radar module, the AIS module, the ADS-B module and the motion attitude measurement module are fixed on the top of the buoy platform; the data acquisition control module, the data correction module, the hybrid atmospheric waveguide inversion module, the data transmission module and the power supply module are installed inside the buoy platform;

[0007] The multi-band radar module, AIS module, ADS-B module and motion attitude measurement module are all connected to the data acquisition control module, the data acquisition control module is connected to the data correction module, the data correction module is connected to the hybrid atmospheric waveguide inversion module, the hybrid atmospheric waveguide inversion module is connected to the data transmission module, the data transmission module is connected to the communication antenna transceiver module, and is sent to the shore client through Beidou communication, satellite communication and 4G / 5G communication; the power supply module provides the required power for the entire device;

[0008] The multi-band radar module can transmit electromagnetic wave signals of different frequency bands and receive signals scattered back from the sea surface based on the adjustable frequency characteristics; secondly, by utilizing the characteristic that the shaking or lifting of the buoy platform will cause the height of the transmitting antenna to change, the control circuit adjusts the transmitted radio wave frequency band according to the setting within a period of time, and obtains sea clutter data of different frequency bands and different heights by continuously sending and receiving radar signals;

[0009] The AIS module continuously receives AIS signals transmitted by ships in the detection area, decodes the AIS signals to obtain the longitude, latitude and AIS transmitter model information of the ship, and analyzes the AIS signals to obtain the power of the AIS signals received from the ship;

[0010] The ADS-B module continuously receives ADS-B signals from aircraft in the detection area, decodes the ADS-B signals to obtain the longitude, latitude and altitude information of the aircraft; and analyzes the ADS-B signals to obtain the power of the ADS-B signals received from the aircraft at that location;

[0011] The motion attitude measurement module is used to measure the motion characteristics of the buoy platform, including pitch, roll, heave motion attitude data, longitude and latitude parameters and coordinated universal time, and obtain the real-time height of the transceiver antenna of the multi-band radar module and the receiving antenna of the AIS module and the ADS-B module based on the motion attitude data; it is also used to correct the measurement errors of the multi-band radar sea clutter data and the received AIS and ADS-B signal power caused by the motion attitude of the buoy platform;

[0012] The data acquisition control module acquires sea clutter data for evaporation waveguide inversion and receiving power data for hybrid waveguide inversion of surface waveguide and suspended waveguide in real time, and stores them respectively in a unified format to provide input data for the inversion of hybrid atmospheric waveguide; acquires motion posture data to obtain the height of the transceiver antenna of the multi-band radar module, and controls the multi-band radar module to change the electromagnetic wave transmission frequency according to the setting through the data acquisition control module to acquire sea clutter data of different frequencies and heights for multi-target inversion; obtains the real-time height of the receiving antenna of the AIS module and the ADS-B module based on the motion posture data;

[0013] The data correction module is used to correct the errors of the real sea clutter data of the multi-band radar module and the receiving power data of the AIS module and the ADS-B module caused by the change of the buoy platform posture. Through continuous simulation experiments, the correction empirical formulas for the sea clutter data and the receiving power data under different buoy platform posture conditions are obtained, thereby obtaining the real sea clutter data and the receiving power data when the buoy is in a horizontal state;

[0014] The hybrid atmospheric duct inversion module inverts different types of atmospheric duct profiles according to the measured sea clutter data and the received power data, and finally realizes the real-time inversion of the hybrid atmospheric duct profile under the same space-time conditions, wherein the sea clutter data of the multi-band radar is used for the multi-target inversion of the evaporation duct profile; secondly, based on the inversion result of the evaporation duct profile, the received AIS and ADS-B power data are used to realize the multi-target inversion of the hybrid waveguide of the surface waveguide and the suspended waveguide.

[0015] In the above scheme, the multi-band radar module is installed on the central axis of the buoy platform, the AIS module and the ADS-B module are fixed on both sides of the multi-band radar module, the motion attitude measurement module is located on the central axis of the buoy platform and below the multi-band radar module; the communication antenna transceiver module is located behind the multi-band radar module.

[0016] In the above scheme, the transmitting antenna of the multi-band radar module is a directional antenna; the receiving antennas of the AIS module and the ADS-B module are omnidirectional antennas.

[0017] A floating offshore hybrid atmosphere duct monitoring method, using the floating offshore hybrid atmosphere duct monitoring device as described above, comprises the following steps:

[0018] Step 1: In each cycle, the multi-band radar module transmits multiple radar signals with the same time interval but different frequency settings according to the settings, and encodes the radar signals to identify and receive the signals sent by itself; after the AIS module is set to the universal frequency, it receives the AIS signals of ships within the measurement range in real time; after the ADS-B module is set to the universal frequency, it receives the ADS-B signals of aircraft within the detection range in real time;

[0019] Step 2: The data acquisition control module controls and processes the multi-band radar module's transmission and reception according to the settings; processes the received AIS and ADS-B signals; and simultaneously receives the information of the motion attitude measurement module at the same time;

[0020] Among them, for the multi-band radar module, the data acquisition control module controls it to change the radar frequency and radio wave encoding method; when the module receives its own radar signal, it will calculate the sea clutter power corresponding to the frequency band according to the radar transmission power and antenna gain setting parameters;

[0021] For the AIS module, the data acquisition control module decodes and analyzes the AIS signal received by the AIS module and selects two types of receiving data, Class A and Class B, as well as the ship position information corresponding to different signals and the receiving power at the position; based on the two types of AIS transmitting devices, Class A and Class B, the receiving power is screened according to different receiving distances, and two types of receiving power data of Class A and Class B are obtained, which change continuously with the increase of receiving distance;

[0022] For the ADS-B module, the data acquisition control module decodes and analyzes the ADS-B signal received by the ADS-B module and obtains the latitude, longitude and altitude data of the aircraft, and obtains the receiving power data at the location based on the location information of the aircraft corresponding to different signals;

[0023] For the motion attitude measurement module, the data acquisition control module constantly acquires the buoy motion attitude data collected by the motion attitude measurement module, including pitch, roll, heave motion attitude data, longitude and latitude parameters and coordinated universal time data;

[0024] Step 3: According to the buoy motion attitude data collected by the motion attitude measurement module, the radar sea clutter data and the AIS and ADS-B receiving power data are corrected;

[0025] Step 4: Bring the corrected sea clutter data and received power data into the hybrid atmosphere waveguide inversion model for inversion, wherein the hybrid atmosphere waveguide inversion model includes two parts: the evaporation waveguide inversion model and the hybrid waveguide inversion model. First, based on the evaporation waveguide inversion model, the real sea clutter data is used to invert the evaporation waveguide to obtain the evaporation waveguide profile data below 40 meters. Secondly, based on the hybrid waveguide inversion model, the evaporation waveguide profile data is used as the constraint condition for the hybrid waveguide inversion, and the surface waveguide and the suspended waveguide are inverted based on the received power data based on the atmospheric corrected refractive index at a height of 40 meters. Finally, the hybrid atmosphere waveguide profile data within the time and space range is obtained.

[0026] Step 5: Uniformly encode the hybrid atmospheric duct profile data and buoy longitude and latitude information, and send them to the client via Beidou communication, satellite communication, and 4G / 5G communication based on the communication antenna transceiver module to achieve remote observation of the atmospheric duct.

[0027] In the above scheme, the inversion of the evaporation waveguide includes the following steps:

[0028] First, the multi-band radar module transmits electromagnetic wave signals to the sea surface at intervals according to the set transmission frequency through the transceiver antenna, and receives echo signals of all electromagnetic wave frequencies reflected by the sea surface. During this period, the shaking of the buoy platform will change the transmission height of the transceiver antenna of the multi-band radar module; therefore, the multi-band real radar sea clutter data is obtained by receiving the echo signal. ;in, represents the jth transmitting frequency; represents the height of the i-th transmitting and receiving antenna, represents the real radar sea clutter data obtained at the jth transmission frequency and the ith transceiver antenna height;

[0029] Secondly, the evaporation duct inversion model is used to randomly give a profile to construct the evaporation duct environment, based on the emission frequency corresponding to the real radar sea clutter data. Antenna height The propagation loss in the evaporation waveguide environment is calculated by the PE algorithm, and the simulated radar sea clutter data corresponding to the real radar sea clutter is obtained by combining the radar transmission power and antenna gain data. in, represents the simulated radar sea clutter data calculated at the jth frequency and the ith transceiver antenna height;

[0030] Again, multiple objective functions between real values ​​and simulated values ​​are established ,in represents the objective function established at the jth frequency and the ith transmitting and receiving antenna height;

[0031] Finally, the objective function is optimized by the optimization algorithm, the evaporation duct profile is continuously given, and multiple objective functions are calculated based on the evaporation duct environment. When the objective functions are simultaneously optimal or reach the specified number of optimization times, the output is the evaporation duct profile data that is closest to the actual evaporation duct environment.

[0032] In the above scheme, the inversion of the surface waveguide and the suspended waveguide includes the following steps:

[0033] First, obtain the received power data of the signal received by the corrected AIS module And the receiving distance corresponding to the received signal ; Get the corrected ADS-B module receiving signal receiving power data And the horizontal receiving distance corresponding to the received signal and the corresponding receiving height ;

[0034] Secondly, based on the evaporation waveguide profile data obtained by the evaporation waveguide inversion model, the atmospheric corrected refractive index at 40m is used as the base, and based on the Monin-Obukhov similarity theory, a hybrid waveguide environment is constructed through a hybrid waveguide model; according to the buoy motion attitude data obtained by the motion attitude measurement module, the height data of the receiving antennas of the AIS module and the ADS-B module from the sea level are obtained in real time. and To set the antenna height in the simulation experiment, the PE algorithm is used to calculate the antenna height and the electromagnetic wave propagation loss at the corresponding electromagnetic wave frequency, and the simulated receiving power data is obtained by combining the transmission power of the AIS module and the ADS-B module and the antenna gain data;

[0035] Again, for the AIS module receiving power data, according to the set antenna height data, select the corresponding height of the simulated receiving power data , establish the actual received power data at this height Simulated received power data The objective function between the two; among them, due to the difference in AIS transmission power and antenna gain data between Class A and Class B, two objective functions are established for Class A AIS data and Class B AIS data respectively; for the ADS-B module receiving power data, the simulated receiving power at the corresponding receiving height and receiving distance in the two-dimensional plane is selected The actual received power Establish the objective function;

[0036] Finally, the hybrid waveguide environment is continuously constructed through the optimization algorithm to optimize the three objective functions. When each objective function reaches the optimal solution or reaches the optimization limit, the optimal hybrid waveguide profile and its characteristic data are output. The atmospheric corrected refractive index value at 40m at the top layer of the evaporation waveguide is used as the bottom layer of the hybrid waveguide. Based on the spatiotemporal distribution, the hybrid waveguide profile information that is closest to the actual sea conditions is finally obtained.

[0037] In a further technical solution, the optimization algorithm includes deep learning, genetic algorithm or particle swarm algorithm.

[0038] In a further technical solution, for the AIS module receiving power, there are two ways to establish the objective function: one is to ignore the slight differences in the transmitting power and antenna gain data of the same type of AIS modules on different ships, and use the root mean square error and average error mathematical comparison model between the receiving power and the simulated receiving power as the objective function; the other is to consider the differences in the same type of AIS modules on different ships, and use the data correlation mathematical comparison model between the receiving power and the simulated receiving power as the objective function; for the receiving power data of the ADS-B module, the root mean square error mathematical model is used as the objective function.

[0039] Through the above technical solution, the floating offshore hybrid atmospheric waveguide monitoring device and method provided by the present invention have the following beneficial effects:

[0040] 1. Compared with traditional direct detection technologies such as laser radar, microwave refractometer, meteorological observation tower and sounding balloon, the present invention is based on a buoy platform and uses a multi-band radar module, an AIS module and an ADS-B module to achieve a long-term unmanned and real-time indirect detection method of atmospheric waveguides in the open ocean;

[0041] 2. Realize the real-time inversion of the mixed atmospheric waveguide composed of evaporation waveguide, surface waveguide and suspended waveguide by using radar sea clutter data, AIS receiving power data and ADS-B receiving power data;

[0042] 3. The sea clutter data of different frequency bands and different antenna heights are used to realize the multi-target inversion of the evaporation waveguide; the Class A and Class B AIS receiving power data are combined with the ADS-B receiving power data to realize the multi-target inversion of the hybrid waveguide composed of the surface waveguide and the suspended waveguide, which significantly improves the inversion accuracy;

[0043] 4. In order to ensure the accuracy of the experimental data, based on the characteristics of multi-band radar and the shaking or rising and falling of offshore buoys, radar sea clutter data with different antenna heights and transmission frequencies are obtained to realize the multi-target inversion of evaporation ducts; based on the evaporation duct inversion information, the AIS Class A and Class B signals and ADS-B signals are used, and the radio signal information and received power data emitted by multiple signal sources of multiple ships and numerous aircraft at the same time are integrated to realize the multi-target inversion of hybrid waveguides, enriching the constraint conditions of the atmospheric waveguide inversion algorithm, which is more conducive to improving the inversion accuracy of the atmospheric waveguide;

[0044] 5. Relying on AIS and ADS-B signal receiving equipment, through the international common frequency band, real-time monitoring of the signals of ships and aircraft coming and going within a certain range, decoding the signals to obtain specific information of ships and aircraft, such as longitude, latitude, altitude and other data, and obtaining the power data received by the AIS and ADS-B signal receiving equipment from the ship and aircraft signals here, to achieve real-time inversion of the hybrid waveguide, use existing equipment for measurement, and greatly reduce the measurement cost;

[0045] 6. When using AIS data for inversion, in order to eliminate the slight differences between the transmitting antenna and other information used by the same type of AIS equipment in actual application, the objective function can also be replaced by a method of determining the correlation between the two to improve the inversion accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0047] Figure 1 A schematic diagram of a floating offshore hybrid atmospheric waveguide monitoring device disclosed in an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the connection relationship between modules of the floating offshore hybrid atmospheric waveguide monitoring device disclosed in an embodiment of the present invention;

[0049] Figure 3 This is a top view of the buoy platform;

[0050] Figure 4 A flow chart of a floating offshore hybrid atmospheric duct monitoring method disclosed in an embodiment of the present invention;

[0051] Figure 5 This is a measurement diagram for the AIS module;

[0052] Figure 6 This is a measurement diagram of the ADS-B module;

[0053] Figure 7This is the flow chart of the multi-objective inversion model of the evaporation waveguide;

[0054] Figure 8 This is the flow chart of the mixed atmosphere waveguide inversion model.

[0055] In the figure, 1. Multi-band radar module; 2. AIS module; 3. ADS-B module; 4. Motion attitude measurement module; 5. Communication antenna transceiver module; 6. Power supply module; 7. Buoy platform; 8. Data acquisition control module; 9. Data correction module; 10. Hybrid atmospheric waveguide inversion module; 11. Data transmission module. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0057] The present invention provides a floating marine hybrid atmospheric waveguide monitoring device, comprising a buoy platform 7, a communication antenna transceiver module 5 arranged on the buoy platform 7, a multi-band radar module 1, an AIS module 2, an ADS-B module 3, a motion attitude measurement module 4, a data acquisition control module 8, a data correction module 9, a hybrid atmospheric waveguide inversion module 10, a data transmission module 11 and a power supply module 6. Among them, the multi-band radar module 1, the AIS module 2, the ADS-B module 3, the motion attitude measurement module 4, the data acquisition control module 8 belong to the data acquisition part, the data correction module 9 and the hybrid atmospheric waveguide inversion module 10 belong to the data processing part, and the communication antenna transceiver module 5 and the data transmission module 11 belong to the data transmission part.

[0058] like Figure 1 As shown, the communication antenna transceiver module 5, the multi-band radar module 1, the AIS module 2, the ADS-B module 3 and the motion attitude measurement module 4 are fixed on the top of the buoy platform 7; the data acquisition control module 8, the data correction module 9, the hybrid atmospheric waveguide inversion module 10, the data transmission module 11 and the power supply module 6 are installed inside the buoy platform 7.

[0059] The transmitting antenna of the multi-band radar module 1 is a directional antenna; the receiving antennas of the AIS module 2 and the ADS-B module 3 are omnidirectional antennas. To prevent signal interference, the three modules are installed at intervals. The multi-band radar module 1 is installed on the central axis of the buoy platform 7, and the AIS module 2 and the ADS-B module 3 are fixed on both sides of the multi-band radar module 1 and are located in a straight line; the motion attitude measurement module 4 is located on the central axis of the buoy platform 7 and below the multi-band radar module 1, so that the attitude data of the buoy can be measured most accurately, providing accurate data for the subsequent correction of power data; the communication antenna transceiver module 5 is located behind the multi-band radar module 1. The installation height of the AIS module 2 and the ADS-B module 3 should be slightly lower than the transmitting antenna of the multi-band radar. The above settings can greatly avoid the shielding and interference of radar signals and improve the strength and accuracy of radar signals.

[0060] like Figure 2 and Figure 3 As shown, the multi-band radar module 1, the AIS module 2, the ADS-B module 3 and the motion attitude measurement module 4 are all connected to the data acquisition control module 8, the data acquisition control module 8 is connected to the data correction module 9, the data correction module 9 is connected to the hybrid atmospheric waveguide inversion module 10, the hybrid atmospheric waveguide inversion module 10 is connected to the data transmission module 11, the data transmission module 11 is connected to the communication antenna transceiver module 5, and is sent to the shore client through Beidou communication, satellite communication and 4G / 5G communication; the power supply module 6 provides the required electrical energy for the entire device, including but not limited to batteries, solar panels, wind turbines, and fuel cells.

[0061] The functions of each module are as follows:

[0062] The multi-band radar module is based on the adjustable frequency feature and can transmit electromagnetic wave signals of different frequency bands and receive signals scattered back from the sea surface. Secondly, the module utilizes the characteristic that the shaking or lifting of the buoy platform will cause the height of the transmitting antenna to change. Over a period of time, the control circuit adjusts the transmitted radio wave frequency band according to the setting, and obtains sea clutter data of different frequency bands and heights by continuously sending and receiving radar signals.

[0063] The AIS module continuously receives AIS signals transmitted by ships in the detection area, decodes the AIS signals to obtain the longitude, latitude and AIS transmitter model information of the ship, and analyzes the AIS signals to obtain the power of the AIS signals received from the ship; for the AIS module, the obtained receiving power data is identified and classified, and the power data from different positions is processed according to the distance between them and the receiver to obtain a power data that changes with the distance, among which there is one receiving power curve for Class A and one for Class B.

[0064] The ADS-B module continuously receives ADS-B signals from aircraft in the detection area, decodes the ADS-B signals to obtain the longitude, latitude and altitude information of the aircraft, and analyzes the ADS-B signals to obtain the power of the ADS-B signals received from the aircraft at that location. For the ADS-B module, the power data from different locations in the space are integrated according to the distance from the receiver based on the received power data. Secondly, combined with the altitude information corresponding to the received power data, the power values ​​of these locations are bound to their current distance and altitude positions to obtain a scattered data set of ADS-B received power in two-dimensional space.

[0065] The motion attitude measurement module is used to measure the motion characteristics of the buoy platform, including pitch, roll, heave motion attitude data, longitude and latitude parameters and coordinated universal time. Based on the motion attitude data, the real-time height of the transceiver antenna of the multi-band radar module and the receiving antenna of the AIS module and ADS-B module are obtained. It is also used to correct the measurement errors of the multi-band radar sea clutter data and the received AIS and ADS-B signal power caused by the motion attitude of the buoy platform.

[0066] The data acquisition control module acquires sea clutter data for evaporation waveguide inversion and receiving power data for hybrid waveguide inversion of surface waveguide and suspended waveguide in real time, and stores them respectively in a unified format to provide input data for the inversion of hybrid atmospheric waveguide; acquires motion posture data to obtain the height of the multi-band radar module's transceiver antenna, and controls the multi-band radar module through the data acquisition control module to change the electromagnetic wave transmission frequency according to the setting to obtain sea clutter data of different frequencies and heights for multi-target inversion; based on the motion posture data, obtains the real-time height of the receiving antenna of the AIS module and the ADS-B module.

[0067] The data correction module is used to correct the errors in the real sea clutter data of the multi-band radar module and the receiving power data of the AIS module and the ADS-B module caused by the change of the buoy platform attitude. Through continuous simulation experiments, the empirical formula for correcting the sea clutter data and receiving power data under different buoy platform attitude conditions is obtained, thereby obtaining the real sea clutter data and receiving power data when the buoy is in a horizontal state.

[0068] The hybrid atmospheric duct inversion module inverts different types of atmospheric duct profiles according to the measured sea clutter data and received power data, and finally realizes the real-time inversion of the hybrid atmospheric duct profile under the same space-time conditions. The sea clutter data of the multi-band radar is used for the multi-target inversion of the evaporation duct profile. Secondly, based on the inversion results of the evaporation duct profile, the received AIS and ADS-B power data are used to realize the multi-target inversion of the hybrid waveguide of the surface waveguide and the suspended waveguide.

[0069] The present invention also discloses a floating offshore mixed atmosphere waveguide monitoring method, using the above floating offshore mixed atmosphere waveguide monitoring device, such as Figure 4 As shown, the following steps are included:

[0070] Step 1: In each cycle, the multi-band radar module transmits multiple radar signals with the same time interval but different frequency settings as set, and encodes the radar signals to identify and receive the signals it sends itself; after the AIS module is set to the universal frequency, it receives the AIS signals of ships within the measurement range in real time; after the ADS-B module is set to the universal frequency, it receives the ADS-B signals of aircraft within the detection range in real time.

[0071] Step 2: The data acquisition control module controls and processes the multi-band radar module's transmission and reception according to the settings; processes the received AIS and ADS-B signals; and simultaneously receives the information of the motion attitude measurement module at the same time;

[0072] Among them, for the multi-band radar module, the data acquisition control module controls it to change the radar frequency and radio wave encoding method; when the module receives its own radar signal, it will calculate the sea clutter power corresponding to the frequency band according to the radar transmission power and antenna gain setting parameters;

[0073] The AIS module and ADS-B module are set to a common frequency band, and the data acquisition control module receives and analyzes the received signals at all times to obtain the received power. Figure 5 As shown, the AIS received signal data is decoded to obtain the longitude and latitude of the ship signal source and other data information, and then the distance between it and the AIS module is obtained. , analyze the received signal to obtain the received power from the ship signal source; subsequently, according to the receiving distance The receiving power data is sorted according to the distance, and a receiving power data that increases with the distance is obtained. In the above process, two receiving power data of Class A and Class B are obtained according to the different AIS equipment carried by the ship.

[0074] like Figure 6 As shown, the data received by ADS-B is decoded to obtain the latitude, longitude, altitude and other azimuth information of the aircraft signal source, and then the distance between it and the ADS-B module is calculated. , analyze the received signal and combine it with the altitude data to obtain the received power data from the aircraft at that location; subsequently, according to the distance and height data The receiving power data of the ADS-B module at the scattered points in the space is obtained.

[0075] For the motion attitude measurement module, the data acquisition control module constantly obtains the buoy motion attitude data collected by the motion attitude measurement module, including pitch, roll, heave motion attitude data as well as longitude and latitude parameters and coordinated universal time data.

[0076] Step 3: According to the buoy motion attitude data collected by the motion attitude measurement module, the radar sea clutter data and the AIS and ADS-B receiving power data are corrected to obtain the sea clutter data and receiving power data when the buoy is in a horizontal state.

[0077] Step 4: Bring the corrected sea clutter data and received power data into the hybrid atmosphere waveguide inversion model for inversion, wherein the hybrid atmosphere waveguide inversion model includes two parts: the evaporation waveguide inversion model and the hybrid waveguide inversion model. First, based on the evaporation waveguide inversion model, the real sea clutter data is used to invert the evaporation waveguide to obtain the evaporation waveguide profile data below 40 meters. Secondly, based on the hybrid waveguide inversion model, the evaporation waveguide profile data is used as the constraint condition for the hybrid waveguide inversion, and the surface waveguide and the suspended waveguide are inverted based on the received power data based on the atmospheric corrected refractive index at a height of 40 meters. Finally, the hybrid atmosphere waveguide profile data within the time and space range is obtained.

[0078] Step 5: Uniformly encode the waveguide profile data of the hybrid atmospheric waveguide and the longitude and latitude information of the buoy, and send them to the client through Beidou communication, satellite communication and 4G / 5G communication based on the communication antenna transceiver module to realize remote observation of the atmospheric waveguide.

[0079] like Figure 7 As shown in Figure 1, the inversion of the evaporation waveguide includes the following steps:

[0080] First, the multi-band radar module transmits electromagnetic wave signals to the sea surface at intervals according to the set transmission frequency through the transceiver antenna, and receives echo signals of all electromagnetic wave frequencies reflected by the sea surface. During this period, the shaking of the buoy platform will change the transmission height of the transceiver antenna of the multi-band radar module; therefore, the multi-band real radar sea clutter data is obtained by receiving the echo signal. ;in, represents the jth transmitting frequency; represents the height of the i-th transmitting and receiving antenna, represents the real radar sea clutter data obtained at the jth transmission frequency and the ith transceiver antenna height;

[0081] Secondly, the evaporation duct inversion model is used to randomly give a profile to construct the evaporation duct environment, based on the emission frequency corresponding to the real radar sea clutter data. Antenna height The propagation loss in the evaporation waveguide environment is calculated by the PE (parabolic equation) algorithm. Combined with the radar's transmit power and antenna gain data, the simulated radar sea clutter data corresponding to the real radar sea clutter is obtained. in, represents the simulated radar sea clutter data calculated at the jth frequency and the ith transceiver antenna height;

[0082] The evaporation waveguide inversion model is as follows:

[0083] ;

[0084] in, is the height, is the bottom layer height of the evaporation duct, and its value is m, From sea level The atmospheric refractive index at is typically 370.

[0085] The simulated sea clutter data is obtained as follows:

[0086] ;

[0087] in, is the propagation loss calculated by the PE algorithm, in dB. is the horizontal distance between the sea surface and the radar antenna, in km; is the sea clutter scattering coefficient, which can be calculated using the Adjusted Barton model, Adjust Morchin model, GIT model, etc., or can be obtained using the Kirchhoff approximation method, small slope approximation method, moment method, and other electromagnetic scattering calculation methods; is a constant term related to radar parameters such as radar transmit power, antenna gain, antenna pattern and ground grazing angle, in dB, and is calculated as follows;

[0088] ;

[0089] in, is the radar transmit power in dB; and They are the transmit gain and receive gain of the radar antenna, both in dB; is the wavelength of electromagnetic waves, in meters; is the horizontal beam width of the radar antenna, in rad; is the propagation speed of electromagnetic waves, which is the speed of light, and the unit is m / s; is the radar signal pulse width, in s.

[0090] Again, multiple objective functions between real values ​​and simulated values ​​are established ,in represents the objective function established at the jth frequency and the ith transmitting and receiving antenna height;

[0091] The objective function for evaporation duct inversion can be established as:

[0092] ;

[0093] ;

[0094] ;

[0095] ;

[0096] in, It is a single objective function in the multi-objective inversion process. and Real sea clutter and simulated sea clutter The average value of is the normalization factor.

[0097] Finally, the objective function is optimized by the optimization algorithm, the evaporation duct profile is continuously given, and multiple objective functions are calculated based on the evaporation duct environment. When the objective functions are simultaneously optimal or reach the specified number of optimization times, the output is the evaporation duct profile data that is closest to the actual evaporation duct environment.

[0098] like Figure 8 As shown, the inversion of surface waveguide and suspended waveguide includes the following steps:

[0099] First, obtain the received power data of the signal received by the corrected AIS module And the receiving distance corresponding to the received signal ; Get the corrected ADS-B module receiving signal receiving power data And the horizontal receiving distance corresponding to the received signal and the corresponding receiving height ;

[0100] Secondly, based on the evaporation waveguide profile data obtained by the evaporation waveguide inversion model, the atmospheric corrected refractive index at 40m is used as the base, and based on the Monin-Obukhov similarity theory, a hybrid waveguide environment is constructed through a hybrid waveguide model; according to the buoy motion attitude data obtained by the motion attitude measurement module, the height data of the receiving antennas of the AIS module and the ADS-B module from the sea level are obtained in real time. and To set the antenna height in the simulation experiment, the PE algorithm is used to calculate the antenna height and the electromagnetic wave propagation loss at the corresponding electromagnetic wave frequency, and the simulated receiving power data is obtained by combining the transmission power of the AIS module and the ADS-B module and the antenna gain data;

[0101] For the hybrid waveguide of the surface waveguide and the suspended waveguide, the hybrid waveguide environment is constructed based on the evaporation waveguide profile data obtained by inversion and the hybrid waveguide profile construction model. Among them, the height of the evaporation waveguide is mostly below 40m, and the surface waveguide and the suspended waveguide are higher than the evaporation waveguide. Therefore, based on the temporal and spatial distribution characteristics, when the hybrid waveguide profile is inverted, the atmospheric correction refractive index profile at 40m and below is determined by the evaporation waveguide inversion model, and the subsequent atmospheric waveguide is inverted based on the atmospheric correction refractive index at 40m. Therefore, the atmospheric waveguide profile construction model formula of the hybrid model is:

[0102] ;

[0103] in, Evaporation duct profile data obtained from the evaporation duct inversion model; is the atmospheric corrected refractive index data value at 40m, , , is the slope; z is the height; is the height of the waveguide bottom layer; is the height of the waveguide top layer; Represents the value of the atmospheric corrected refractive index at altitude.

[0104] By establishing the above hybrid waveguide profile model, a hybrid waveguide environment is constructed. Since the evaporative waveguide has a strong influence on signals above 1GHz. Therefore, this device uses the AIS module's Class A and Class B receiving power data and the ADS-B receiving power to perform multi-target inversion on the atmospheric waveguide above 40m. Although both use international common frequency bands, for the AIS module, the types of AIS devices carried by different ships are different. Therefore, the AIS module Class A and Class B receiving power data and the ADS-B receiving power data are used to establish a multi-target function.

[0105] Again, for the AIS module receiving power data, according to the set antenna height data, select the corresponding height of the simulated receiving power data , establish the actual received power data at this height Simulated received power data The objective function between the two; among them, due to the difference in AIS transmission power and antenna gain data between Class A and Class B, two objective functions are established for Class A AIS data and Class B AIS data respectively; for the ADS-B module receiving power data, the simulated receiving power at the corresponding receiving height and receiving distance in the two-dimensional plane is selected The actual received power Establish the objective function.

[0106] For the establishment of the objective function, the actual receiving power is obtained by receiving signals from other signal transmitters. Only the one-way simulated receiving electromagnetic wave loss is obtained by PE calculation. Then, the simulated receiving power is obtained through the industry standard radar gain data to establish the objective function between the actual receiving power and the simulated receiving power.

[0107] Among them, for AIS receiving data, the installation position of AIS on the ship is roughly the same. The receiving antenna height corresponding to the actual receiving power is obtained in combination with the attitude data of the buoy. The receiving power data is obtained through PE according to the antenna height, and the simulated receiving power at this height is selected to establish the objective function with the actual receiving power. For the establishment of two objective functions of AIS receiving power data of Class A and Class B, the present invention uses the correlation between the simulated receiving power and the actual receiving power data curve as an example to establish the objective function as follows:

[0108] ;

[0109] ;

[0110] ;

[0111] ;

[0112] ;

[0113] ;

[0114] Among them, m and n represent the number of class A and class B receiving power data, respectively. Indicates AIS receiving data of Class A The average value of Indicates that it is receiving Class B AIS data The average value of and They represent the simulated received power values ​​of class A and class B respectively; r is the Pearson correlation coefficient. As an objective function, its value range is between -1 and 1. The closer it is to 0, the worse the correlation is. A value close to 1 indicates a positive correlation, and a value close to -1 indicates a negative correlation. and They are the objective functions established based on Class A and Class B AIS receiving power data respectively.

[0115] For ADS-B receiving data, due to industry regulations, the transmission gain of aircraft is basically the same, so the root mean square error is used as an example to establish the objective function :

[0116] ;

[0117] Finally, the hybrid waveguide environment is continuously constructed through optimization algorithms (including deep learning, genetic algorithm or particle swarm algorithm) to optimize the three objective functions. When each objective function reaches the optimal solution or reaches the optimization limit, the optimal hybrid waveguide profile and its characteristic data are output. The atmospheric corrected refractive index value at the top 40m of the evaporation waveguide is used as the bottom layer of the hybrid waveguide. Based on the spatiotemporal distribution, the hybrid waveguide profile information that is closest to the actual sea conditions is finally obtained.

[0118] The device and method of the present invention can also be applied to fixed platforms at the seaside. There is no need to set up a motion attitude measurement module or perform attitude correction. The height of the transmitting antenna can be controlled by a motor to obtain sea clutter data of different frequency bands and different heights.

[0119] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A floating offshore hybrid atmospheric waveguide monitoring device, characterized in that: It includes a buoy platform, a communication antenna transceiver module, a multi-band radar module, an AIS module, an ADS-B module, a motion attitude measurement module, a data acquisition control module, a data correction module, a hybrid atmospheric waveguide inversion module, a data transmission module and a power supply module arranged on the buoy platform; the communication antenna transceiver module, the multi-band radar module, the AIS module, the ADS-B module and the motion attitude measurement module are fixed on the top of the buoy platform; the data acquisition control module, the data correction module, the hybrid atmospheric waveguide inversion module, the data transmission module and the power supply module are installed inside the buoy platform; The multi-band radar module, AIS module, ADS-B module and motion attitude measurement module are all connected to the data acquisition control module, the data acquisition control module is connected to the data correction module, the data correction module is connected to the hybrid atmospheric waveguide inversion module, the hybrid atmospheric waveguide inversion module is connected to the data transmission module, the data transmission module is connected to the communication antenna transceiver module, and is sent to the shore client through Beidou communication, satellite communication and 4G / 5G communication; the power supply module provides the required power for the entire device; The multi-band radar module can transmit electromagnetic wave signals of different frequency bands and receive signals scattered back from the sea surface based on the adjustable frequency characteristics; secondly, by utilizing the characteristic that the shaking or lifting of the buoy platform will cause the height of the transmitting antenna to change, the control circuit adjusts the transmitted radio wave frequency band according to the setting within a period of time, and obtains sea clutter data of different frequency bands and different heights by continuously sending and receiving radar signals; The AIS module continuously receives AIS signals transmitted by ships in the detection area, decodes the AIS signals to obtain the longitude, latitude and AIS transmitter model information of the ship, and analyzes the AIS signals to obtain the power of the AIS signals received from the ship; The ADS-B module continuously receives ADS-B signals from aircraft in the detection area, decodes the ADS-B signals to obtain the longitude, latitude and altitude information of the aircraft; and analyzes the ADS-B signals to obtain the power of the ADS-B signals received from the aircraft at that location; The motion attitude measurement module is used to measure the motion characteristics of the buoy platform, including pitch, roll, heave motion attitude data, longitude and latitude parameters and coordinated universal time, and obtain the real-time height of the transceiver antenna of the multi-band radar module and the receiving antenna of the AIS module and the ADS-B module based on the motion attitude data; it is also used to correct the measurement errors of the multi-band radar sea clutter data and the received AIS and ADS-B signal power caused by the motion attitude of the buoy platform; The data acquisition control module acquires sea clutter data for evaporation waveguide inversion and receiving power data for hybrid waveguide inversion of surface waveguide and suspended waveguide in real time, and stores them respectively in a unified format to provide input data for the inversion of hybrid atmospheric waveguide; acquires motion posture data to obtain the height of the transceiver antenna of the multi-band radar module, and controls the multi-band radar module to change the electromagnetic wave transmission frequency according to the setting through the data acquisition control module to acquire sea clutter data of different frequencies and heights for multi-target inversion; obtains the real-time height of the receiving antenna of the AIS module and the ADS-B module based on the motion posture data; The data correction module is used to correct the errors of the real sea clutter data of the multi-band radar module and the receiving power data of the AIS module and the ADS-B module caused by the change of the buoy platform posture. Through continuous simulation experiments, the correction empirical formulas for the sea clutter data and the receiving power data under different buoy platform posture conditions are obtained, thereby obtaining the real sea clutter data and the receiving power data when the buoy is in a horizontal state; The hybrid atmospheric duct inversion module inverts different types of atmospheric duct profiles according to the measured sea clutter data and the received power data, and finally realizes the real-time inversion of the hybrid atmospheric duct profile under the same space-time conditions, wherein the sea clutter data of the multi-band radar is used for the multi-target inversion of the evaporation duct profile; secondly, based on the inversion result of the evaporation duct profile, the received AIS and ADS-B power data are used to realize the multi-target inversion of the hybrid waveguide of the surface waveguide and the suspended waveguide.

2. A floating offshore hybrid atmospheric waveguide monitoring device according to claim 1, characterized in that: The multi-band radar module is installed on the central axis of the buoy platform, the AIS module and the ADS-B module are fixed on both sides of the multi-band radar module, the motion attitude measurement module is located on the central axis of the buoy platform and below the multi-band radar module; the communication antenna transceiver module is located behind the multi-band radar module.

3. A floating offshore hybrid atmospheric waveguide monitoring device according to claim 1, characterized in that: The transceiver antenna of the multi-band radar module is a directional antenna; the receiving antenna of the AIS module and the ADS-B module is an omnidirectional antenna.

4. A floating offshore hybrid atmosphere duct monitoring method, using a floating offshore hybrid atmosphere duct monitoring device as claimed in claim 1, 2 or 3, characterized in that: The steps include: Step 1: In each cycle, the multi-band radar module transmits multiple radar signals with the same time interval but different frequency settings according to the settings, and encodes the radar signals to identify and receive the signals sent by itself; after the AIS module is set to the universal frequency, it receives the AIS signals of ships within the measurement range in real time; after the ADS-B module is set to the universal frequency, it receives the ADS-B signals of aircraft within the detection range in real time; Step 2: The data acquisition control module controls and processes the multi-band radar module's transmission and reception according to the settings; processes the received AIS and ADS-B signals; and simultaneously receives the information of the motion attitude measurement module at the same time; Among them, for the multi-band radar module, the data acquisition control module controls it to change the radar frequency and radio wave encoding method; when the module receives its own radar signal, it will calculate the sea clutter power corresponding to the frequency band according to the radar transmission power and antenna gain setting parameters; For the AIS module, the data acquisition control module decodes and analyzes the AIS signal received by the AIS module and selects two types of receiving data, Class A and Class B, as well as the ship position information corresponding to different signals and the receiving power at the position; based on the two types of AIS transmitting devices, Class A and Class B, the receiving power is screened according to different receiving distances, and two types of receiving power data of Class A and Class B are obtained, which change continuously with the increase of receiving distance; For the ADS-B module, the data acquisition control module decodes and analyzes the ADS-B signal received by the ADS-B module and obtains the latitude, longitude and altitude data of the aircraft, and obtains the receiving power data at the location based on the location information of the aircraft corresponding to different signals; For the motion attitude measurement module, the data acquisition control module constantly acquires the buoy motion attitude data collected by the motion attitude measurement module, including pitch, roll, heave motion attitude data, longitude and latitude parameters and coordinated universal time data; Step 3: According to the buoy motion attitude data collected by the motion attitude measurement module, the radar sea clutter data and the AIS and ADS-B receiving power data are corrected; Step 4: Bring the corrected sea clutter data and received power data into the hybrid atmospheric waveguide inversion model for inversion, wherein the hybrid atmospheric waveguide inversion model includes two parts: an evaporation waveguide inversion model and a hybrid waveguide inversion model. First, based on the evaporation waveguide inversion model, the real sea clutter data is used to invert the evaporation waveguide to obtain the evaporation waveguide profile data below 40 meters. Secondly, based on the hybrid waveguide inversion model, the evaporation waveguide profile data is used as a constraint condition for the hybrid waveguide inversion, and the surface waveguide and the suspended waveguide are inverted based on the received power data based on the atmospheric corrected refractive index at a height of 40 meters. Finally, the hybrid atmospheric waveguide profile data within the monitoring range of the monitoring device is obtained. Step 5: Uniformly encode the waveguide profile data of the hybrid atmospheric waveguide and the longitude and latitude information of the buoy, and send them to the client through Beidou communication, satellite communication and 4G / 5G communication based on the communication antenna transceiver module to realize remote observation of the atmospheric waveguide.

5. A floating offshore hybrid atmospheric waveguide monitoring method according to claim 4, characterized in that: The inversion of the evaporation duct includes the following steps: First, the multi-band radar module transmits electromagnetic wave signals to the sea surface at intervals according to the set transmission frequency through the transceiver antenna, and receives echo signals of all electromagnetic wave frequencies reflected by the sea surface. During this period, the shaking of the buoy platform will change the transmission height of the transceiver antenna of the multi-band radar module; therefore, the multi-band real radar sea clutter data is obtained by receiving the echo signal. ;in, represents the jth transmitting frequency; represents the height of the i-th transmitting and receiving antenna, represents the real radar sea clutter data obtained at the jth transmission frequency and the ith transceiver antenna height; Secondly, the evaporation duct inversion model is used to randomly give a profile to construct the evaporation duct environment, based on the emission frequency corresponding to the real radar sea clutter data. Antenna height The propagation loss in the evaporation waveguide environment is calculated by the PE algorithm, and the simulated radar sea clutter data corresponding to the real radar sea clutter is obtained by combining the radar transmission power and antenna gain data. in, represents the simulated radar sea clutter data calculated at the jth frequency and the ith transceiver antenna height; Again, multiple objective functions between real values ​​and simulated values ​​are established ,in represents the objective function established at the jth frequency and the ith transmitting and receiving antenna height; Finally, the objective function is optimized by the optimization algorithm, the evaporation duct profile is continuously given, and multiple objective functions are calculated based on the evaporation duct environment. When the objective functions are simultaneously optimal or reach the specified number of optimization times, the output is the evaporation duct profile data that is closest to the actual evaporation duct environment.

6. A floating offshore hybrid atmospheric waveguide monitoring method according to claim 4, characterized in that: The inversion of surface waveguides and suspended waveguides includes the following steps: First, obtain the received power data of the signal received by the corrected AIS module And the receiving distance corresponding to the received signal ; Get the corrected ADS-B module receiving signal receiving power data And the horizontal receiving distance corresponding to the received signal and the corresponding receiving height ; Secondly, based on the evaporation waveguide profile data obtained by the evaporation waveguide inversion model, the atmospheric corrected refractive index at 40m is used as the base, and based on the Monin-Obukhov similarity theory, a hybrid waveguide environment is constructed through a hybrid waveguide model; according to the buoy motion attitude data obtained by the motion attitude measurement module, the height data of the receiving antennas of the AIS module and the ADS-B module from the sea level are obtained in real time. and To set the antenna height in the simulation experiment, the PE algorithm is used to calculate the antenna height and the electromagnetic wave propagation loss at the corresponding electromagnetic wave frequency, and the simulated receiving power data is obtained by combining the transmission power of the AIS module and the ADS-B module and the antenna gain data; Again, for the AIS module receiving power data, according to the set antenna height data, select the corresponding height of the simulated receiving power data , establish the actual received power data at this height Simulated received power data The objective function between the two; among them, due to the difference in AIS transmission power and antenna gain data between Class A and Class B, two objective functions are established for Class A AIS data and Class B AIS data respectively; for the ADS-B module receiving power data, the simulated receiving power at the corresponding receiving height and receiving distance in the two-dimensional plane is selected The actual received power Establish the objective function; Finally, the hybrid waveguide environment is continuously constructed through the optimization algorithm to optimize the three objective functions. When each objective function reaches the optimal solution or reaches the optimization limit, the optimal hybrid waveguide profile and its characteristic data are output. The atmospheric corrected refractive index value at 40m at the top layer of the evaporation waveguide is used as the bottom layer of the hybrid waveguide. Based on the spatiotemporal distribution, the hybrid waveguide profile information that is closest to the actual sea conditions is finally obtained.

7. A floating offshore hybrid atmospheric waveguide monitoring method according to claim 5 or 6, characterized in that: The optimization algorithm includes deep learning, genetic algorithm or particle swarm algorithm.

8. A floating offshore hybrid atmospheric duct monitoring method according to claim 6, characterized in that: For the receiving power of the AIS module, there are two ways to establish the objective function: one is to ignore the slight differences in the transmitting power and antenna gain data of the same type of AIS modules on different ships, and use the root mean square error and average error mathematical comparison model between the received power and the simulated received power as the objective function; the other is to consider the differences in the same type of AIS modules on different ships, and use the data correlation mathematical comparison model between the received power and the simulated received power as the objective function; for the receiving power data of the ADS-B module, the root mean square error mathematical model is used as the objective function.

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