A multi-link communication method, system, device, product and medium for unmanned boat

Abstract

The present invention relates to the field of intelligent boat communication technology, and provides an unmanned boat multi-link communication method, system, equipment, product and medium, the method comprising: obtaining the communication requirements of the unmanned boat, and building a boat-shore communication network according to the communication requirements; selecting communication equipment, and connecting the communication equipment to the boat-shore communication network; determining the typical working data and working mode set of the boat-shore communication network, obtaining hydrological and meteorological communication status data, and constructing a multi-objective optimization decision function; obtaining the communication data of the unmanned boat, obtaining a communication request, obtaining working data, substituting the working data and the communication request into the multi-objective optimization decision function, and obtaining a composite communication link and a target working mode; selecting a target communication device through the composite communication link and the target working mode, and completing the communication through the target communication device and the boat-shore communication network. The present invention effectively improves the reliability and anti-interference ability of the unmanned boat communication.

Description

Technical Field

[0001] The present invention relates to the field of intelligent boat communication technology, and in particular to an unmanned boat multi-link communication method, system, equipment, product and medium. Background Art

[0002] Reliable communication technology is one of the key technologies in the field of contemporary surface unmanned boats, and it is also the basic guarantee technology to ensure that surface unmanned boats can autonomously and safely navigate and complete tasks. Typical tasks of surface unmanned boats mainly include law enforcement evidence collection, surveying and mapping, and security patrols; in this process, the whole process profile of the unmanned boat from starting, sailing, mission execution, returning to stopping requires the intervention of the communication system, and the demand for the communication system is dynamically changing, and stable and reliable communication is required at all stages to ensure the completion of the task. At present, the communication system of surface unmanned boats has not formed a relatively mature and standardized multi-link communication method. Most of them adopt a relatively single configuration according to the needs of specific surface unmanned boats and carry out single-link communication; although some are equipped with more comprehensive communication equipment, they only select a single communication equipment for communication in a fixed format and method according to needs, and fail to flexibly select communication methods and communication links according to needs, and fail to give full play to the advantages brought by more comprehensive communication equipment. In addition, its adaptability to beyond-line-of-sight operations, changes in the marine meteorological environment, and signal interference also needs to be improved. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a multi-link communication method, system, device, product and medium for an unmanned boat, which realizes multi-link communication between the unmanned boat and a land communication base station on the shore, improves the reliability and anti-interference ability of the communication system, and can flexibly select the working mode and communication link according to the meteorological environment, the data content of the communication, etc.

[0004] The present invention provides an unmanned boat multi-link communication method, comprising:

[0005] S1: predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs;

[0006] S2: Selecting a communication device according to the boat-shore communication network, and connecting the communication device to the boat-shore communication network;

[0007] S3: Determine typical working data of the boat-shore communication network and a set of working modes of the boat-shore communication network, obtain hydrological and meteorological communication status data and meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the set of working modes;

[0008] S4: Acquire the communication data of the unmanned boat, analyze and extract the communication data to obtain a communication request, the boat-shore communication network obtains working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains a composite communication link and a target working mode through calculation;

[0009] S5: Select a target communication device through the composite communication link and the target working mode, and complete communication through the target communication device and the boat-shore communication network.

[0010] According to a multi-link communication method for an unmanned boat provided by the present invention, step S1 further comprises:

[0011] S11: predicting the communication demand of the unmanned boat, and analyzing the communication demand of the unmanned boat to obtain bandwidth demand and priority demand;

[0012] S12: Building the ship-to-shore communication network according to the bandwidth requirement and the priority requirement; wherein the ship-to-shore communication network includes a link transmission layer, a communication status management layer and a communication decision layer, and the communication decision layer, the communication status management layer and the link transmission layer are connected in sequence.

[0013] According to a multi-link communication method for an unmanned boat provided by the present invention, step S3 further comprises:

[0014] S31: Determine the working mode set, obtain the hydrological and meteorological communication status data, conduct experiments on the communication equipment through the communication status management layer, obtain the typical working data and meteorological and hydrological data, and import the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the working mode set into the communication decision layer;

[0015] S32: Select a multiple linear regression function, and fit the multiple linear regression function, the meteorological and hydrological data, the typical working data, and the hydrological and meteorological communication status data to obtain a first objective function. , a second objective function is obtained by fitting the multivariate linear regression function, the meteorological and hydrological data, the working mode set and the hydrological and meteorological communication status data. , through the first objective function And the second objective function Construct the multi-objective optimization decision function.

[0016] According to a multi-link communication method for an unmanned boat provided by the present invention, step S4 further comprises:

[0017] S41: acquiring the communication data of the unmanned boat in the link transmission layer, sending the communication data to the communication status management layer, and analyzing and extracting the communication data to obtain the communication request; the communication status management layer monitors the link transmission layer to obtain the working data;

[0018] S42: importing the working data and the communication request into a communication decision layer;

[0019] S43: In the communication decision layer, the work data and the communication request are respectively introduced into the first objective function of the multi-objective optimization decision function And the second objective function , the composite communication link and the target working mode are obtained by calculating through the multi-objective optimization decision function, and the specific form of the multi-objective optimization decision function is as follows:

[0020]

[0021] in, is the input vector, including working data and communication requests, is the output vector, including the composite communication link and the target working mode, () is a variable, indicating that the independent variable is When , the calculation result in the variable takes the maximum value.

[0022] According to a multi-link communication method for an unmanned boat provided by the present invention, step S5 further comprises:

[0023] S51: importing the composite communication link and the target working mode into the communication state management layer, in which the communication data is screened according to the target working mode to obtain target communication data; generating a communication link selection signal according to the composite communication link; the communication state management layer imports the target communication data and the communication link selection signal into the link transmission layer;

[0024] S52: The link transmission layer selects the target communication device according to the communication link selection signal, and sends the target communication data through the target communication device.

[0025] According to a multi-link communication method for an unmanned boat provided by the present invention, the meteorological and hydrological data include the electron concentration of the atmospheric ionosphere, the impedance characteristics of the evaporation waveguide, the sea surface reflection coefficient and the wave height.

[0026] The present invention also provides an unmanned boat multi-link communication system, comprising:

[0027] Boat-shore communication network module: used to predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs;

[0028] Communication device module: used for selecting communication device according to the boat-shore communication network, and connecting the communication device to the boat-shore communication network;

[0029] Multi-objective optimization decision function module: used to determine the typical working data of the boat-shore communication network and the working mode set of the boat-shore communication network, obtain hydrological and meteorological communication status data and meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the working mode set;

[0030] Communication mode decision module: used for acquiring communication data of the unmanned boat, analyzing and extracting the communication data to obtain communication requests, the boat-shore communication network obtains working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains a composite communication link and a target working mode through calculation;

[0031] Communication module: used to select the target communication device through the composite communication link and the target working mode, and complete the communication through the target communication device and the boat-shore communication network.

[0032] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of a multi-link communication method for an unmanned boat as described in any one of the above are implemented.

[0033] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the unmanned boat multi-link communication method as described in any one of the above are implemented.

[0034] The present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the steps of any of the above-mentioned unmanned boat multi-link communication methods.

[0035] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0036] The present invention provides a multi-link communication method, system, device, product and medium for unmanned boats. By using multi-link communication, sufficient redundancy is provided for communication, and the reliability of communication is effectively guaranteed. The flexible combination of multiple working modes and composite communication links provides multiple options for the communication of unmanned boats, so that it can adapt to various meteorological conditions, communication environments and working conditions, and improves the anti-interference ability. The multiple working modes also enable the present invention to flexibly select the content and format of communication as needed.

[0037] The present invention effectively integrates and dispatches various communication devices carried by the unmanned boat, so that they can perform their respective functions and cooperate with each other, thereby achieving full utilization of the various communication devices.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 The present invention is a flowchart of a multi-link communication method for an unmanned boat.

[0041] Figure 2 It is a structural schematic diagram of a link transmission layer, a communication state management layer and a communication decision layer of a multi-link communication method for an unmanned boat provided by the present invention.

[0042] Figure 3 It is a structural schematic diagram of an unmanned boat multi-link communication system provided by the present invention.

[0043] Figure 4 It is a structural schematic diagram of a multi-link communication device for an unmanned boat provided by the present invention.

[0044] Reference numerals:

[0045] 100, boat-shore communication network module; 200, communication equipment module; 300, multi-objective optimization decision function module; 400, communication mode decision module; 500, communication module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0047] In the description of the embodiments of the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0048] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0050] Combine the following Figures 1 to 4 Describing embodiments of the present invention:

[0051] Figure 1 A flow chart of a multi-link communication method for an unmanned boat provided by the present invention, wherein S1 is to build a boat-shore communication network; S2 is to select and install communication equipment; S3 is to construct a multi-objective optimization decision function; S4 is to calculate a composite communication link and a target working mode; and S5 is to complete the communication.

[0052] The present invention provides an unmanned boat multi-link communication method, comprising:

[0053] S1: predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs;

[0054] Furthermore, the purpose of this stage is to obtain and analyze the communication requirements of the unmanned boat, and to build a boat-shore communication network suitable for the unmanned boat according to the communication requirements of the unmanned boat, wherein step S1 further includes:

[0055] S11: predicting the communication demand of the unmanned boat, and analyzing the communication demand of the unmanned boat to obtain bandwidth demand and priority demand;

[0056] S12: Building the ship-to-shore communication network according to the bandwidth requirement and the priority requirement; wherein the ship-to-shore communication network includes a link transmission layer, a communication status management layer and a communication decision layer, and the communication decision layer, the communication status management layer and the link transmission layer are connected in sequence.

[0057] With respect to the above steps, the specific implementation methods in this embodiment are as follows:

[0058] First, the type of tasks performed by the unmanned boat, the type of sensors carried, the model of the unmanned boat and other information are obtained. Based on this information, the data type and data size transmitted during the communication process of the unmanned boat are predicted, and the data type and data size are used as the communication requirements of the unmanned boat. Then, the communication requirements are analyzed to obtain the bandwidth requirements and priority requirements of the unmanned boat communication. For example, in this embodiment, the data volume of panoramic video, navigation radar echo, and meteorological instrument measurement data is large, so the bandwidth requirements are high, but these types of data do not need to be exchanged and processed in real time, and the transmission frequency is also low, so the real-time requirements are low. Although the data volume of single data such as control instructions between boats and shores and the motion status of unmanned boats is small, the number of data generated is large, so the bandwidth requirements are moderate. These types of data need to be exchanged and processed in real time at a higher frequency, so the real-time requirements are high; the health status of the unmanned boat, including the operating status and location information of each subsystem, is small and does not need to be exchanged and processed in real time, and the transmission frequency is also low, so the real-time requirements are low.

[0059] Subsequently, the ship-shore communication network is built according to the bandwidth requirements and priority requirements. The ship-shore communication network includes a link transmission layer, a communication status management layer and a communication decision layer. Among them, the link transmission layer includes interfaces selected according to communication requirements and communication conditions (such as communication distance, natural environment of the communication area) for connecting with various communication equipment, such as satellite communication link interface, microwave communication link interface, ultra-short wave communication link interface and Beidou short message communication link interface. When the amount of high-priority data is large, the interface of the communication equipment used for high-bandwidth communication can be selected for priority. The communication status management layer includes a communication management module, which includes communication requirements. The communication management module can monitor the status of each communication link, encrypt and filter the communication data, set the parameters of the communication equipment and generate a communication link selection signal according to the composite communication link. The communication decision layer includes communication decision software, which can construct a multi-objective optimization decision function, and complete the judgment of the target working mode according to the communication signal-to-noise ratio, communication speed, hydrological and meteorological communication data and other information, and select the appropriate communication link. The structure of the link transmission layer, the communication status management layer and the communication decision layer is as follows: Figure 2 shown.

[0060] S2: Selecting a communication device according to the boat-shore communication network, and connecting the communication device to the boat-shore communication network;

[0061] Furthermore, the purpose of this stage is to select a communication device that matches the link transmission layer and connect the communication device to the corresponding interface in the link transmission layer. In this embodiment, the communication device is a microwave communication device, an ultra-short wave radio, a satellite communication antenna, and a Beidou navigation terminal device, and these communication devices are connected to the corresponding interfaces in the link transmission layer in sequence.

[0062] S3: Determine typical working data of the boat-shore communication network and a set of working modes of the boat-shore communication network, obtain hydrological and meteorological communication status data and meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the set of working modes;

[0063] Furthermore, the purpose of this stage is to obtain meteorological and hydrological data, typical working data, working mode set and hydrological and meteorological communication status data of the ship-to-shore communication network, and to obtain a multi-objective optimization decision function by computer fitting the meteorological and hydrological data, typical working data, hydrological and meteorological communication status data and working mode. Among them, step S3 further includes:

[0064] S31: Determine the working mode set, obtain the hydrological and meteorological communication status data, conduct experiments on the communication equipment through the communication status management layer, obtain the typical working data and meteorological and hydrological data, and import the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the working mode set into the communication decision layer;

[0065] S32: Select a multiple linear regression function, and fit the multiple linear regression function, the meteorological and hydrological data, the typical working data, and the hydrological and meteorological communication status data to obtain a first objective function. , a second objective function is obtained by fitting the multivariate linear regression function, the meteorological and hydrological data, the working mode set and the hydrological and meteorological communication status data. , through the first objective function And the second objective function Construct the multi-objective optimization decision function.

[0066] With respect to the above steps, the specific implementation methods in this embodiment are as follows:

[0067] First, determine the working mode set, which includes various working modes for implementing communication. In different working modes, the communication format, the content included in the communication, and the bandwidth occupied by the communication are all different. In this embodiment, the various working modes included in the working mode set, their communication formats, the content included in the communication, and the bandwidth occupied by the communication are shown in Table 1:

[0068] Table 1 Working mode table included in the working mode set

[0069]

[0070] Among them, the simplified data packet is the communication content and format contained in the simplified data mode, the basic data packet is the communication content and format contained in the basic data mode, and the communication format is the content and order of the communication recorded in the "Communication Format and Content" column of Table 1.

[0071] Then, data on the impact of different weather and hydrological conditions on communication are obtained from the onboard database, and these data are used as hydrological and meteorological communication status data. At the same time, the communication status management layer will send a signal to the link transmission layer, thereby sending a test signal through the communication equipment and establishing communication to conduct a communication experiment. In this embodiment, the test signal is divided into four sections, which correspond to the four working modes included in the working mode set in turn. At this time, the communication status management layer will monitor the link transmission layer to determine the typical working data under the current communication conditions, that is, the link status and signal-to-noise ratio under each working mode. In addition, during the experiment, it is also necessary to obtain weather radar data and other weather and hydrological related data as well as weather forecast information received by the unmanned boat and other weather and hydrological related information, so as to obtain meteorological and hydrological data. The meteorological and hydrological data include atmospheric ionosphere electron concentration, evaporation waveguide impedance characteristics, sea surface reflection coefficient, wave height and other weather data that affect communication distance, communication quality and signal strength.

[0072] Subsequently, typical working data, meteorological and hydrological data, hydrological and meteorological communication status data and working mode set are introduced into the communication decision layer, and the first objective function is obtained by computer fitting through typical working data, meteorological and hydrological data and hydrological and meteorological communication status data. ; The second objective function is obtained by computer fitting the working mode set, meteorological and hydrological data, and hydrological and meteorological communication status data . In this embodiment, the software used for computer fitting is MATLAB. Here, firstly, a function fitting tool is selected from MATLAB. Since the form of parameters such as meteorological and hydrological data is relatively flexible and the parameters are relatively rich, the first objective function and the second objective function both use the multivariate linear regression function as the function fitting tool. Then, according to experience, appropriate fitting parameters are set for the function fitting tool, and then the relevant experimental data obtained from the experiment and the historical data obtained in the existing unmanned boat communication process are input into the function fitting tool, and the function fitting tool is used for fitting to obtain and And construct a multi-objective optimization decision function. In this embodiment, since the first objective function and the second objective function are of equal importance, The weight is 0.5, The weight is 0.5. Constructing a multi-objective optimization decision function through computer fitting can flexibly generate a multi-objective optimization decision function that meets the needs according to the changes in the environment, communication equipment and requirements.

[0073] S4: Acquire the communication data of the unmanned boat, analyze and extract the communication data to obtain a communication request, the boat-shore communication network obtains working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains a composite communication link and a target working mode through calculation;

[0074] Furthermore, the purpose of this stage is to obtain a composite communication link and a target working mode through working data and communication requests, so as to complete communication through the composite communication link and the target working mode in the future. Among them, step S4 further includes:

[0075] S41: acquiring the communication data of the unmanned boat in the link transmission layer, sending the communication data to the communication status management layer, and analyzing and extracting the communication data to obtain the communication request; the communication status management layer monitors the link transmission layer to obtain the working data;

[0076] S42: importing the working data and the communication request into a communication decision layer;

[0077] S43: In the communication decision layer, the work data and the communication request are respectively introduced into the first objective function of the multi-objective optimization decision function And the second objective function , the composite communication link and the target working mode are obtained by calculating through the multi-objective optimization decision function, and the specific form of the multi-objective optimization decision function is as follows:

[0078]

[0079] in, is the input vector, including working data and communication requests, is the output vector, including the composite communication link and the target working mode, () is a variable, indicating that the independent variable is When , the calculation result in the variable takes the maximum value.

[0080] With respect to the above steps, the specific implementation methods in this embodiment are as follows:

[0081] First, the link transmission layer reads the communication data of the unmanned boat and sends the communication data to the communication status management layer. Then, the communication data is analyzed, that is, the communication data is analyzed and extracted, and the type and communication priority of each data are determined, so as to analyze the bandwidth occupancy and obtain the communication request. The communication status management layer also monitors the communication signal-to-noise ratio, link connection status and other data of the link transmission layer to obtain the working data. After obtaining the working data, meteorological and hydrological data and communication request, they are imported into the communication decision layer.

[0082] The specific form of the multi-objective optimization decision function is as follows:

[0083]

[0084] in, is the input vector, including working data and communication requests, is the output vector, including the composite communication link and the target working mode, () indicates a variable, that is, the independent variable is When , the calculation result in the variable is maximized. In this embodiment, the modulus of the output vector is maximized. Here, the composite communication link includes both a communication link using a single communication device and a communication link using multiple communication devices.

[0085] In this embodiment, When the composite communication link is available, that is, when the communication distance limit and communication bandwidth limit of the composite communication link are met; in the fitting process, first determine the hydrometeorological correction coefficient based on the hydrometeorological communication status data and the meteorological and hydrological data, then compare the typical working data and the meteorological and hydrological data with the relevant experimental data obtained from the experiment and the historical data obtained in the existing unmanned boat communication process, find the relevant experimental data and historical data including the output vector and the link signal-to-noise ratio coefficient that work under the typical working data and have similar meteorological and hydrological data, and input them into the function fitting tool, so as to establish a set of linear equations and solve them to obtain preliminary fitting results. Since the set of equations may not have a unique solution and may not fully meet the requirements, the preliminary fitting results can be obtained by selecting and adjusting the fitting parameters set according to experience. According to the fitting results, the microwave communication mode link value can be set to 1·η, the satellite communication mode link value to 0.8·η, the ultra-short wave communication mode link value to 0.5·η, and the short message communication mode value to 0.3·η; when the link is unavailable according to the working data, the corresponding value is 0; when two or more links are available at the same time according to the working data, It is the sum of two or more link weights. Among them, η is the link signal-to-noise ratio coefficient, η=SNR / 30dB·μ, and SNR is the signal-to-noise ratio of the link in the working data. When SNR≥30dB, it is considered that the communication quality is high at this time, η=1; when SNR<10dB, it is considered that the signal-to-noise ratio is too large to communicate at this time, η=0, 10dB≤SNR<30dB, μ is the hydrometeorological correction coefficient determined according to the hydrometeorological communication status data and meteorological and hydrological data, and the value is corrected according to past experience and experiments.

[0086] In the fitting process, the hydrometeorological correction coefficient is first determined according to the hydrometeorological communication status data and the meteorological and hydrological data. Then, the working mode set and the meteorological and hydrological data are compared with the relevant experimental data obtained from the experiment and the historical data obtained in the existing unmanned boat communication process. The relevant experimental data and historical data including the output vector and the hydrometeorological correction coefficient that cover the working mode set and have similar meteorological and hydrological data are found and input into the function fitting tool, so as to establish a set of linear equations and solve them to obtain preliminary fitting results. Since the set of equations may not have a unique solution and may not fully meet the requirements, the preliminary fitting results can be obtained by selecting and adjusting the fitting parameters set according to experience. The fitting result. When the bandwidth of the communication request is less than or equal to the communication bandwidth limit of the data mode; according to the fitting results, the standard data mode value can be set to 1·μ, the basic data mode value to 0.77·μ, the simplified data mode value to 0.53, and the minimalist data mode value to 0.36. Otherwise, the value is 0 and the values ​​of each data mode are added. Among them, since the standard data mode and the basic data mode are greatly affected by the hydrological and meteorological conditions, it is necessary to retain the hydrological and meteorological correction coefficient to ensure communication reliability.

[0087] In an optional implementation, in the process of obtaining the composite communication link, it is also necessary to screen according to the different working modes that different composite communication links can bear. In this embodiment, the working modes that different composite communication links can bear are shown in Table 2, where √ indicates that this composite communication link can bear this working mode, and × indicates that this composite communication link cannot bear this working mode:

[0088] Table 2 Working modes that different composite communication links can undertake

[0089]

[0090] In addition, in an optional implementation, obtaining the composite communication link also needs to be screened according to the communication distance limit and communication bandwidth limit of different communication devices. The communication distance limit and communication bandwidth limit of different communication devices are shown in Table 3:

[0091] Table 3 Communication distance limitations and communication bandwidth limitations of different communication devices

[0092]

[0093] After the above calculations and screening, the composite communication link and target working mode can be obtained.

[0094] S5: Select a target communication device through the composite communication link and the target working mode, and complete communication through the target communication device and the boat-shore communication network.

[0095] Furthermore, the purpose of this stage is to select a suitable target communication device and use the target communication device to complete the communication. Step S5 further includes:

[0096] S51: importing the composite communication link and the target working mode into the communication state management layer, in which the communication data is screened according to the target working mode to obtain target communication data; generating a communication link selection signal according to the composite communication link; the communication state management layer imports the target communication data and the communication link selection signal into the link transmission layer;

[0097] S52: The link transmission layer selects the target communication device according to the communication link selection signal, and sends the target communication data through the target communication device.

[0098] With respect to the above steps, the specific implementation methods in this embodiment are as follows:

[0099] First, the composite communication link and the target working mode are imported into the communication state management layer, then the communication data is encrypted according to the communication protocol, and the communication data is screened according to the target working mode. The data to be sent is selected according to the data type required by the target working mode, and the target communication data is generated according to the communication format. Then, a communication link selection signal for selecting a communication device is generated according to the composite communication link. Then, the communication state management layer imports the target communication data and the communication link selection signal into the link transmission layer. Finally, the link transmission layer selects a suitable target communication device according to the communication link selection signal, and sends the target communication data through the target communication device to communicate with the terrestrial communication base station to complete the communication.

[0100] In summary, the present invention provides sufficient redundancy for communication by using multi-link communication, effectively ensures the reliability of communication and adaptability under various conditions and environments, and realizes full utilization of various communication devices carried by the unmanned boat.

[0101] An unmanned boat multi-link communication system provided by the present invention is described below. The unmanned boat multi-link communication system described below and the unmanned boat multi-link communication method described above can be referred to each other.

[0102] Figure 3 An example of a schematic diagram of the structure of a multi-link communication system for an unmanned boat is shown in FIG. Figure 3 As shown, a method for executing a multi-link communication method for an unmanned boat as described above includes:

[0103] The boat-shore communication network module 100 is used to predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs;

[0104] Communication device module 200: used to select a communication device according to the boat-shore communication network, and connect the communication device to the boat-shore communication network;

[0105] The multi-objective optimization decision function module 300 is used to determine the typical working data of the boat-shore communication network and the working mode set of the boat-shore communication network, obtain the hydrological and meteorological communication state data and the meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication state data and the working mode set;

[0106] Communication mode decision module 400: used to obtain the communication data of the unmanned boat, analyze and extract the communication data to obtain a communication request, the boat-shore communication network obtains working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains a composite communication link and a target working mode through calculation;

[0107] Communication module 500: used to select a target communication device through the composite communication link and the target working mode, and complete communication through the target communication device and the boat-shore communication network.

[0108] on the other hand, Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute an unmanned boat multi-link communication method, the method comprising:

[0109] S1: predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs;

[0110] S2: Selecting a communication device according to the boat-shore communication network, and connecting the communication device to the boat-shore communication network;

[0111] S3: Determine typical working data of the boat-shore communication network and a set of working modes of the boat-shore communication network, obtain hydrological and meteorological communication status data and meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the set of working modes;

[0112] S4: Acquire the communication data of the unmanned boat, analyze and extract the communication data to obtain a communication request, the boat-shore communication network obtains working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains a composite communication link and a target working mode through calculation;

[0113] S5: Select a target communication device through the composite communication link and the target working mode, and complete communication through the target communication device and the boat-shore communication network.

[0114] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0115] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can execute an unmanned boat multi-link communication method provided by the above methods, the method comprising:

[0116] S1: predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs;

[0117] S2: Selecting a communication device according to the boat-shore communication network, and connecting the communication device to the boat-shore communication network;

[0118] S3: Determine typical working data of the boat-shore communication network and a set of working modes of the boat-shore communication network, obtain hydrological and meteorological communication status data and meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the set of working modes;

[0119] S4: Acquire the communication data of the unmanned boat, analyze and extract the communication data to obtain a communication request, the boat-shore communication network obtains working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains a composite communication link and a target working mode through calculation;

[0120] S5: Select a target communication device through the composite communication link and the target working mode, and complete communication through the target communication device and the boat-shore communication network.

[0121] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the computer program is implemented to execute an unmanned boat multi-link communication method provided by the above methods, the method comprising:

[0122] S1: predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs;

[0123] S2: Selecting a communication device according to the boat-shore communication network, and connecting the communication device to the boat-shore communication network;

[0124] S3: Determine typical working data of the boat-shore communication network and a set of working modes of the boat-shore communication network, obtain hydrological and meteorological communication status data and meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the set of working modes;

[0125] S4: Acquire the communication data of the unmanned boat, analyze and extract the communication data to obtain a communication request, the boat-shore communication network obtains working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains a composite communication link and a target working mode through calculation;

[0126] S5: Select a target communication device through the composite communication link and the target working mode, and complete communication through the target communication device and the boat-shore communication network.

[0127] The above described system, device, product and medium embodiments are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. Ordinary technicians in this field can understand and implement them without creative work.

[0128] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-link communication method for an unmanned boat, characterized in that: include: S1: predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs; S2: Selecting a communication device according to the boat-shore communication network, and connecting the communication device to the boat-shore communication network; S3: Determine the typical working data of the boat-shore communication network and the working mode set of the boat-shore communication network, obtain the hydrological and meteorological communication status data and the meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the working mode set; specifically including: S31: Determine the working mode set, obtain the hydrological and meteorological communication status data, conduct experiments on the communication equipment through the communication status management layer, obtain the typical working data and meteorological and hydrological data, and import the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the working mode set into the communication decision layer; S32: Select a multiple linear regression function, and fit the multiple linear regression function, the meteorological and hydrological data, the typical working data, and the hydrological and meteorological communication status data to obtain a first objective function. , a second objective function is obtained by fitting the multivariate linear regression function, the meteorological and hydrological data, the working mode set and the hydrological and meteorological communication status data. , through the first objective function And the second objective function Constructing the multi-objective optimization decision function; S4: Acquire the communication data of the unmanned boat, analyze and extract the communication data to obtain a communication request, the boat-shore communication network obtains working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains a composite communication link and a target working mode through calculation; specifically includes: S41: acquiring the communication data of the unmanned boat in the link transmission layer, sending the communication data to the communication status management layer, and analyzing and extracting the communication data to obtain the communication request; the communication status management layer monitors the link transmission layer to obtain the working data; S42: importing the working data and the communication request into a communication decision layer; S43: In the communication decision layer, the working data and the communication request are respectively introduced into the first objective function of the multi-objective optimization decision function And the second objective function , the composite communication link and the target working mode are obtained by calculating through the multi-objective optimization decision function, and the specific form of the multi-objective optimization decision function is as follows: in, is the input vector, including working data and communication requests, is the output vector, including the composite communication link and the target working mode, is a variable, indicating that the independent variable is When , the calculation result in the variable takes the maximum value; S5: Select a target communication device through the composite communication link and the target working mode, and complete communication through the target communication device and the boat-shore communication network.

2. The unmanned boat multi-link communication method according to claim 1, characterized in that: Step S1 further comprises: S11: predicting the communication demand of the unmanned boat, and analyzing the communication demand of the unmanned boat to obtain bandwidth demand and priority demand; S12: Building the ship-to-shore communication network according to the bandwidth requirement and the priority requirement; wherein the ship-to-shore communication network includes a link transmission layer, a communication status management layer and a communication decision layer, and the communication decision layer, the communication status management layer and the link transmission layer are connected in sequence.

3. The unmanned boat multi-link communication method according to claim 1, characterized in that: Step S5 further comprises: S51: importing the composite communication link and the target working mode into the communication state management layer, in which the communication data is screened according to the target working mode to obtain target communication data; generating a communication link selection signal according to the composite communication link; the communication state management layer imports the target communication data and the communication link selection signal into the link transmission layer; S52: The link transmission layer selects the target communication device according to the communication link selection signal, and sends the target communication data through the target communication device.

4. The unmanned boat multi-link communication method according to claim 1, characterized in that: The meteorological and hydrological data include the electron concentration in the atmospheric ionosphere, the impedance characteristics of the evaporation waveguide, the sea surface reflection coefficient and the wave height.

5. An unmanned boat multi-link communication system, used to execute an unmanned boat multi-link communication method according to any one of claims 1 to 4, characterized in that: include: Boat-shore communication network module: used to predict the communication needs of the unmanned boat and build a boat-shore communication network according to the communication needs; Communication device module: used for selecting communication device according to the boat-shore communication network, and connecting the communication device to the boat-shore communication network; Multi-objective optimization decision function module: used to determine the typical working data of the boat-shore communication network and the working mode set of the boat-shore communication network, obtain hydrological and meteorological communication status data and meteorological and hydrological data, and construct a multi-objective optimization decision function through the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the working mode set; specifically includes: S31: Determine the working mode set, obtain the hydrological and meteorological communication status data, conduct experiments on the communication equipment through the communication status management layer, obtain the typical working data and meteorological and hydrological data, and import the typical working data, the meteorological and hydrological data, the hydrological and meteorological communication status data and the working mode set into the communication decision layer; S32: Select a multiple linear regression function, and fit the multiple linear regression function, the meteorological and hydrological data, the typical working data, and the hydrological and meteorological communication status data to obtain a first objective function. , a second objective function is obtained by fitting the multivariate linear regression function, the meteorological and hydrological data, the working mode set and the hydrological and meteorological communication status data. , through the first objective function And the second objective function Constructing the multi-objective optimization decision function; The communication mode decision module is used to obtain the communication data of the unmanned boat, analyze and extract the communication data to obtain the communication request, the boat-shore communication network obtains the working data through self-monitoring, substitutes the working data and the communication request into the multi-objective optimization decision function, and obtains the composite communication link and the target working mode through calculation; specifically includes: S41: acquiring the communication data of the unmanned boat in the link transmission layer, sending the communication data to the communication status management layer, and analyzing and extracting the communication data to obtain the communication request; the communication status management layer monitors the link transmission layer to obtain the working data; S42: importing the working data and the communication request into a communication decision layer; S43: In the communication decision layer, the working data and the communication request are respectively introduced into the first objective function of the multi-objective optimization decision function And the second objective function , the composite communication link and the target working mode are obtained by calculating through the multi-objective optimization decision function, and the specific form of the multi-objective optimization decision function is as follows: in, is the input vector, including working data and communication requests, is the output vector, including the composite communication link and the target working mode, is a variable, indicating that the independent variable is When , the calculation result in the variable takes the maximum value; Communication module: used to select the target communication device through the composite communication link and the target working mode, and complete the communication through the target communication device and the boat-shore communication network.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the unmanned boat multi-link communication method as described in any one of claims 1 to 4 are implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the unmanned boat multi-link communication method as described in any one of claims 1 to 4 are implemented.

8. A computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, characterized in that: When the program instructions are executed by a computer, the computer can execute the steps of an unmanned boat multi-link communication method as described in any one of claims 1 to 4.

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