Aerial throwing type sonar buoy positioning and data acquisition system

Abstract

The invention relates to the technical field of data acquisition, in particular to an aviation delivery type sonar buoy positioning and data acquisition system, which comprises a plurality of sonar buoys, a delivery device, a positioning module, a data acquisition module, a communication module and a control module, and the modules cooperate with one another. The problem that in the prior art, the buoy putting precision is insufficient is solved, the putting device can adjust the putting strategy by monitoring environment parameters in real time under the complex meteorological condition, the putting angle and speed can be accurately calculated by combining the aerodynamic model and weight of the buoy, it is ensured that the buoy can accurately reach the preset position, and the putting accuracy is improved. According to the method, stable arrangement of the buoy can be guaranteed no matter in the deep ocean or in the strong storm environment, reliable guarantee is provided for subsequent sonar positioning and data acquisition, and the detection precision of an underwater target is greatly improved through multi-point cooperative positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of data acquisition, and in particular to an aviation-delivered sonar buoy positioning and data acquisition system. Background Art

[0002] As an important underwater detection equipment, sonar buoys are widely used in ocean surveys, military reconnaissance and exploration of marine resources. Traditional sonar buoys are usually deployed by ships or unmanned equipment, and rely on a single sound wave emission and echo reception for positioning and data collection. This system has several significant technical bottlenecks, which limit its application in wide and complex waters.

[0003] First, the traditional buoy deployment system mainly relies on ship platforms. Due to the limited speed and flexibility of ships, the efficiency of buoy deployment is low, and it is difficult to cover a large area of ​​water in a short time. Moreover, in sea areas with strong winds and waves, the accuracy of buoy deployment is greatly reduced, which can easily cause the buoy to deviate from the predetermined position, affecting the effect of data collection.

[0004] Secondly, the existing single-buoy positioning method has obvious limitations in accuracy and coverage, especially in multi-buoy collaborative positioning and multi-point data collection. The underwater environment is complex and changeable, and the positioning of a single buoy is easily affected by noise interference and signal attenuation, making it difficult to achieve high-precision target detection. In addition, the data transmission of traditional buoy systems usually relies on low-bandwidth radio or satellite communication technology, which has low transmission rates and large delays, making it difficult to meet the needs of real-time data transmission. Summary of the invention

[0005] The invention provides an aviation-dropped sonar buoy positioning and data acquisition system.

[0006] The aviation-delivered sonar buoy positioning and data acquisition system includes multiple sonar buoys, a delivery device, a positioning module, a data acquisition module, a communication module and a control module. The modules cooperate with each other, specifically including:

[0007] Sonar buoy: The sonar buoy is equipped with highly sensitive sonar detection equipment for real-time detection and collection of underwater sound wave signals, and for target positioning based on multi-point positioning technology. The sonar buoy transmits signals to other buoys to achieve networked positioning and improve the accuracy of the multi-buoy system;

[0008] Delivery device: The delivery device is carried by a drone or a manned platform, and accurately delivers the buoy to the target area through a preset route. The delivery device is connected to the control module, and the speed, angle and depth of the buoy delivery are adjusted according to environmental changes;

[0009] Positioning module: The positioning module performs global positioning based on the GPS / Beidou system and combines the acoustic signal reflection echo analysis to accurately calculate the real-time position of the buoy. By calculating the relative position between multiple buoys, the positioning module also adjusts the relative position of the buoy in real time through the wireless communication network;

[0010] Data acquisition module: The data acquisition module is connected to the sensor in the sonar buoy to collect underwater environmental data in real time, including target location, ocean environmental parameters and sound wave echo characteristics. The data acquisition module dynamically adjusts according to environmental changes and selects the optimal frequency band and sampling rate to improve data quality;

[0011] Communication module: The communication module is based on satellite communication technology. The buoy and the command center exchange data through a low-latency wireless link to ensure real-time communication. The communication module adopts an adaptive bandwidth management mechanism to automatically assign data transmission priorities.

[0012] Control module: The control module realizes the coordinated scheduling of multiple buoys through intelligent algorithms, makes dynamic adjustments based on the collected data, and optimizes the buoy deployment density and collection strategy.

[0013] Optionally, the delivery device includes an airborne delivery system, a stability control unit and an environmental perception module. The airborne delivery system is installed on a UAV or a fixed-wing aircraft. The stability control unit adjusts the flight attitude and delivery angle in real time through an automatic flight control algorithm to ensure that the buoy always remains stable during the delivery process. The environmental perception module has a built-in high-precision barometer, temperature sensor, humidity sensor and wind speed sensor. By collecting flight altitude, air pressure, temperature and wind speed parameters in real time, combined with the buoy weight and aerodynamic model, it calculates the optimal angle and speed of buoy delivery to ensure the precise landing point of the buoy under complex meteorological conditions.

[0014] Optionally, the sonar buoy includes a float, a sonar transmitting module, a sonar receiving module, a GPS positioning module and a power management module. The float is made of high-strength and corrosion-resistant composite materials. The sonar transmitting module adopts a fixed-frequency sound wave transmitting device with a transmitting frequency of 50kHz. The sound wave signal can penetrate sea water at a depth of 1000 meters. The sonar receiving module is equipped with an omnidirectional sound wave receiving device with 360-degree omnidirectional sound wave receiving capability, and analyzes the received sound wave signal in real time through an integrated signal processing chip. The GPS positioning module determines the buoy position with an accuracy of ±1 meter. The power management module adopts an efficient solar power supply system to ensure that the buoy has continuous power supply during long-term operation.

[0015] Optionally, the data acquisition module is directly connected to the sonar receiving module of the sonar buoy to collect and process the sound wave reflection signals in the waters around the buoy. The data acquisition module integrates a multi-channel signal analysis chip to support the simultaneous collection and processing of multi-band sound wave signals with a maximum sampling frequency of 100kHz. The data acquisition module is also equipped with a multi-dimensional data processing unit to perform real-time filtering and noise reduction on the collected signals.

[0016] Optionally, the positioning module determines the precise three-dimensional position of each sonar buoy by combining GPS positioning with radio ranging technology between multiple buoys.

[0017] Optionally, the positioning module uses a multi-point positioning algorithm based on triangulation, which can achieve sub-meter positioning accuracy in an underwater environment. The positioning module also includes an automatic calibration function. When multiple buoys work simultaneously, the relative position data is updated in real time to continuously optimize the positioning results.

[0018] Optionally, the control module includes a buoy scheduling unit and a fault detection unit. The buoy scheduling unit calculates the optimal distribution positions of multiple buoys in different waters in real time through an optimization algorithm to ensure that the coverage of sonar detection is maximized. The fault detection unit adopts self-diagnosis technology to monitor the working status of each buoy in real time to determine whether the buoy has a fault. If a single buoy failure is detected, the fault detection unit immediately triggers the spare buoy to work and reallocates the task through the buoy scheduling unit to ensure the continuity and integrity of the data collection task.

[0019] Beneficial effects of the present invention:

[0020] The present invention solves the problem of insufficient buoy delivery accuracy in the prior art by combining an airborne delivery system, a stable control unit and an environmental perception module. The delivery device can not only adjust the delivery strategy by real-time monitoring of environmental parameters (such as wind speed, air pressure, etc.) under complex meteorological conditions, but can also accurately calculate the delivery angle and speed in combination with the aerodynamic model and weight of the buoy, thereby ensuring that the buoy can accurately reach the predetermined position. Whether in the deep ocean or in a strong wind and wave environment, the buoy can be stably deployed, providing reliable guarantee for subsequent sonar positioning and data collection.

[0021] The present invention realizes sub-meter three-dimensional spatial positioning by combining the multi-band sound wave transmitting and receiving module of the sonar buoy, the GPS positioning module and the multi-buoy collaborative positioning algorithm based on radio ranging technology. Compared with the traditional single-buoy positioning method, the multi-point collaborative positioning of the system greatly improves the detection accuracy of underwater targets, especially in complex waters or marine environments. This technology can ensure that the positioning and detection accuracy is always maintained at a high level through dynamic adjustment between multiple buoys.

[0022] The present invention solves the problems of excessive delay and unstable signal in the data transmission process of the traditional sonar buoy system by adopting a communication module based on 5G satellite communication technology. The module not only has the function of automatically adjusting the transmission rate, but also can maintain stable data transmission when the data volume is large or the signal is weak. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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 in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 Schematic diagram of functional modules of a collection system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0026] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0027] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0028] like Figure 1 As shown, the aviation-delivered sonar buoy positioning and data acquisition system includes multiple sonar buoys, a delivery device, a positioning module, a data acquisition module, a communication module and a control module. The modules cooperate with each other, specifically including:

[0029] Sonar buoy: Sonar buoy is equipped with highly sensitive sonar detection equipment, which is used to detect and collect underwater sound wave signals in real time, and locate the target based on multi-point positioning technology. Sonar buoy transmits signals with other buoys to achieve network positioning and improve the accuracy of the multi-buoy system.

[0030] Release device: The release device is carried by a drone or manned platform, and accurately releases the buoy to the target area through a preset route. The release device is connected to the control module, and the speed, angle and depth of the buoy release are adjusted according to environmental changes to ensure that the buoy can be accurately deployed in complex waters;

[0031] Positioning module: The positioning module performs global positioning based on the GPS / Beidou system and combines the acoustic signal reflection echo analysis to accurately calculate the real-time position of the buoy. By calculating the relative position between multiple buoys, the positioning module also adjusts the relative position of the buoy in real time through the wireless communication network;

[0032] Data acquisition module: The data acquisition module is connected to the sensor in the sonar buoy to collect underwater environmental data in real time, including target location, ocean environmental parameters and sound wave echo characteristics. The data acquisition module dynamically adjusts according to environmental changes and selects the optimal frequency band and sampling rate to improve data quality;

[0033] Communication module: The communication module is based on satellite communication technology and can transmit data over long distances and in highly dynamic environments. The buoy and the command center exchange data through a low-latency wireless link to ensure real-time communication. The communication module adopts an adaptive bandwidth management mechanism to automatically assign data transmission priorities.

[0034] Control module: The control module realizes the coordinated scheduling of multiple buoys through intelligent algorithms, makes dynamic adjustments based on the collected data, and optimizes the buoy deployment density and collection strategy.

[0035] The delivery device includes an airborne delivery system, a stability control unit and an environmental perception module. The airborne delivery system is installed on a drone or fixed-wing aircraft. The stability control unit adjusts the flight attitude and delivery angle in real time through an automatic flight control algorithm to ensure that the buoy always remains stable during the delivery process. The environmental perception module has a built-in high-precision barometer, temperature sensor, humidity sensor and wind speed sensor. It collects flight altitude, air pressure, temperature and wind speed parameters in real time, combines the buoy weight and aerodynamic model, and calculates the optimal angle and speed of buoy delivery to ensure the precise landing point of the buoy under complex meteorological conditions.

[0036] The sonar buoy includes a float, a sonar transmitting module, a sonar receiving module, a GPS positioning module and a power management module. The float is made of high-strength corrosion-resistant composite materials, has pressure resistance and wear resistance, and can work for a long time in deep-sea environments. The sonar transmitting module adopts a fixed-frequency sound wave transmitting device with a transmitting frequency of 50kHz. The sound wave signal can penetrate seawater at a depth of 1,000 meters. The sonar receiving module is equipped with an omnidirectional sound wave receiving device with 360-degree omnidirectional sound wave receiving capability, and analyzes the received sound wave signal in real time through an integrated signal processing chip. The GPS positioning module determines the buoy position with an accuracy of ±1 meter. The power management module adopts an efficient solar power supply system to ensure that the buoy has continuous power supply during long-term operation.

[0037] The data acquisition module is directly connected to the sonar receiving module of the sonar buoy to collect and process the sound wave reflection signals in the waters around the buoy. The data acquisition module has an integrated multi-channel signal analysis chip to support the simultaneous collection and processing of multi-band sound wave signals with a maximum sampling frequency of 100kHz. The data acquisition module is also equipped with a multi-dimensional data processing unit to perform real-time filtering and noise reduction on the collected signals.

[0038] The positioning module determines the precise three-dimensional position of each sonar buoy by combining GPS positioning and radio ranging technology between multiple buoys.

[0039] The positioning module uses a multi-point positioning algorithm based on triangulation, which can achieve sub-meter positioning accuracy in underwater environments. The positioning module also includes an automatic calibration function. When multiple buoys work simultaneously, the relative position data is updated in real time to continuously optimize the positioning results.

[0040] The control module includes a buoy scheduling unit and a fault detection unit. The buoy scheduling unit uses an optimization algorithm to calculate in real time the optimal distribution positions of multiple buoys in different waters to ensure that the coverage of sonar detection is maximized. The fault detection unit uses self-diagnosis technology to monitor the working status of each buoy in real time to determine whether the buoy has a fault. If a single buoy failure is detected, the fault detection unit immediately triggers the spare buoy to work and reallocates the task through the buoy scheduling unit to ensure the continuity and integrity of the data collection task.

[0041] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0042] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. The aviation-deployed sonar buoy positioning and data acquisition system is characterized by: It includes multiple sonar buoys, delivery devices, positioning modules, data acquisition modules, communication modules and control modules. The modules work together, including: Sonar buoy: The sonar buoy is equipped with sonar detection equipment for real-time detection and collection of underwater sound wave signals, and for target positioning based on multi-point positioning technology. The sonar buoy transmits signals to other buoys to achieve network positioning; Delivery device: The delivery device is carried by a drone or a manned platform, and accurately delivers the buoy to the target area through a preset route. The delivery device is connected to the control module, and the speed, angle and depth of the buoy delivery are adjusted according to environmental changes; Positioning module: The positioning module performs global positioning based on the GPS / Beidou system and combines the acoustic signal reflection echo analysis to accurately calculate the real-time position of the buoy. By calculating the relative position between multiple buoys, the positioning module also adjusts the relative position of the buoy in real time through the wireless communication network; Data acquisition module: The data acquisition module is connected to the sensor in the sonar buoy to collect underwater environmental data in real time, including target location, ocean environmental parameters and sound wave echo characteristics. The data acquisition module dynamically adjusts according to environmental changes and selects the optimal frequency band and sampling rate to improve data quality; Communication module: The communication module is based on satellite communication technology. The buoy and the command center exchange data through a low-latency wireless link to ensure real-time communication. The communication module adopts an adaptive bandwidth management mechanism to automatically assign data transmission priorities. Control module: The control module realizes the coordinated scheduling of multiple buoys through intelligent algorithms, makes dynamic adjustments based on the collected data, and optimizes the buoy deployment density and collection strategy.

2. The aerial-deployed sonar buoy positioning and data acquisition system according to claim 1, characterized in that: The delivery device includes an airborne delivery system, a stability control unit and an environmental perception module. The airborne delivery system is installed on a drone or a fixed-wing aircraft. The stability control unit adjusts the flight attitude and delivery angle in real time through an automatic flight control algorithm to ensure that the buoy always remains stable during the delivery process. The environmental perception module has a built-in high-precision barometer, temperature sensor, humidity sensor and wind speed sensor. By collecting flight altitude, air pressure, temperature and wind speed parameters in real time, combined with the buoy weight and aerodynamic model, the optimal angle and speed of buoy delivery are calculated to ensure the precise landing point of the buoy under complex meteorological conditions.

3. The aerial-deployed sonar buoy positioning and data acquisition system according to claim 1, characterized in that: The sonar buoy includes a float, a sonar transmitting module, a sonar receiving module, a GPS positioning module and a power management module. The float is made of high-strength corrosion-resistant composite materials. The sonar transmitting module adopts a fixed-frequency sound wave transmitting device with a transmitting frequency of 50kHz. The sound wave signal can penetrate the sea water at a depth of 1,000 meters. The sonar receiving module is equipped with an omnidirectional sound wave receiving device with 360-degree omnidirectional sound wave receiving capability, and analyzes the received sound wave signal in real time through an integrated signal processing chip. The GPS positioning module determines the buoy position with an accuracy of ±1 meter. The power management module adopts an efficient solar power supply system to ensure that the buoy has continuous power supply during long-term operation.

4. The aerial-deployed sonar buoy positioning and data acquisition system according to claim 1, characterized in that: The data acquisition module is directly connected to the sonar receiving module of the sonar buoy to collect and process the sound wave reflection signals in the waters around the buoy. The data acquisition module has an integrated multi-channel signal analysis chip to support the simultaneous collection and processing of multi-band sound wave signals with a maximum sampling frequency of 100kHz. The data acquisition module is also equipped with a multi-dimensional data processing unit to perform real-time filtering and noise reduction on the collected signals.

5. The aerial-dropped sonar buoy positioning and data acquisition system according to claim 1, characterized in that: The positioning module determines the precise three-dimensional position of each sonar buoy by combining GPS positioning with radio ranging technology between multiple buoys.

6. The aerial-deployed sonar buoy positioning and data acquisition system according to claim 5, characterized in that: The positioning module uses a multi-point positioning algorithm based on triangulation, which can achieve sub-meter positioning accuracy in underwater environments. The positioning module also includes an automatic calibration function. When multiple buoys work simultaneously, the relative position data is updated in real time to continuously optimize the positioning results.

7. The aviation-delivered sonar buoy positioning and data acquisition system according to claim 1, characterized in that: The control module includes a buoy scheduling unit and a fault detection unit. The buoy scheduling unit uses an optimization algorithm to calculate in real time the optimal distribution positions of multiple buoys in different waters to ensure that the coverage of sonar detection is maximized. The fault detection unit uses self-diagnosis technology to monitor the working status of each buoy in real time to determine whether the buoy has a fault. If a single buoy failure is detected, the fault detection unit immediately triggers the spare buoy to work and reallocates the task through the buoy scheduling unit to ensure the continuity and integrity of the data collection task.

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