A surface search method for manned submersible

Abstract

The present invention discloses a method for searching a manned submersible on the surface, which relates to the technical field of submersibles and includes the following steps: obtaining basic information and marine environment information of the submersible, transmitting the obtained basic information and marine environment information to a mother ship, preprocessing the collected basic information and marine environment information, screening the influence characteristics of the marine environment information, wherein the influence characteristics include weather influence characteristics and wave influence characteristics, analyzing the preprocessed marine environment information and combining the influence characteristics, constructing a submersible search prediction model, and obtaining a weather influence index and a wave influence index. The present invention predicts the possible position of the submersible through a prediction model, reduces the search range, and combines a high-precision navigation system with real-time environmental monitoring data to accurately lock the possible position of the submersible, reduce the search range, shorten the search time, reduce the search delay caused by environmental factors, and improve the overall success rate of the search operation.

Description

Technical Field

[0001] The present invention relates to the technical field of submersibles, and in particular to a surface search method for a manned submersible. Background Art

[0002] With the continuous development of marine engineering technology, the demand for deep-sea operations is also increasing. As an efficient and flexible deep-sea operation tool, manned submersibles can complete a variety of tasks such as fixed-point deployment of underwater equipment, submarine cable and pipeline detection, underwater salvage and rescue. These tasks are of great significance to ensuring the safe operation of marine engineering and improving the efficiency of marine resource development.

[0003] Manned submersibles are also important underwater transport equipment for deep-sea scientific exploration and resource and environmental surveys. They can carry scientists to the deep sea to carry out scientific exploration missions. Since they do not have the ability to sail in the ocean, scientific research manned submersibles are usually carried on mother ships, which transport them to specific sea areas for diving operations and track the underwater position and status of the submersible through the mother ship's real-time monitoring system. Therefore, it is crucial to accurately obtain the submersible's location information, ensure that the mother ship and the submersible maintain a safe distance, and provide necessary communications and technical support. When the submersible is operating underwater, the mother ship can use its hydroacoustic equipment to cooperate with the positioning system carried by the submersible to accurately obtain the submersible's underwater position.

[0004] In the prior art, its hydroacoustic equipment may be interfered by factors such as noise and multipath effects in a complex marine environment, resulting in a decrease in positioning accuracy. In addition, severe weather and wave conditions may affect the propagation of hydroacoustic signals and increase positioning errors, which brings challenges to the search for submersibles. Therefore, in order to improve the search capability of the submersible after it floats to the surface, a surface search method for a manned submersible is proposed. Summary of the invention

[0005] The object of the present invention is to provide a method for searching the surface of a manned submersible to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A method for searching a manned submersible on the surface of a water body comprises the following steps:

[0008] Step 1: Obtain basic information and marine environment information of the submersible, and transmit the obtained basic information and marine environment information to the mother ship. The basic information of the submersible includes model, size, color, characteristics, and diving area location. The marine environment information includes weather, waves, currents, etc.;

[0009] Step 2, pre-processing the collected basic information and marine environment information, screening the influencing characteristics of the marine environment information, wherein the influencing characteristics include weather influencing characteristics and wave influencing characteristics;

[0010] Step 3: Analyze the pre-processed ocean environment information and combine it with the impact characteristics to build a submersible search prediction model, obtain the weather impact index and the wave impact index, evaluate the impact of weather and waves on the submersible position, analyze the submersible position, and predict the search difficulty and possible risks;

[0011] Step 4: Based on the weather impact index and the wave impact index, the submersible search evaluation coefficient is obtained to evaluate the search difficulty and possible risks, adjust the search route and speed to improve the search efficiency, locate the submersible, plan a navigation path to the submersible, and start the propulsion system to move toward the target area;

[0012] Step 5: Select the method for recovering the submersible based on the weather impact index and the wave impact index.

[0013] The mother ship adjusts its own position and the angle, height and other parameters of the recovery device to prepare for the safe recovery of the submersible, and ultimately completes the recovery operation of the submersible.

[0014] A further improvement of the technical solution of the present invention is that in step 1, the process of acquiring the basic information of the submersible and the marine environment information is as follows:

[0015] Step 101, sensors and GPS are installed on the submersible to collect basic information of the submersible, wherein the basic information includes data such as the depth, position, speed, direction and attitude of the submersible. The sensors include depth sensor: used to measure the current underwater depth of the submersible, speed sensor: monitors the moving speed of the submersible, direction sensor, such as gyroscope or magnetic compass, determines the direction of travel of the submersible, attitude sensor, such as a combination of accelerometer and gyroscope, is used to monitor the pitch, roll and yaw attitude information of the submersible, weather data: such as temperature, humidity, wind speed, wind direction, etc., these data can be obtained through meteorological satellites, ocean monitoring stations or meteorological equipment on mother ships; wave data: such as wave height, wave period, wave direction, etc., these data are crucial for evaluating the stability and position of the submersible in the ocean. Wave data can be obtained through wave monitoring equipment or model prediction; seawater data: including seawater temperature, salinity, depth curve, etc., these data can be directly obtained through sensors installed on the submersible;

[0016] Step 102, using weather stations, buoys, satellites, and sensors on submersibles to collect ocean environment information, wherein the ocean environment information includes wind speed, wind direction, wave height, and current speed;

[0017] Step 103, establish a communication link between the submersible and the mother ship, and use the communication link to send basic information and marine environment information to the mother ship, wherein the communication link includes radio communication, hydroacoustic communication and satellite communication.

[0018] A further improvement of the technical solution of the present invention is that in step 2, the process of screening the impact characteristics of the marine environment information is as follows:

[0019] Step 201, pre-processing operations of data cleaning and data format conversion are performed on the collected basic information and marine environment information, and the marine environment information from weather stations, buoys, satellites and submersible sensors is integrated;

[0020] Step 202, extracting features from the pre-processed ocean environment information, performing feature extraction on wind speed, wind direction and precipitation respectively, obtaining weather influence features, and then performing feature extraction on wave height, wave period and wave direction respectively, obtaining wave influence features, and analyzing the correlation with the submersible state;

[0021] Step 203: Analyze the correlation between the weather influence characteristics and the wave influence characteristics and the state of the submersible according to the extracted weather influence characteristics and the wave influence characteristics.

[0022] A further improvement of the technical solution of the present invention is that in step 3, the process of obtaining the weather impact index and the wave impact index is as follows:

[0023] Step 301, integrating the associated data of weather impact characteristics and wave impact characteristics in the pre-processed marine environment information to form a unified data set;

[0024] Step 302, feature encoding is performed on the associated data of weather impact features and wave impact features in the data set to construct a submersible search prediction model;

[0025] Step 303, dividing the integrated data set into a training set, a validation set and a test set, using the training set data to train the submersible search prediction model, and using the validation set and the test set data to verify the trained submersible search prediction model, and evaluating the performance of the submersible search prediction model;

[0026] Step 304, using the trained model in combination with the pre-processed ocean environment information, obtain the weather impact index and the wave impact index, analyze the impact of weather changes on the motion trajectory of the submersible, such as changes in wind speed and wind direction, evaluate the impact of waves on the prediction of the submersible's position, such as changes in wave height and wave direction, analyze the changing trend of the submersible's motion trajectory under different weather and wave conditions, such as drift distance, direction change, etc., and use the submersible search prediction model and the weather impact index and wave impact index to predict the submersible's position.

[0027] A further improvement of the technical solution of the present invention is that the calculation formula of the weather impact index is:

[0028] ;

[0029] Among them, WII is the weather impact index, V is the wind speed, is the standard wind speed, is the standard deviation of wind speed, For wind direction, is the standard wind direction, is the standard deviation of wind direction, P is the precipitation, is the standard precipitation, is the standard deviation of precipitation, T is the temperature, is the temperature influence function;

[0030] The calculation formula of the wave impact index is:

[0031] ;

[0032] Where WIA is the wave impact index, H is the wave height, is the minimum wave height, is the sea wave height, L is the wave period, is the standard wave period, is the standard deviation of the wave period, D is the wave direction, is the standard wave direction, is the standard deviation of the wave direction, is the wave height influence function.

[0033] A further improvement of the technical solution of the present invention is that in step 4, the process of obtaining the submersible search evaluation coefficient is:

[0034] Step 401, combining the weather impact index and the wave impact index with the basic information of the submersible, analyzing the impact of environmental factors such as weather and waves on the actual position of the submersible, and the degree of correlation with the weather impact index and the wave impact index;

[0035] Step 402, assigning different weights to the weather impact index and the wave impact index, performing weighted calculation on the two indexes, and obtaining a submersible search evaluation coefficient, which reflects the difficulty of finding a submersible under given weather and wave conditions;

[0036] Step 403, based on the submersible search evaluation coefficient, the search difficulty is evaluated, and different search difficulties and search risk levels are divided according to the calculated submersible search evaluation coefficient value, which are low risk level, medium risk level and high risk level respectively;

[0037] Step 404, matching the determined different search risk levels with the results of the submersible search assessment coefficient, setting corresponding assessment thresholds for different search risk levels, and dynamically adjusting the search difficulty and risk level assessment as weather and wave conditions change;

[0038] Step 405, arranging the submersible search evaluation coefficient values ​​in descending order, and assigning a corresponding search risk level to each value;

[0039] Step 406, use GPS to determine the current position of the submersible, combine the weather and wave characteristics to plan a navigation path to the submersible, and adjust the navigation path according to real-time changes in weather and waves. Evaluate each generated navigation path, considering factors such as the safety, economy, and time efficiency of the path, especially paying attention to weather and wave conditions that may be encountered on the path, and the impact of these conditions on the navigation of the submersible, and continuously monitor changes in weather and wave conditions, as well as changes in the position of the submersible.

[0040] A further improvement of the technical solution of the present invention is that the calculation formula of the submersible search evaluation coefficient is:

[0041] ;

[0042] Among them, SSEC is the submersible search evaluation coefficient, WII is the weather impact index, is the minimum possible value of the weather impact index, is the maximum possible value of the weather impact index, WIA is the wave impact index, is the minimum possible value of the wave impact index, is the maximum possible value of the wave impact index, is a small positive number, a is the depth of the submersible, b is the time of the search mission, is a function of the vehicle depth and search time, is the weight coefficient, is the weight coefficient.

[0043] A further improvement of the technical solution of the present invention is that: a plurality of the search risk levels correspond to a plurality of the evaluation thresholds, wherein the evaluation thresholds include an upper threshold and a lower threshold;

[0044] The multiple search risk levels and the multiple evaluation thresholds satisfy the following relationship:

[0045] Low risk level ;

[0046] Medium risk level ;

[0047] High risk level ;

[0048] Among them, SSEC is the submersible search evaluation coefficient, T1 is the upper threshold corresponding to the low risk level and the lower threshold corresponding to the medium risk level, and T2 is the upper threshold corresponding to the medium risk level and the lower threshold corresponding to the high risk level.

[0049] A further improvement of the technical solution of the present invention is that in step 5, the process of selecting the recovery method of the submersible is:

[0050] Step 501, based on the basic information of the submersible and in combination with the weather impact index and the wave impact index, evaluate the impact of wind speed, wind direction, precipitation characteristics on the recovery of the submersible, and the impact of wave height, wave period and wave direction characteristics on the recovery of the submersible;

[0051] Step 502, according to the wind speed, wind direction, wave height and current speed and combined with the search risk level of the submersible, select the corresponding recovery method, such as the floating dock recovery method: suitable for relatively stable weather and small waves, using the floating dock as a temporary docking point for the submersible, and towing the submersible to the vicinity of the floating dock for recovery by a tugboat. The floating dock should have good stability and carrying capacity to ensure the safe recovery of the submersible. The dedicated deployment and recovery platform method: suitable for relatively bad weather and wave conditions, using a dedicated deployment and recovery platform with a stable structure and strong carrying capacity, through the lifting equipment on the platform The deployment and recovery of the submersible by the retracting and launching device requires professional technicians to operate to ensure the stability of the platform and the safety of the submersible. The reverse compensation method for wave motion is suitable for situations where the waves are large and the mother ship is prone to bumps and swaying. By predicting the movement trajectory and speed of the waves, the movement trajectory and speed of the submersible are controlled to achieve reverse compensation. The use of advanced control systems and sensor technology to achieve precise reverse compensation can effectively improve the recovery efficiency and safety, but the operation is relatively complicated. Prepare the corresponding recovery equipment and tools, formulate a recovery operation plan, determine the recovery time window, and avoid bad weather and sea conditions;

[0052] Step 503, formulate an emergency plan for dealing with emergencies according to the selected recovery method, and monitor the changes in weather and waves in real time.

[0053] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0054] The present invention provides a method for searching a manned submersible on the surface. The method predicts the possible position of the submersible through a prediction model, reduces the search range, and thus saves valuable time and resources. The method also combines a high-precision navigation system with real-time environmental monitoring data to accurately lock the possible position of the submersible, reduce the search range, shorten the search time, reduce search delays caused by environmental factors, and improve the overall success rate of the search operation.

[0055] The present invention provides a surface search method for a manned submersible, which monitors the changes in weather and waves in real time, timely adjusts the search plan and route, and avoids dangers caused by extreme weather or waves. During the search process, remote monitoring and communication technology can also be used to grasp the status of the search team and the submersible in real time to ensure the safety of the search operation.

[0056] The present invention provides a surface search method for a manned submersible, which significantly enhances the safety of submersible operation by real-time monitoring and evaluating weather and wave conditions. The method allows operators to timely adjust the submersible's operation plan according to the environmental impact index, avoiding high-risk operations under extreme weather and wave conditions. The submersible can be recalled in advance or guided to a safer area. It also helps to provide more accurate positioning information during the submersible's ascent, reduce positioning errors caused by environmental factors, and ensure that the submersible can safely ascend and be quickly recovered. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0058] Figure 1 is a flow chart of the method of the present invention;

[0059] Figure 2 The present invention is a flowchart for obtaining the weather impact index and the wave impact index;

[0060] Figure 3 A flow chart for obtaining the evaluation coefficients for searching for a submersible according to the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] Embodiment 1, as Figures 1 to 3 As shown, the present invention provides a method for searching a manned submersible on the surface, step 1, obtaining basic information and marine environment information of the submersible, and transmitting the obtained basic information and marine environment information to a mother ship, the basic information of the submersible includes model, size, color, characteristics, diving area location, and marine environment information includes weather, waves, currents, etc.; the process of obtaining the basic information and marine environment information of the submersible is to carry sensors and GPS on the submersible to collect the basic information of the submersible, wherein the basic information includes data such as the depth, position, speed, direction and attitude of the submersible, and the sensor package The depth sensor is used to measure the current underwater depth of the submersible. The speed sensor monitors the movement speed of the submersible. The direction sensor, such as a gyroscope or a magnetic compass, determines the direction of the submersible. The attitude sensor, such as a combination of an accelerometer and a gyroscope, is used to monitor the attitude information of the submersible, such as pitch, roll and yaw. Weather data, such as temperature, humidity, wind speed, wind direction, etc., can be obtained through meteorological satellites, ocean monitoring stations or meteorological equipment on the mother ship. Wave data, such as wave height, wave period, wave direction, etc., are essential for evaluating the stability and position of the submersible in the ocean. Wave data can be obtained through wave monitoring equipment or model prediction. Seawater data, including seawater temperature, salinity, depth curve, etc., can be directly obtained through sensors carried by the submersible. Meteorological stations, buoys, satellites and sensors on the submersible are used to collect ocean environment information, including wind speed, wind direction, wave height and current speed. A communication link is established between the submersible and the mother ship, and the basic information and ocean environment information are sent to the mother ship using the communication link, including radio communication, hydroacoustic communication and satellite communication.

[0063] Step 2, preprocessing the collected basic information and marine environment information, screening the influencing features of the marine environment information, wherein the influencing features include weather influencing features and wave influencing features, and the influencing feature screening process of the marine environment information is as follows: preprocessing operations of data cleaning and data format conversion are performed on the collected basic information and marine environment information, and the marine environment information from meteorological stations, buoys, satellites and submersible sensors are integrated, and features are extracted from the preprocessed marine environment information, and feature extraction is performed for wind speed, wind direction and precipitation respectively to obtain weather influencing features, and feature extraction is performed for wave height, wave period and wave direction respectively to obtain wave influencing features, and the correlation with the submersible state is analyzed, and the correlation between the weather influencing features and the wave influencing features and the submersible state is analyzed according to the extracted weather influencing features and wave influencing features;

[0064] Step 3, analyze the preprocessed ocean environment information and combine it with the impact characteristics, build a submersible search prediction model, and obtain the weather impact index and wave impact index, evaluate the impact of weather and waves on the submersible position, analyze the position of the submersible, and predict the search difficulty and possible risks; the process of obtaining the weather impact index and wave impact index is: integrate the associated data of weather impact characteristics and wave impact characteristics in the preprocessed ocean environment information to form a unified data set, feature encode the associated data of weather impact characteristics and wave impact characteristics in the data set, build a submersible search prediction model, divide the integrated data set into training set, validation set and test set, use training The submersible search prediction model is trained using the data of the validation set and the test set, and the trained submersible search prediction model is verified using the data of the validation set and the test set. The performance of the submersible search prediction model is evaluated. The trained model is used in combination with the preprocessed marine environment information to obtain the weather impact index and the wave impact index, and the impact of weather changes on the submersible's motion trajectory, such as changes in wind speed and wind direction, is analyzed. The impact of waves on the prediction of the submersible's position, such as changes in wave height and wave direction, is evaluated. The changing trend of the submersible's motion trajectory under different weather and wave conditions, such as drift distance, direction change, etc., is analyzed, and the submersible search prediction model and the weather impact index and the wave impact index are used to predict the submersible's position.

[0065] Step 4, based on the weather impact index and the wave impact index, obtain the submersible search evaluation coefficient to evaluate the search difficulty and possible risks, adjust the search route and speed to improve the search efficiency, and locate the submersible, plan a navigation path to the submersible, start the propulsion system to move towards the target area; the process of obtaining the submersible search evaluation coefficient is: combining the weather impact index and the wave impact index with the basic information of the submersible, analyzing the impact of environmental factors such as weather and waves on the actual position of the submersible, and the degree of correlation with the weather impact index and the wave impact index, assigning different weights to the weather impact index and the wave impact index, and performing weighted calculation on the two indexes to obtain the submersible search evaluation coefficient, which reflects the difficulty of finding the submersible under given weather and wave conditions, and evaluates the search difficulty based on the submersible search evaluation coefficient, and divides different search difficulties and search targets according to the calculated submersible search evaluation coefficient value. The risk levels are low risk level, medium risk level and high risk level respectively. The determined different search risk levels are matched with the results of the submersible search assessment coefficient, and corresponding assessment thresholds are set for different search risk levels. With the changes in weather and wave conditions, the search difficulty and risk level assessment are dynamically adjusted. The submersible search assessment coefficient values ​​are arranged in order from high to low, and each value is assigned a corresponding search risk level. The current position of the submersible is determined using GPS, and the navigation path to the submersible is planned in combination with the weather and wave characteristics, and the navigation path is adjusted according to the real-time changes in weather and waves; each generated navigation path is evaluated, and factors such as the safety, economy, and time efficiency of the path are considered, especially the weather and wave conditions that may be encountered on the path, and the impact of these conditions on the navigation of the submersible, and the changes in weather and wave conditions and the position of the submersible are continuously monitored;

[0066] Step 5. Select the recovery method of the submersible according to the weather impact index and the wave impact index. The mother ship adjusts its own position and the angle, height and other parameters of the recovery device to prepare for the safe recovery of the submersible and finally completes the recovery operation of the submersible. The process of selecting the recovery method of the submersible is as follows: Based on the basic information of the submersible and combined with the weather impact index and the wave impact index, evaluate the impact of wind speed, wind direction, precipitation characteristics on the recovery of the submersible, as well as the impact of wave height, wave cycle and wave direction characteristics on the recovery of the submersible. According to the wind speed, wind direction, wave height and current speed and the search risk level of the submersible, select the corresponding recovery method, such as the floating dock recovery method: It is suitable for relatively stable weather and small waves. Use the floating dock as a temporary docking point for the submersible. Use a tugboat to tow the submersible to the vicinity of the floating dock for recovery. The floating dock should have good stability and carrying capacity to ensure the safe recovery of the submersible. The method of using a deployment and recovery platform is suitable for situations where weather and wave conditions are relatively severe. A special deployment and recovery platform with a stable structure and strong carrying capacity is used. The submersible is deployed and recovered through the lifting equipment and retracting devices on the platform. Professional technicians are required to operate to ensure the stability of the platform and the safety of the submersible. The method of reverse compensation for wave motion is suitable for situations where waves are large and the mother ship is prone to bumps and swaying. By predicting the movement trajectory and speed of the waves, the movement trajectory and speed of the submersible are controlled to achieve reverse compensation. Advanced control systems and sensor technology are used to achieve precise reverse compensation, which can effectively improve recovery efficiency and safety. However, the operation is relatively complicated. Prepare corresponding recovery equipment and tools, formulate a recovery operation plan, determine the recovery time window, avoid severe weather and sea conditions, and formulate emergency plans for dealing with emergencies based on the selected recovery method, and monitor changes in weather and waves in real time.

[0067] Embodiment 2, as Figures 1 to 3 As shown, based on Example 1, the present invention provides a technical solution: Preferably, the calculation formula of the weather impact index is:

[0068] ;

[0069] Among them, WII is the weather impact index, V is the wind speed, is the standard wind speed, is the standard deviation of wind speed, For wind direction, is the standard wind direction, is the standard deviation of wind direction, P is the precipitation, is the standard precipitation, is the standard deviation of precipitation, T is the temperature, is the temperature influence function;

[0070] The calculation formula of the wave impact index is:

[0071] ;

[0072] Where WIA is the wave impact index, H is the wave height, is the minimum wave height, is the sea wave height, L is the wave period, is the standard wave period, is the standard deviation of the wave period, D is the wave direction, is the standard wave direction, is the standard deviation of the wave direction, is the wave height influence function;

[0073] The calculation formula for the submersible search evaluation coefficient is:

[0074] ;

[0075] Among them, SSEC is the submersible search evaluation coefficient, WII is the weather impact index, is the minimum possible value of the weather impact index, is the maximum possible value of the weather impact index, WIA is the wave impact index, is the minimum possible value of the wave impact index, is the maximum possible value of the wave impact index, is a small positive number, a is the depth of the submersible, b is the time of the search mission, is a function of the vehicle depth and search time, is the weight coefficient, is the weight coefficient;

[0076] Multiple search risk levels correspond to multiple evaluation thresholds, wherein the evaluation thresholds include an upper threshold and a lower threshold;

[0077] Multiple search risk levels and multiple assessment thresholds satisfy the following relationship:

[0078] Low risk level ; It indicates that the weather and wave conditions are relatively good, which has little impact on the position of the submersible, the search difficulty is low, the mother ship can smoothly carry out positioning and approach operations, and it is expected that the search mission can be completed in a relatively short time. The risks are mainly concentrated in some conventional equipment failures or human operational errors. At this time, the mother ship can choose a straight-line navigation path to sail to the position of the submersible at the fastest speed. At the same time, considering the driving effect of the ocean current, the course can be adjusted appropriately to save fuel and time. For example, if the direction of the ocean current is basically consistent with the direction of the mother ship heading towards the submersible, it can sail along the ocean current to increase the speed; if the direction of the ocean current deviates, the optimal course adjustment angle can be calculated according to the ocean current speed and the mother ship's own power;

[0079] Medium risk level ; At this time, the weather or waves have a certain impact, which may cause the submersible to drift to a certain extent or the signal transmission to be interfered with to a certain extent. The search difficulty is moderate, and the mother ship needs to adjust the route and speed more carefully during the voyage. At the same time, it needs to strengthen the monitoring and analysis of the submersible signal. It may take more time and resources to complete the search mission. The risks include the submersible drifting out of the expected range and the mother ship encountering sudden bad weather during the voyage. At this time, the mother ship needs to adopt a compromise navigation strategy. Avoid directly crossing the area with bad sea conditions. You can choose to bypass the area with strong winds and waves and adopt a segmented navigation path. For example, first sail along the coastline with less wind and waves for a distance, and then turn to the location of the submersible. During the voyage, continue to monitor the weather and wave changes and adjust the route in time according to the situation;

[0080] High risk level ; Bad weather and wave conditions will greatly increase the drift range and uncertainty of the submersible, signal transmission may be seriously obstructed, and the mother ship's own navigation will also face great challenges. The search is very difficult and may require multiple ships to work together, or even wait for the weather and wave conditions to improve before conducting a large-scale search. The risks include damage to the submersible, threats to the safety of the mother ship, and threats to the lives of people in the submersible due to long-term search. At this time, the mother ship must first ensure its own safety and choose to wait for the weather and wave conditions to improve in a relatively safe sea area, or cooperate with other rescue forces to formulate a joint rescue plan. If it is necessary to go to the location of the submersible, it is necessary to choose the most conservative navigation path, such as slowly moving along an area with weak currents, relatively small winds and waves, and natural barriers such as islands or reefs to avoid wind and waves. At the same time, maintain close communication with the submersible and adjust the route at any time according to the changes in the position of the submersible. During the entire navigation process, it is necessary to make full use of real-time monitoring information such as satellite meteorological data and ocean buoy data to continuously optimize the navigation path to improve the search efficiency and ensure the safety of the mother ship and the submersible;

[0081] Among them, SSEC is the submersible search evaluation coefficient, T1 is the upper threshold corresponding to the low risk level and the lower threshold corresponding to the medium risk level, and T2 is the upper threshold corresponding to the medium risk level and the lower threshold corresponding to the high risk level.

[0082] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for searching a manned submersible on the surface, characterized in that: The following steps are involved: Step 1: Obtain the basic information and marine environment information of the submersible, and transmit the obtained basic information and marine environment information to the mother ship. The process of obtaining the basic information and marine environment information of the submersible is as follows: Step 101, equip the submersible with sensors and GPS to collect basic information of the submersible, wherein the basic information includes the depth, position, speed, direction and attitude of the submersible; Step 102, using weather stations, buoys, satellites, and sensors on submersibles to collect ocean environment information, wherein the ocean environment information includes wind speed, wind direction, wave height, and current speed; Step 103, establishing a communication link between the submersible and the mother ship, and using the communication link to send basic information and marine environment information to the mother ship, wherein the communication link includes radio communication, hydroacoustic communication and satellite communication; Step 2: pre-process the collected basic information and marine environment information, and screen the impact characteristics of the marine environment information, where the impact characteristics include weather impact characteristics and wave impact characteristics. The process of screening the impact characteristics of the marine environment information is as follows: Step 201, pre-processing operations of data cleaning and data format conversion are performed on the collected basic information and marine environment information, and the marine environment information from weather stations, buoys, satellites and submersible sensors is integrated; Step 202, extracting features from the pre-processed marine environment information, performing feature extraction on wind speed, wind direction and precipitation respectively to obtain weather influence features, and then performing feature extraction on wave height, wave period and wave direction respectively to obtain wave influence features; Step 203, analyzing the correlation between the weather influence characteristics and the wave influence characteristics and the state of the submersible according to the extracted weather influence characteristics and the wave influence characteristics; Step 3: Analyze the preprocessed ocean environment information and combine it with the impact characteristics to build a submersible search prediction model, obtain the weather impact index and the wave impact index, evaluate the impact of weather and waves on the submersible position, and analyze the submersible position. The process of obtaining the weather impact index and the wave impact index is as follows: Step 301, integrating the associated data of weather impact characteristics and wave impact characteristics in the pre-processed marine environment information to form a unified data set; Step 302, feature encoding is performed on the associated data of weather impact features and wave impact features in the data set to construct a submersible search prediction model; Step 303, dividing the integrated data set into a training set, a validation set and a test set, using the training set data to train the submersible search prediction model, and using the validation set and the test set data to verify the trained submersible search prediction model, and evaluating the performance of the submersible search prediction model; Step 304, using the trained model and the pre-processed ocean environment information to obtain the weather impact index and the wave impact index, analyzing the impact of weather changes on the motion trajectory of the submersible, evaluating the impact of waves on the prediction of the submersible's position, analyzing the changing trend of the submersible's motion trajectory under different weather and wave conditions, and predicting the submersible's position using the submersible search prediction model and the weather impact index and the wave impact index; The calculation formula of the weather impact index is: Among them, WII is the weather impact index, V is the wind speed, V std is the standard wind speed, σ V is the standard deviation of wind speed, θ is the wind direction, θ std is the standard wind direction, σ θ is the standard deviation of wind direction, P is the precipitation, P std is the standard precipitation, σ P is the standard deviation of precipitation, T is temperature, and f(T) is the temperature influence function; The calculation formula of the wave impact index is: Where WIA is the wave impact index, H is the wave height, and H min is the minimum wave height, H max is the sea wave height, L is the wave period, L std is the standard wave period, σ L is the standard deviation of the wave period, D is the wave direction, and D std is the standard wave direction, σ D is the standard deviation of the wave direction, g(H) is the wave height influence function; Step 4: Based on the weather impact index and the wave impact index, the submersible search evaluation coefficient is obtained, the submersible is positioned, and a navigation path to the submersible is planned. The process of obtaining the submersible search evaluation coefficient is as follows: Step 401, combining the weather impact index and the wave impact index with the basic information of the submersible, analyzing the impact of environmental factors such as weather and waves on the actual position of the submersible, and the degree of correlation with the weather impact index and the wave impact index; Step 402, assigning different weights to the weather impact index and the wave impact index, performing weighted calculation on the two indexes, and obtaining a submersible search evaluation coefficient; Step 403, based on the submersible search evaluation coefficient, the search difficulty is evaluated, and different search difficulties and search risk levels are divided according to the calculated submersible search evaluation coefficient value, which are low risk level, medium risk level and high risk level respectively; Step 404, matching the determined different search risk levels with the results of the submersible search evaluation coefficient, and setting corresponding evaluation thresholds for the different search risk levels; Step 405, arranging the submersible search evaluation coefficient values ​​in descending order, and assigning a corresponding search risk level to each value; Step 406, using GPS to determine the current position of the submersible, combining weather and wave characteristics, planning a navigation path to the submersible, and adjusting the navigation path according to real-time changes in weather and waves; The calculation formula of the submersible search evaluation coefficient is: Among them, SSEC is the submersible search evaluation coefficient, WII is the weather impact index, and WII min is the minimum possible value of the weather impact index, WII max is the maximum possible value of the weather impact index, WIA is the wave impact index, min is the minimum possible value of the wave impact index, WIAI max is the maximum possible value of the wave impact index, ∈ is a small positive number, a is the depth of the submersible, b is the time of the search mission, and f(ab) is a function of the depth of the submersible and the search time; A plurality of the search risk levels correspond to a plurality of the evaluation thresholds, wherein the evaluation thresholds include an upper threshold and a lower threshold; The multiple search risk levels and the multiple evaluation thresholds satisfy the following relationship: Low risk level SSEC <T1; Medium risk level T1≤SSEC <T2; High risk level SSEC ≥ T2; Among them, SSEC is the submersible search evaluation coefficient, T1 is the upper threshold corresponding to the low risk level and the lower threshold corresponding to the medium risk level, and T2 is the upper threshold corresponding to the medium risk level and the lower threshold corresponding to the high risk level; Step 5: Select the recovery method of the submersible based on the weather impact index and the wave impact index.

2. A method for searching a manned submersible on the surface according to claim 1, characterized in that: In step 5, the process of selecting the recovery method of the submersible is: Step 501, based on the basic information of the submersible and in combination with the weather impact index and the wave impact index, evaluate the impact of wind speed, wind direction, precipitation characteristics on the recovery of the submersible, and the impact of wave height, wave period and wave direction characteristics on the recovery of the submersible; Step 502, according to the wind speed, wind direction, wave height and current speed and the search risk level of the submersible, select the corresponding recovery method, prepare the corresponding recovery equipment and tools, formulate a recovery operation plan, and determine the recovery time window; Step 503, formulate an emergency plan for dealing with emergencies according to the selected recovery method, and monitor the changes in weather and waves in real time.

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