Underwater communication and positioning integrated subsurface buoy based on underwater sound

Abstract

The invention provides an underwater communication and positioning integrated subsurface buoy based on underwater sound, which is characterized in that a transducer and a depth meter component are used for transmitting and receiving 6-10kHz underwater sound signals, receiving 12-40kHz high-frequency sound signals from underwater, and acquiring depth information of the subsurface buoy. The transmitting and matching part completes isolation and switching of a receiving circuit and a transmitting circuit of the underwater acoustic transducer, and impedance matching is carried out on a transmitting driving circuit and the transmitting transducer; the transmitting and matching part also has a power driving function for the transmitting transducer; the underwater acoustic signal processing component completes analog modulation of underwater acoustic signals of the 6-10kHz receiving transducer, completes encoding of the underwater acoustic analog signals of the 6-10kHz receiving transducer after decoding processing, and receives encoding of packaged information of the protocol processing component; and the protocol processing component packages the modulated underwater acoustic analog signal of 6-10 kHz, the reserved high-frequency underwater acoustic signal of 12-40 kHz, the longitude and latitude signal of the buoy and the depth signal of the subsurface buoy according to a protocol, and receives and sends a control instruction of a user.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic communication and positioning, and in particular to an underwater communication and positioning integrated buoy based on underwater acoustics. Background Art

[0002] The underwater acoustic communication and underwater positioning technology started earlier in foreign countries. In terms of underwater acoustic communication networks, there is a history of nearly 20 years of development in foreign countries. The earliest and most representative one is the Seaweb network in the United States, which aims to verify the performance of underwater acoustic communication networks in shallow water complex channels. Since the first ocean test in Buzzard Bay, Massachusetts in 1998, more than 50 sea tests have been carried out. From 2003 to 2005, 1 to 3 UUVs were tested as mobile nodes, working in coordination with multiple buoy fixed nodes (about 40 nodes were deployed in 2004), and the topology structure and dynamic routing protocol were tested. In 2005, a test was also carried out to provide navigation services for UUVs using fixed nodes. Seaweb has demonstrated good application effects and technological advancement in applications such as underwater mobile platform command transmission, underwater positioning navigation, and ocean observation networks. Europe has also carried out experimental research. In 2018, Russia completed the construction of the underwater "GLONASS" positioning system. The system consists of sonar buoys and underwater unmanned vehicles equipped with satellite communications and ultra-short wave radio stations. The positioning depth can reach up to 8 kilometers underwater. After receiving the information, the underwater vehicle can perform precise positioning. Based on this system, a global information network center system for underwater monitoring and oil and gas extraction services can be established.

[0003] my country has accumulated many years of experience in the field of underwater acoustic communication and underwater acoustic positioning technology. The underwater acoustic communication equipment developed has reached the level of practical application. The performance of some products is comparable to that of products of well-known foreign companies. They have been widely used in seabed buoys, underwater manned / unmanned vehicles, remote control and data return of underwater operating platforms, etc. In terms of underwater acoustic communication networking technology, some research institutes and universities have formed the ability to locate long / short baseline prototypes. The previous research accumulation in China has laid a solid technical foundation for the development of integrated communication and navigation network equipment and the construction of underwater emergency communication and navigation test systems.

[0004] The existing underwater acoustic tracking, positioning, navigation and communication systems all work independently and have relatively simple functions. Due to the low degree of integration, dynamic systems need to work together. However, when multiple systems work together, incompatibility problems often arise. In addition, it is currently difficult to realize the command and communication functions of underwater navigation targets during sea trials, and it is difficult to meet the operational requirements of long-term and complex underwater tasks. Summary of the invention

[0005] The technical problem to be solved by the present invention is: to provide an integrated underwater communication and positioning buoy based on hydroacoustics, to provide safe, efficient, all-weather and all-water high-precision positioning and navigation information for multiple underwater platforms in deep-sea exploration and development activities, to provide services for underwater exploration, underwater platform deployment and recovery, and precise docking guidance, etc., to meet the needs of integrated services such as remote sharing of information, real-time transmission of commands, and networking communications for collaborative operations.

[0006] The present invention provides an underwater communication and positioning integrated buoy based on hydroacoustics, including a transducer and depth meter component, a transmitting and matching component, a hydroacoustic signal processing component, and a protocol processing component. The transducer and depth meter component completes the transmission and reception of 6-10kHz hydroacoustic signals, receives 12-40kHz high-frequency acoustic signals from underwater, and obtains the depth information of the buoy; the transmitting and matching component completes the isolation and switching of the receiving and transmitting circuits of the hydroacoustic transducer, and impedance matches the transmitting drive circuit with the transmitting transducer; the transmitting and matching component also has the power driving function of the transmitting transducer. The hydroacoustic signal processing component completes the analog modulation of the 6-10kHz receiving transducer hydroacoustic signal, completes the encoding after the decoding processing of the 6-10kHz receiving transducer hydroacoustic analog signal, and receives the encoding of the packaged information of the protocol processing component; the protocol processing component packages the modulated 6-10kHz hydroacoustic analog signal, the reserved 12-40kHz high-frequency hydroacoustic signal, the latitude and longitude signal of the buoy, and the depth signal of the buoy according to the protocol, and receives and sends the user's control instructions.

[0007] The transducer and depth meter components include a transceiver, a hydrophone and a depth meter; the transceiver completes the sending and receiving of 6-10kHz hydroacoustic signals; the hydrophone receives 12-40kHz high-frequency sound signals from underwater; and the depth meter obtains the depth information of the buoy.

[0008] The transmitting and matching components include a transceiver conversion and matching board and a power transmitting board; the transceiver conversion and matching board completes the isolation and switching of the receiving and transmitting circuits of the underwater acoustic transducer, and impedance matches the transmitting drive circuit with the transmitting transducer; the power transmitting board completes the power driving function of the transmitting transducer.

[0009] The underwater acoustic signal processing components include an analog signal preprocessing board, a digital signal processing board and a power management board; the analog signal preprocessing board completes the analog modulation of the 6-10kHz receiving transducer underwater acoustic signal; the digital signal processing board completes the decoding processing of the 6-10kHz receiving transducer underwater acoustic analog signal and the encoding function of the protocol processing component packaging information; the power management board converts the 24V power supply voltage of the external battery to power the analog signal preprocessing board and the digital signal processing board.

[0010] The protocol processing component includes a protocol processing board; the protocol processing board packages and processes the modulated 6-10kHz hydroacoustic analog signal, the reserved 12-40kHz high-frequency hydroacoustic signal, the latitude and longitude signal of the buoy, and the depth signal of the submerged buoy according to the protocol, and can receive and send user control instructions.

[0011] The hydroacoustic-based underwater communication and positioning integrated buoy provided by the present invention also includes an external battery pack; the external battery pack is used to provide a 24V instrument power supply and a 120V transmitting high-voltage power supply for the entire buoy.

[0012] The transmitting and matching components, hydroacoustic signal processing components, and protocol processing components are concentrated in the electronic cabin of the hydroacoustic communication and positioning integrated buoy, and data transmission is carried out through the 422 interface.

[0013] The beneficial effects of the present invention are as follows: the underwater communication and positioning integrated buoy based on hydroacoustics provided by the present invention has the characteristics of high integration of underwater communication and positioning, and can work in coordination with multiple systems. Furthermore, the high integration of underwater communication and positioning is specifically manifested in that the present invention has the ability to encode, modulate, and frame information through communication components such as hydroacoustic signal processing to achieve communication signal transmission; it performs multiplexing, synchronization, demodulation, and decoding on the received signal to achieve communication signal reception, and has active and passive hydroacoustic positioning and navigation functions. The collaborative operation of multiple systems is specifically manifested in that the present invention has a two-way data transmission function between the shore-ship monitoring center and the submersible or buoy, has a conflict avoidance media access control function, and supports multi-hop and routing reconstruction functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the architecture of the underwater buoy system integrating underwater acoustic communication and positioning;

[0015] Figure 2 Schematic diagram of the structure of the underwater buoy with integrated underwater acoustic communication and positioning;

[0016] Figure 3 Interface relationship diagram of underwater acoustic communication and positioning integrated buoy;

[0017] Figure 4 Workflow diagram of the integrated underwater acoustic communication and positioning buoy. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0019] Reference Figure 1As shown, the underwater communication and positioning integrated buoy based on hydroacoustics provided in an embodiment of the present invention includes a transducer and depth gauge component, a transmitting and matching component, a hydroacoustic signal processing component, a protocol processing component, and an external battery pack. The transmitting and matching component, the hydroacoustic signal processing component, and the protocol processing component are concentrated in the electronic compartment of the hydroacoustic communication and positioning integrated buoy, and data is transmitted through the 422 interface. The external battery pack is used to provide a 24V instrument power supply and a 120V transmitting high-voltage power supply for the entire buoy.

[0020] Reference Figure 2 As shown, the transducer and depth meter components include a transceiver, a hydrophone and a depth meter; the transceiver mainly completes the sending and receiving of 6-10kHz hydroacoustic signals; the hydrophone receives 12-40kHz high-frequency sound signals from underwater; the depth meter obtains the depth information of the buoy.

[0021] The transmitting and matching components include a transceiver conversion and matching board and a power transmitting board; the transceiver conversion and matching board mainly completes the isolation and switching of the receiving and transmitting circuits of the underwater acoustic transducer, and impedance matches the transmitting drive circuit with the transmitting transducer; the power transmitting board mainly completes the power driving function of the transmitting transducer.

[0022] The underwater acoustic signal processing components include an analog signal preprocessing board, a digital signal processing board and a power management board; the analog signal preprocessing board completes the analog modulation of the 6-10kHz receiving transducer underwater acoustic signal; the digital signal processing board completes the decoding processing of the 6-10kHz receiving transducer underwater acoustic analog signal and the encoding function of the protocol processing board packaged information; the power management board converts the 24V power supply voltage of the external battery to provide working power and power enable for the receiving preprocessing board and the signal processing board.

[0023] The protocol processing component includes a protocol processing board; the protocol processing board packages and processes the modulated 6-10kHz hydroacoustic analog signal, 12-40kHz high-frequency hydroacoustic signal (reserved), the latitude and longitude signal of the buoy, and the depth signal of the submerged buoy according to the protocol, and can receive and send user control instructions.

[0024] like Figure 3 As shown, it is the interface relationship of the embodiment of the present invention, the buoy platform and the submerged buoy are connected by the load-bearing cable X6, which is connected to the submerged buoy end XP14 (serial port 422 interface) to realize two-way information interaction with the submerged buoy.

[0025] The buoy and the user terminal use underwater acoustic communication to exchange information. The communication positioning equipment carried by the user terminal can exchange information such as position, time, status, observation elements, and instructions with the underwater acoustic communication positioning equipment.

[0026] like Figure 4As shown, the working process of the underwater communication and positioning integrated buoy based on hydroacoustic provided by the embodiment of the present invention is as follows:

[0027] The buoy platform is connected to the integrated underwater buoy for acoustic communication and positioning through a communication cable, receives the location information of the buoy and the user terminal and the status information of the equipment, and sends down the query and deployment instructions of the shipborne command and control system; the user terminal equipment communicates with the integrated underwater buoy for acoustic communication and positioning by carrying the underwater acoustic positioning communication equipment terminal, and measures the user terminal equipment (the propagation delay or delay difference of the transmitted interrogation signal to the buoy / buoy), and uses the method of spherical (or hyperbolic) intersection to obtain the relative or absolute coordinates of the time when the interrogation signal is transmitted. Two-way data communication from the user terminal equipment to the integrated underwater buoy for acoustic communication and positioning is realized through underwater networking communication.

[0028] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An underwater communication and positioning integrated buoy based on hydroacoustic, characterized by: It includes a transducer and depth meter component, a transmitting and matching component, an underwater acoustic signal processing component, and a protocol processing component; the transducer and depth meter component completes the transmission and reception of 6-10kHz underwater acoustic signals, receives 12-40kHz high-frequency acoustic signals from underwater, and obtains the depth information of the buoy; the transmitting and matching component completes the isolation and switching of the receiving and transmitting circuits of the underwater acoustic transducer, and impedance matches the transmitting drive circuit with the transmitting transducer; the transmitting and matching component also has the power driving function of the transmitting transducer; the underwater acoustic signal processing component completes the analog modulation of the 6-10kHz receiving transducer underwater acoustic signal, completes the encoding after decoding processing of the 6-10kHz receiving transducer underwater acoustic analog signal, and receives the encoding of the packaged information of the protocol processing component; the protocol processing component packages the modulated 6-10kHz underwater acoustic analog signal, the reserved 12-40kHz high-frequency underwater acoustic signal, the latitude and longitude signal of the buoy, and the depth signal of the buoy according to the protocol, and receives and sends the user's control instructions.

2. The underwater communication and positioning integrated buoy based on hydroacoustic according to claim 1 is characterized by: The transducer and depth meter components include a transceiver, a hydrophone and a depth meter; the transceiver completes the sending and receiving of 6-10kHz hydroacoustic signals; the hydrophone receives 12-40kHz high-frequency sound signals from underwater; and the depth meter obtains the depth information of the buoy.

3. The underwater communication and positioning integrated buoy based on hydroacoustic according to claim 1 is characterized by: The transmitting and matching components include a transceiver conversion and matching board and a power transmitting board; the transceiver conversion and matching board completes the isolation and switching of the receiving and transmitting circuits of the underwater acoustic transducer, and impedance matches the transmitting drive circuit with the transmitting transducer; the power transmitting board completes the power driving function of the transmitting transducer.

4. The underwater communication and positioning integrated buoy based on hydroacoustic according to claim 1 is characterized by: The underwater acoustic signal processing components include an analog signal preprocessing board, a digital signal processing board and a power management board; the analog signal preprocessing board completes the analog modulation of the 6-10kHz receiving transducer underwater acoustic signal; the digital signal processing board completes the decoding processing of the 6-10kHz receiving transducer underwater acoustic analog signal and the encoding function of the protocol processing component packaging information; the power management board converts the 24V power supply voltage of the external battery to power the analog signal preprocessing board and the digital signal processing board.

5. The underwater communication and positioning integrated buoy based on hydroacoustic according to claim 1 is characterized by: The protocol processing component includes a protocol processing board; the protocol processing board packages and processes the modulated 6-10kHz hydroacoustic analog signal, the reserved 12-40kHz high-frequency hydroacoustic signal, the latitude and longitude signal of the buoy, and the depth signal of the submerged buoy according to the protocol, and can receive and send user control instructions.

6. The underwater communication and positioning integrated buoy based on hydroacoustic according to any one of claims 1 to 5, characterized in that: An external battery pack is also included; the external battery pack is used to provide 24V instrument power and 120V transmitting high voltage power for the entire submersible.

7. The underwater communication and positioning integrated buoy based on hydroacoustic according to claim 1 is characterized by: The transmitting and matching components, underwater acoustic signal processing components, and protocol processing components are concentrated in the electronic cabin of the underwater acoustic communication and positioning integrated buoy, and data transmission is carried out through the 422 interface.

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