Sea-air cross-medium communication method and device

Abstract

The invention discloses a sea-air cross-medium communication method and device, and the method comprises the steps: obtaining the arrangement position of a target buoy, and carrying out the deployment of a water radio communication buoy according to the arrangement position of the target buoy; obtaining a target optical fiber connection path, and deploying an underwater optical fiber communication chain according to the target optical fiber connection path; wherein the underwater optical fiber communication chain is connected with a plurality of overhung underwater communication relay modules; a communication relay chain is obtained through the overwater radio communication buoy, the underwater communication relay module and the underwater optical fiber communication chain; and transmitting target data through the communication relay chain to realize sea-air cross-medium communication. The method can improve the speed and stability of sea-air cross-medium communication, and can be widely applied to the technical field of communication.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a method and device for sea-to-air cross-medium communication. Background Art

[0002] Equipment inspection, data monitoring and communication in the marine environment is a challenging task, especially in fixed inspection scenarios such as offshore wind farms. Traditional communication methods are often limited by the complexity of the marine environment and the bandwidth limitations of data transmission. Especially when it comes to cross-media data transmission between sea and air, existing technologies such as underwater acoustic communication and electromagnetic wave communication have problems such as low speed and high latency. Summary of the invention

[0003] In view of this, the main purpose of the embodiments of the present invention is to provide a method and device for sea-to-air cross-media communication, in order to solve at least one of the problems of the prior art. The present invention can improve the rate and stability of sea-to-air cross-media communication.

[0004] To achieve the above object, an embodiment of the present invention provides a method for cross-medium communication between sea and air, comprising the following steps:

[0005] Acquiring the target buoy layout position, and deploying the water radio communication buoy according to the target buoy layout position;

[0006] Obtaining a target optical fiber connection path, and deploying an underwater optical fiber communication chain according to the target optical fiber connection path; wherein the underwater optical fiber communication chain is connected to a plurality of suspended underwater communication relay modules;

[0007] Obtaining a communication relay chain through the above-water radio communication buoy, the underwater communication relay module and the underwater optical fiber communication chain;

[0008] The target data is transmitted through the communication relay chain to achieve cross-media communication in the sea and air.

[0009] In some embodiments, the step of acquiring the target buoy arrangement position and deploying the water radio communication buoy according to the target buoy arrangement position comprises the following steps:

[0010] Obtain the buoy communication range, transmission power and environmental characteristic parameters;

[0011] Obtaining surface communication capability according to the buoy communication range, the transmission power and the environmental characteristic parameters;

[0012] acquiring an initial buoy deployment position according to the surface communication capability;

[0013] By using a particle swarm algorithm and a Monte Carlo method, the target buoy arrangement position is obtained according to the initial buoy arrangement position;

[0014] The water radio communication buoy is deployed according to the target buoy arrangement position.

[0015] In some embodiments, the method of obtaining the target buoy arrangement position according to the initial buoy arrangement position by using a particle swarm algorithm and a Monte Carlo method comprises the following steps:

[0016] generating an initial particle group according to the initial buoy arrangement position;

[0017] By using the particle swarm algorithm, the initial particle swarm is updated to output the intermediate buoy arrangement position;

[0018] The communication coverage rate at the intermediate buoy arrangement position is simulated by the Monte Carlo method to obtain the target buoy arrangement position corresponding to the maximum communication coverage rate.

[0019] In some embodiments, the step of acquiring a target optical fiber connection path and deploying an underwater optical fiber communication chain according to the target optical fiber connection path comprises the following steps:

[0020] Get the total fiber bandwidth and total fiber distance;

[0021] Obtaining optical fiber transmission efficiency according to the total optical fiber bandwidth and the total optical fiber distance;

[0022] According to the optical fiber transmission efficiency, a target optical fiber connection path is obtained through an optical fiber link planning algorithm;

[0023] The underwater optical fiber communication chain is deployed according to the target optical fiber connection path.

[0024] In some embodiments, the transmission of target data through the communication relay chain to achieve sea-air cross-medium communication includes the following steps:

[0025] Transmitting the target data from the underwater drone to the underwater communication relay module via optical communication;

[0026] Transmitting the target data from the underwater communication relay module to the surface radio communication buoy via the underwater optical fiber communication chain and hydroacoustic communication;

[0027] The target data is transmitted from the above-water radio communication buoy to a monitoring center via radio communication.

[0028] In some embodiments, a method for cross-medium communication between sea and air further includes the following steps:

[0029] Pre-set link switching decision;

[0030] Get the current control signal strength;

[0031] When the control signal strength is less than the link switching threshold in the link switching decision, the communication relay link is switched to a backup link.

[0032] To achieve the above object, another aspect of an embodiment of the present invention provides a sea-air cross-medium communication device, the device comprising:

[0033] The first module is used to obtain the target buoy layout position, and deploy the water radio communication buoy according to the target buoy layout position;

[0034] The second module is used to obtain a target optical fiber connection path, and deploy an underwater optical fiber communication chain according to the target optical fiber connection path; wherein the underwater optical fiber communication chain is connected to a plurality of suspended underwater communication relay modules;

[0035] A third module is used to obtain a communication relay chain through the above-water radio communication buoy, the underwater communication relay module and the underwater optical fiber communication chain;

[0036] The fourth module is used to transmit the target data through the communication relay chain to achieve cross-media communication between sea and air.

[0037] In some embodiments, a sea-air cross-medium communication device further includes:

[0038] The fifth module is used to pre-set link switching decisions;

[0039] The sixth module is used to obtain the current control signal strength;

[0040] The seventh module is used to switch the communication relay link to a backup link when the control signal strength is less than the link switching threshold in the link switching decision.

[0041] To achieve the above-mentioned purpose, another aspect of an embodiment of the present invention provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the above-mentioned sea-to-air cross-media communication method.

[0042] To achieve the above-mentioned purpose, another aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned sea-to-air cross-media communication method is implemented.

[0043] To achieve the above object, another aspect of an embodiment of the present invention provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the aforementioned sea-air cross-medium communication method.

[0044] The embodiments of the present invention include at least the following beneficial effects: the present invention provides a sea-to-air cross-media communication method and device, which obtains the target buoy layout position, and deploys the water radio communication buoy according to the target buoy layout position; obtains the target optical fiber connection path, and deploys the underwater optical fiber communication chain according to the target optical fiber connection path; wherein the underwater optical fiber communication chain is connected with a plurality of suspended underwater communication relay modules; a communication relay chain is obtained through the water radio communication buoy, the underwater communication relay module and the underwater optical fiber communication chain; through the communication relay chain, the target data is transmitted to realize sea-to-air cross-media communication, which can improve the rate and stability of sea-to-air cross-media communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 is a flow chart of an optional sea-to-air cross-medium communication method provided by an embodiment of the present invention;

[0047] Figure 2 is a flow chart of another optional sea-to-air cross-medium communication method provided by an embodiment of the present invention;

[0048] Figure 3 is a schematic diagram of the structure of a water-air drone provided by an embodiment of the present invention;

[0049] Figure 4 is a schematic diagram of a water-to-air relay communication system framework based on a water-to-air UAV provided in an embodiment of the present invention;

[0050] Figure 5 is a flow chart of a particle swarm algorithm provided by an embodiment of the present invention;

[0051] Figure 6 This is an overall flow chart of water-to-air relay communication of water-to-air UAV provided by an embodiment of the present invention;

[0052] Figure 7 It is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention.

[0053] Reference numerals:

[0054] Water-air drone 800; underwater optical communication transceiver 801. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present invention, and they are only examples of devices and methods consistent with some aspects of the embodiments of the present invention as detailed in the attached claims.

[0056] It should be noted that, although the functional modules are divided in the system schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the flow chart. The terms "first / S100" and "second / S200" in the specification and claims and the above-mentioned drawings may be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiment of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determination".

[0057] The terms "at least one", "multiple", "each", "any", etc. used in the present invention, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0059] With the rapid development of drone technology, it has been widely used in military reconnaissance, geographic mapping, disaster monitoring, investigation, underwater monitoring and communication. However, equipment inspection, data monitoring and communication in the marine environment is a challenging task, especially in fixed inspection scenarios such as offshore wind farms. Traditional communication methods are often limited by the complexity of the marine environment and the bandwidth limitations of data transmission. Especially when it comes to cross-media data transmission between sea and air, existing technologies such as hydroacoustic communication and electromagnetic wave communication have problems such as low speed and high latency. In the monitoring task of offshore wind turbines, underwater drones based on only one communication method are often difficult to meet the task requirements, especially in terms of operating efficiency and communication stability in deep water areas.

[0060] Traditional sea and air drone communication technology relies on sonar and radio to perform communication tasks in sea and air environments, which results in the drone's single communication performance being limited in mission environments in magnetic fields or deep water areas, resulting in problems such as insufficient communication stability, limited range, limited adaptability, limited autonomy, insufficient anti-interference, and low redundancy. In particular, in communication tasks that require deep water, high-density water bodies, and high response, existing technologies are insufficient to meet the needs of speed and efficiency. In addition, traditional communication technologies are greatly interfered with in underwater environments and have no efficient communication mechanism, which affects the execution safety of missions and the accurate transmission of data.

[0061] At present, there are still some technical difficulties in the degree and stability of underwater effective communication of sea and air UAVs. The two main problems of existing sea and air UAVs are high communication interference in the sea and air area, great influence of water medium, reliance on wired communication such as optical fiber and low-depth underwater wireless communication, which limits the maneuverability of sea and air UAVs in water and their communication capabilities to perform complex tasks.

[0062] In view of this, refer to Figure 3 , Figure 4 The embodiment of the present invention is based on Figure 3 The water-air drone 800 with an underwater optical communication transceiver 801 is constructed as shown in FIG. Figure 4The framework of the sea-air cross-medium communication relay system shown in the figure includes an above-water radio communication buoy, an underwater optical fiber communication chain, and an underwater communication relay module. The above-water radio communication buoy is responsible for radio communication with the water-air drone, and the underwater optical fiber communication chain connects multiple suspended underwater communication relay modules to ensure multi-level data transmission channels. The underwater communication relay module realizes a flexible and efficient communication network through hydroacoustic communication. Through an above-water radio communication buoy relay, multiple underwater communication relay modules and an underwater optical fiber communication chain are connected in series to form a communication relay chain covering a specific range (large and small depths, etc.) and a specific rate (different rates, high-bandwidth data transmission channels, remote low-bandwidth control channels), so that the sea-air drone communication mechanism maintains efficient communication. Exemplarily, the sea-air cross-medium communication relay system may include: an above-water radio communication buoy, floating on the water surface, equipped with radio communication equipment, used to communicate with the control center or the UAV ground station; an underwater optical fiber communication chain, connected with multiple underwater communication relay modules, forming a stable high-speed data transmission path; an underwater communication relay module, distributed in multiple nodes underwater, suspended in a fixed position, and realizing multi-level data transmission path construction through different communication modes, with multiple communication modes, such as underwater acoustic communication, underwater optical communication, underwater electromagnetic wave communication, underwater magnetic induction communication, etc., to ensure reliable communication under different environmental conditions. Optionally, the underwater communication relay module and the underwater optical fiber communication chain release communication signals in a spherical range and are arranged in a chain-like interval to achieve and meet the effective monitoring communication range of underwater operations and enhance the communication rate.

[0063] In some embodiments, the sea-air drone (or water-air drone) uses radio to communicate with the control center or drone ground station when operating in the air, and can use the sea-air cross-medium communication relay system to achieve sea-air cross-medium communication when operating underwater. Exemplarily, the underwater communication relay module transmits high-speed data with other modules and buoys through an optical fiber chain; each underwater communication relay module self-organizes the network to achieve communication with the sea-air drone, and is used to transmit the status, control signals, video signals, etc. of the sea-air drone in real time; each underwater communication relay module can also use hydroacoustic communication as a backup for the main chain to ensure the stability of the control signal transmission of the sea-air drone during underwater operations, and ensure the redundancy and reliability of the system; the water radio communication buoy transmits the underwater data to the control center or drone ground station in the air via radio to achieve real-time monitoring and transmission of data.

[0064] refer to Figure 1 , Figure 1 is an optional flow chart of a sea-air cross-medium communication method provided by an embodiment of the present invention. Figure 1 The method may include but is not limited to steps S100 to S400:

[0065] Step S100, obtaining the target buoy layout position, and deploying the water radio communication buoy according to the target buoy layout position;

[0066] Step S200, obtaining a target optical fiber connection path, and deploying an underwater optical fiber communication chain according to the target optical fiber connection path; wherein the underwater optical fiber communication chain is connected to a plurality of suspended underwater communication relay modules;

[0067] Step S300, obtaining a communication relay chain through the above-water radio communication buoy, the underwater communication relay module and the underwater optical fiber communication chain;

[0068] Step S400, transmitting the target data through the communication relay chain to achieve sea-air cross-medium communication.

[0069] In some embodiments, step S100 may include but is not limited to steps S110 to S150:

[0070] Step S110, obtaining the buoy communication range, transmission power and environmental characteristic parameters;

[0071] Step S120, obtaining the surface communication capability according to the buoy communication range, the transmission power and the environmental characteristic parameters;

[0072] Step S130, obtaining an initial buoy arrangement position according to the surface communication capability;

[0073] Step S140, obtaining the target buoy arrangement position according to the initial buoy arrangement position by using a particle swarm algorithm and a Monte Carlo method;

[0074] Step S150, deploying the water radio communication buoy according to the target buoy layout position.

[0075] In some embodiments, since the wind turbine foundation piles are fixed and have a large depth, the optimal layout of the relay nodes can be determined first based on the depth of the foundation piles, the water quality of the environment (such as turbidity), and the communication medium (such as underwater optical fiber, hydroacoustic, etc.). Optionally, the nodes are arranged within appropriate adjacent spacing to ensure that each node can receive a stable signal and reduce the impact of path loss. A depth-aware layout algorithm can be used to calculate the optimal deployment plan in combination with the relative distance between nodes and signal propagation loss. The algorithm dynamically adjusts the position of the node based on environmental characteristics so that each node can efficiently relay the signal.

[0076] In steps S110 to S150 of some embodiments, a water radio communication buoy is deployed, and the optimal buoy arrangement position is calculated by adopting a radio signal propagation model. For example, the buoy communication range, transmission power and environmental characteristic parameters are obtained, and the surface communication capability can be calculated, and the following expression is obtained:

[0077] C surface =f(R buoy ,P transmission ,η environment )

[0078] Among them, C surface is the surface communication capability; R buoy is the buoy communication range; P transmission is the transmission power of the radio signal; η environment It is the environmental factor, that is, the environmental characteristic parameter.

[0079] The initial buoy layout position is obtained according to the surface communication capability, and the initial buoy layout position is optimized based on the particle swarm algorithm (PSO) to improve the full communication coverage rate. The communication coverage under the current buoy position is simulated based on the Monte Carlo method, and then the buoy deployment corresponding to the maximum communication coverage rate is found, that is, the target buoy layout position, so as to realize the deployment of the water radio communication buoy.

[0080] By deploying water radio communication buoys on the water surface, the top communication monitoring task of sea and air drones can be ensured when operating on the water surface. The calculation of the optimal buoy layout position is to maximize the buoy coverage and improve the communication efficiency with sea and air drones and underwater communication nodes.

[0081] In some embodiments, step S140 may include but is not limited to steps S141 to S143:

[0082] Step S141, generating an initial particle group according to the initial buoy arrangement position;

[0083] Step S142, updating the initial particle swarm through the particle swarm algorithm and outputting the intermediate buoy arrangement position;

[0084] Step S143, simulating the communication coverage rate at the intermediate buoy arrangement position by using the Monte Carlo method, and obtaining the target buoy arrangement position corresponding to the maximum communication coverage rate.

[0085] In some embodiments, in step S141 to step S142, the initial buoy placement position is obtained based on the surface communication capability, and the initial buoy placement position is optimized based on the particle swarm optimization (PSO). For example, for the offshore wind power fixed inspection scenario, the depth H of the underwater wind power pile, the communication distance d of the buoy, the initial buoy placement position list P, and the reference Figure 5 , the particle swarm algorithm is used to output the optimized buoy layout position list P i , in order to improve the full coverage of communications. Figure 5 As shown in the figure, according to the input initial buoy layout position list P, an initial particle group is generated, where each particle represents a possible buoy position configuration, and the position and speed of the particle are initialized; for each possible position of each particle identified, its fitness function value (i.e., particle communication coverage C i ), and then the individual extreme value (i.e., the position of particle i in the d-th dimension) and the group extreme value (i.e., the global position) can be calculated to determine whether the position of particle i in the d-th dimension is the optimal position and whether the global position is the global optimal position. If the position of particle i in the d-th dimension is not the optimal position or the global position is not the global optimal position, the particle's speed and position are updated, and then the fitness function value is updated until the optimal position of particle i in the d-th dimension and the global optimal position are obtained, and then the optimal intermediate buoy layout position is output.

[0086] Then the particle communication coverage C i The formula can be expressed as:

[0087]

[0088] The formula is expressed as the list of buoy deployment positions P in a specific configuration i The ratio of the union volume of all buoy communication ranges to the total volume that needs to be covered.

[0089] The particle's velocity and position are updated according to the following formula:

[0090]

[0091] in, is the position of particle i in the dth dimension in the k+1th iteration speed; is the position of particle i in the dth dimension in the kth iteration speed; is the position of particle i in the dth dimension at the kth iteration; is the position of particle i in the dth dimension at the k+1th iteration; w is the inertia weight; pBest id is the best position of particle i in the dth dimension; gBest dis the global optimal position; rand is a random number in the interval [0,1]; c 1 、c 2 is the weight coefficient related to the particle communication coverage, corresponding to the coverage of the particle's personal best position and the coverage of the particle's global best position. The buoy configuration is optimized by affecting the particle's speed and position to improve the communication coverage, that is, c 1 is the weight coefficient used to control the particle to the individual optimal position, c 2 is the weight coefficient used to control the particle to the global optimal position.

[0092] In step S143 of some embodiments, the communication coverage at the current buoy position is simulated based on the Monte Carlo method. For example, the middle buoy arrangement position is set as the initial value of the current buoy position, the number of Monte Carlo simulations is set to N, and for each simulation j (j = 1, 2, ..., N), the buoy position P is randomly generated. j , the particle communication coverage C can be calculated by the following formula j :

[0093]

[0094] The formula is expressed as: j The ratio of the union volume of all buoy communication ranges to the total volume that needs to be covered.

[0095] The volume V of the buoy communication range can be calculated using a spherical model, and the calculation formula is as follows:

[0096]

[0097] Where d is the communication distance of the buoy.

[0098] Further optimization of the evaluation results: Calculation of the average particle communication coverage of all Monte Carlo simulations The calculation formula is as follows:

[0099]

[0100] Where N is the number of Monte Carlo simulations.

[0101] Select the maximum value from all the coverage results simulated by the Monte Carlo method, and find the target buoy layout position P corresponding to the maximum particle communication coverage best , then the calculation formula is as follows:

[0102] P best = argmax Pj C j

[0103] In some embodiments, step S200 may include but is not limited to steps S210 to S240:

[0104] Step S210, obtaining the total optical fiber bandwidth and the total optical fiber distance;

[0105] Step S220, obtaining the optical fiber transmission efficiency according to the total optical fiber bandwidth and the total optical fiber distance;

[0106] Step S230, obtaining a target optical fiber connection path through an optical fiber link planning algorithm according to the optical fiber transmission efficiency;

[0107] Step S240: deploying the underwater optical fiber communication chain according to the target optical fiber connection path.

[0108] In steps S210 to S240 of some embodiments, the total bandwidth and total distance of the optical fiber are obtained to obtain the optical fiber transmission efficiency, which is calculated by the following formula:

[0109]

[0110] Where, T optical is the optical fiber transmission efficiency; B total is the total bandwidth of the optical fiber; D total is the total fiber distance.

[0111] According to the optical fiber transmission efficiency, the optical fiber link planning algorithm is used to optimize the optical fiber connection path between each relay node to obtain the target optical fiber connection path. According to the target optical fiber connection path, the underwater optical fiber communication chain can be deployed. Among them, the underwater optical fiber communication chain is connected with multiple suspended underwater communication relay modules. Based on hierarchical data transmission, multiple suspended underwater communication relay modules are connected to form a stable multi-bandwidth data transmission path.

[0112] In some embodiments, an underwater communication relay module is suspended in an underwater position, and a flexible and efficient communication network can be realized by selecting one or a combination of communication modes to support communication and monitoring tasks of underwater operations. Exemplarily, a hybrid communication protocol selection algorithm is used to dynamically select the optimal communication mode according to environmental conditions, and the following expression is obtained:

[0113]

[0114] Among them, P network is the total network performance; P optical , P acoustic and P radio They are the performance indicators of optical communication, underwater acoustic communication and radio communication respectively; M is the total number of network communication modules (or devices), q=1,2,…,M.

[0115] In step S300 of some embodiments, a communication relay chain can be obtained through an above-water radio communication buoy, an underwater communication relay module, and an underwater optical fiber communication chain. Exemplarily, a communication relay chain covering a specific range (large and small depths, etc.) and a specific rate (different rates, high-bandwidth data transmission channels, remote low-bandwidth control channels) is formed by connecting an above-water radio communication buoy relay, multiple underwater communication relay modules, and an underwater optical fiber communication chain in series, so that the sea-air UAV communication mechanism maintains efficient communication.

[0116] In some embodiments, by integrating advanced underwater acoustic communication, radio communication, and optical communication technologies, a range communication relay chain framework system is formed to achieve communication coverage for underwater robot operations. In order to ensure efficient coverage of the system, path loss must be incorporated into the design, especially in multi-media scenarios, where signal losses at different frequencies are different, and the distance between nodes will also affect effective coverage. Therefore, the path loss model is the key to optimizing relay node deployment and communication strategies. The signal propagation loss in different media is different, which can be specifically described by the free space loss model, underwater acoustic propagation model, etc. For example, in underwater acoustic communication, the loss mainly depends on the signal frequency and propagation distance:

[0117] L(d)=L 0 +20logd+α(f)d

[0118] Among them, L 0 is the initial loss; α(f) is the attenuation coefficient related to the signal frequency; d is the communication distance of the buoy.

[0119] After considering the path loss, the communication coverage will be reduced and the overlap area between different nodes will also be reduced. Therefore, the total coverage after considering the path loss is corrected to:

[0120]

[0121] Among them, C i is the communication coverage of the ith node; f(L(d i )) is the impact function of path loss on the coverage range of the i-th node; i ′ j is the actual overlap area between the i-th and j-th nodes under the influence of path loss; p is a specific starting node or a preset specific condition used to limit the range of the summation; n is the total number of nodes in the network; R ′ total is the total coverage after considering the path loss.

[0122] In some embodiments, step S400 may include but is not limited to steps S410 to S430:

[0123] Step S410, transmitting the target data from the underwater drone to the underwater communication relay module through optical communication;

[0124] Step S420, transmitting the target data from the underwater communication relay module to the above-water radio communication buoy through the underwater optical fiber communication chain and hydroacoustic communication;

[0125] Step S430: sending the target data from the water radio communication buoy to a monitoring center via radio communication.

[0126] In steps S410 to S420 of some embodiments, the target data is transmitted from the underwater drone to the underwater communication relay module via optical communication. The target data is transmitted from the underwater communication relay module to the water radio communication buoy relay via an optical fiber link and an acoustic channel, and the path loss of the optical fiber and the path loss of the acoustic signal are calculated. The path loss calculation formula of the optical fiber signal is:

[0127] L fiber =α fiber ·d fiber

[0128] Among them, L fiber is the path loss of the optical fiber signal (dB); α fiber is the optical attenuation coefficient of the optical fiber (dB / km); d fiber is the optical attenuation coefficient of the optical fiber (dB / km).

[0129] The path loss of the underwater acoustic signal can be calculated using the following formula:

[0130] L acoustic =α acoustic ·d acoustic

[0131] Among them, L acoustic is the path loss of the acoustic signal (dB); α acoustic is the sound attenuation coefficient in water (dB / m); d acoustic is the propagation distance of the underwater acoustic signal (m).

[0132] After the light beam is emitted on the water, the sea-air drone triggers the optical communication transceiver to receive the light beam. Then the receiving intensity of the optical signal P r,fiber The formula is:

[0133]

[0134] Among them, P t,光 is the transmitted power of the optical signal (W); G t and G ris the transmit and receive fiber gain (unitless); P r,fiber is the received intensity of the optical signal.

[0135] After calculating the received optical signal strength, the optical signal is modulated using on / off modulation (OOK) to transmit data. The signal modulation process can be expressed as:

[0136]

[0137] Where A is the signal amplitude, f c is the carrier frequency; S(t) 光 is the optical signal strength.

[0138] After the drone receives the underwater acoustic signal, it calculates the strength of the acoustic signal. The receiving strength of the acoustic signal P r,acoustic It can be calculated using the following formula:

[0139]

[0140] Among them, P t,声 is the transmitted power of the acoustic signal (Pa); G t and G r is the transmit and receive fiber gain (unitless); P r,acoustic is the received strength of the acoustic signal.

[0141] After calculating the received signal strength, the sound signal is modulated using frequency shift keying (FSK). The modulation process can be expressed as:

[0142] S(t) 声 =A·cos(2πf 1 t), if bit=0

[0143] S(t) 声 =A·cos(2πf 2 t), if bit=1

[0144] Among them, f 1 and f 2 are the low-frequency and high-frequency components; S(t) 声 is the acoustic signal strength.

[0145] In step S430 of some embodiments, the target data is sent from the water radio communication buoy to the monitoring center via a radio signal, and the path loss of the radio signal is calculated. The path loss of the radio signal can be calculated using the following formula:

[0146] L radio =20log 10 (d radio )+20log 10(f)-147.55

[0147] Among them, L radim is the path loss of the radio signal (dB); d radio is the transmission distance of the radio signal (m); f is the frequency (Hz).

[0148] After the drone receives the radio signal, it calculates the radio signal strength. The received radio signal strength P r,radio It can be calculated using the following formula:

[0149]

[0150] Among them, P t,无线 is the transmission power of the radio signal (W); G t and G r is the transmit and receive fiber gain (unitless); P r,radio is the received radio signal strength.

[0151] After calculating the received radio signal strength, the radio signal is modulated using amplitude modulation (AM) technology. The modulation process can be expressed as:

[0152] S(t) 无线 =(A+m(t))·cos(2π c t)

[0153] Where m(t) is the modulating signal; S(t) 无线 is the radio signal strength.

[0154] In some embodiments, a communication relay chain covering a specific range and a specific rate is formed by connecting an above-water radio communication buoy relay, multiple underwater communication relay modules and an underwater optical fiber communication chain in series. Optionally, a link optimization algorithm is used to ensure the optimal communication performance of the communication relay chain. The total length of the communication relay chain is calculated as follows:

[0155]

[0156] Where, L chain is the total length of the communication relay chain; L module is the length of each relay module connection; N quantity is the number of underwater communication relay modules.

[0157] In some embodiments, in order to ensure efficient communication, a communication efficiency optimization algorithm may be used to improve the communication efficiency of the overall system. The calculation formula for communication efficiency is as follows:

[0158]

[0159] In the formula, E efficiency is the communication efficiency; D data is the amount of data; T transmission is the transmission time.

[0160] In some embodiments, real-time monitoring and data transmission are performed through a communication relay chain, so as to obtain detection information and working condition data in real time and optimize the communication of the detection task of the underwater robot system. Optionally, real-time data transmission is used to ensure low latency and high reliability of data transmission. The calculation formula of real-time monitoring capability is as follows:

[0161]

[0162] Where M real-time is the real-time monitoring capability; S data is the data size; Q quality is the transmission quality; τ latency is the transmission delay.

[0163] In some embodiments, an efficient communication relay chain startup mechanism can be used in the sea-air cross-medium communication relay system. The core of the startup mechanism is a carefully designed trigger algorithm, which ensures the timely and reliable startup of the communication link to adapt to the dynamically changing marine environment. Exemplarily, the communication relay chain startup formula includes:

[0164] 1) Use threshold detection, the specific formula includes:

[0165] Threshold detection formula:

[0166] Among them, f(x) is the event detection function, which is a certain statistic or feature of the monitoring data; θ is the threshold.

[0167] 2) Using the trigger method, when a specific trigger condition is detected, the system device needs to start the corresponding operation or task. The specific formula includes:

[0168] Trigger formula:

[0169] like Figure 2 As shown, a sea-air cross-medium communication method provided by an embodiment of the present invention may also include but is not limited to steps S500 to S700:

[0170] Step S500, pre-setting link switching decision;

[0171] Step S600, obtaining the current control signal strength;

[0172] Step S700: When the control signal strength is less than the link switching threshold in the link switching decision, the communication relay link is switched to a backup link.

[0173] In some embodiments, in order to ensure the reliability of the system, a communication network for underwater backup control signals is also provided. The control signals are collected from the sensor or control system, and the control signals are data encoded, for example, using CRC (cyclic redundancy check) for error detection. The CRC encoding formula is as follows:

[0174]

[0175] Among them, CRC encoded is the encoded data; Data is the original control signal data; CRC generator is the CRC generating polynomial.

[0176] The data transmitted by the optical communication is then backed up and integrated with the data transmitted by the acoustic communication. When a problem occurs in the optical communication link, the acoustic communication link is automatically switched to for data transmission. Optionally, the algorithm for switching the link includes:

[0177] 1) Real-time monitoring:

[0178] Monitor the current signal strength S(t) and decide whether to switch links. Define signal strength S(t) as a function of time t:

[0179] S(t)=MeasureSignalStrength(t)

[0180] Where S(t) is the signal strength received at time t, which can be optical signal strength, acoustic signal strength or radio signal strength; MeasureSignalStrength(t) is a function that returns the signal strength value at time t.

[0181] 2) Link switching decision:

[0182] The switching decision is made based on the real-time monitored signal strength S(t). Define the threshold as Threshold, then the link switching decision SwitchToBackup can be expressed as:

[0183]

[0184] Among them, SwitchToBackup(t) is the decision to switch to the backup link; True means that the backup link should be switched; False means continuing to use the current link; Threshold is the set signal strength threshold used to determine whether the link needs to be switched.

[0185] For example, the current time t is 10 seconds, the measured signal strength value of the sea-air drone is S(10)=45dB, and the set threshold is Threshold=50dB. Then the switching decision is calculated as follows:

[0186]

[0187] Since 45<50, SwitchToBackup(10)=True, so the system should switch to the backup communication link.

[0188] In some embodiments, Figure 6 As shown, the framework of the underwater relay communication system for sea-air drones includes an above-water radio communication buoy, an underwater optical fiber communication chain, and an underwater communication relay module. The underwater relay communication for sea-air drones may include the following steps:

[0189] Step 1: The sea and air drones integrate advanced underwater acoustic communication, radio communication and optical communication technologies to form a range relay chain framework system to solve the underwater communication range problem of cross-media sea and air drones.

[0190] Step 2: By deploying water radio communication buoys on the water surface, this step ensures the top communication monitoring mission of sea and air drones when operating on the water surface.

[0191] Step 3: Deploy an underwater optical fiber communication chain, which connects multiple suspended underwater communication relay modules. It provides a step-by-step stable data transmission path with different bandwidths and distances, and supports fast data exchange between modules within the system.

[0192] Step 4: Multiple nodes are distributed underwater, and underwater communication relay modules are suspended at fixed locations. A flexible and efficient communication network is achieved by selecting one or a combination of communication methods to support communication and monitoring tasks of underwater operations.

[0193] Step 5: Through an overwater radio communication buoy relay, multiple underwater communication relays and an underwater optical fiber communication chain are connected in series to form a communication relay chain covering a specific range (large and small depths, etc.) and a specific rate (different rates, high-bandwidth data transmission channels, long-range low-bandwidth control channels), so that the sea and air drone communication mechanism maintains efficient communication.

[0194] Step 6: Through the relay function of the water radio communication buoy and the series connection of multiple underwater communication relay modules and underwater optical fiber communication chains, a communication relay chain with a specific range and specific rate is formed. This structure ensures the efficient communication capability of sea and air drones in different environments.

[0195] Step 7: The sea-air drone obtains detection information and working condition data in real time through the communication link to optimize the communication of the offshore electrode group detection task.

[0196] The embodiment of the present invention further provides a sea-to-air cross-medium communication device, which can implement the above-mentioned sea-to-air cross-medium communication method, and the device includes:

[0197] The first module is used to obtain the target buoy layout position, and deploy the water radio communication buoy according to the target buoy layout position;

[0198] The second module is used to obtain a target optical fiber connection path, and deploy an underwater optical fiber communication chain according to the target optical fiber connection path; wherein the underwater optical fiber communication chain is connected to a plurality of suspended underwater communication relay modules;

[0199] A third module is used to obtain a communication relay chain through the above-water radio communication buoy, the underwater communication relay module and the underwater optical fiber communication chain;

[0200] The fourth module is used to transmit the target data through the communication relay chain to achieve cross-media communication between sea and air.

[0201] In some embodiments, a sea-to-air cross-medium communication device provided by an embodiment of the present invention may further include:

[0202] The fifth module is used to pre-set link switching decisions;

[0203] The sixth module is used to obtain the current control signal strength;

[0204] The seventh module is used to switch the communication relay link to a backup link when the control signal strength is less than the link switching threshold in the link switching decision.

[0205] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0206] The embodiment of the present invention further provides an electronic device, which includes a processor and a memory, wherein the memory stores a computer program, and the processor implements the above-mentioned sea-air cross-medium communication method when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0207] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0208] refer to Figure 7 , Figure 7 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0209] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention;

[0210] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes a sea-air cross-medium communication method of an embodiment of the present invention;

[0211] Input / output interface 903, used to implement information input and output;

[0212] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0213] A bus 905 that transmits information between various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0214] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0215] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned sea-to-air cross-media communication method is implemented.

[0216] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0217] The embodiment of the present invention also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the aforementioned sea-air cross-medium communication method.

[0218] In summary, the sea-air cross-medium communication method and device according to the embodiment of the present invention have the following advantages:

[0219] 1. The embodiment of the present invention proposes and implements a multi-node suspension structure connected by an optical fiber chain, thereby enhancing the stability and scalability of the system.

[0220] 2. The embodiment of the present invention connects multiple relay modules through an optical fiber chain to provide stable high-speed data transmission.

[0221] 3. The embodiments of the present invention flexibly combine multiple communication methods, such as combining multiple communication methods such as underwater acoustic communication and optical communication, to provide a high-bandwidth and high-reliability communication link, adapt to different marine environments and inspection requirements, and improve the adaptability and reliability of the system.

[0222] 4. The sea-to-air cross-media communication method, device, and relay system provided by the embodiments of the present invention can realize multi-level data transmission with seamless connection between underwater and air communication systems, meet complex ocean monitoring and inspection requirements, and break through the limitations of traditional communication systems.

[0223] 5. The embodiments of the present invention can also adjust the layout of the relay modules according to different sea conditions and inspection requirements, and can further enhance system performance by introducing new communication technologies, such as ultra-low frequency electromagnetic wave communication.

[0224] 6. The embodiments of the present invention can be widely used in the fields of marine engineering, information and communication technology, underwater communication, and unmanned aerial vehicle system communication, and are suitable for efficient communication in deep and shallow water areas.

[0225] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0226] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features described may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0227] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0228] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0229] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0230] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0231] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0232] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0233] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A sea-air cross-medium communication method, characterized in that: The following steps are involved: Acquiring the target buoy layout position, and deploying the water radio communication buoy according to the target buoy layout position; Obtaining a target optical fiber connection path, and deploying an underwater optical fiber communication chain according to the target optical fiber connection path; wherein the underwater optical fiber communication chain is connected to a plurality of suspended underwater communication relay modules; Obtaining a communication relay chain through the above-water radio communication buoy, the underwater communication relay module and the underwater optical fiber communication chain; The target data is transmitted through the communication relay chain to achieve cross-media communication in the sea and air.

2. A sea-air cross-medium communication method according to claim 1, characterized in that: The step of obtaining the target buoy arrangement position and deploying the water radio communication buoy according to the target buoy arrangement position comprises the following steps: Obtain the buoy communication range, transmission power and environmental characteristic parameters; Obtaining surface communication capability according to the buoy communication range, the transmission power and the environmental characteristic parameters; acquiring an initial buoy deployment position according to the surface communication capability; By using a particle swarm algorithm and a Monte Carlo method, the target buoy arrangement position is obtained according to the initial buoy arrangement position; The water radio communication buoy is deployed according to the target buoy arrangement position.

3. A sea-air cross-medium communication method according to claim 2, characterized in that: The method of obtaining the target buoy arrangement position according to the initial buoy arrangement position by using a particle swarm algorithm and a Monte Carlo method comprises the following steps: generating an initial particle group according to the initial buoy arrangement position; By using the particle swarm algorithm, the initial particle swarm is updated to output the intermediate buoy arrangement position; The communication coverage rate at the intermediate buoy arrangement position is simulated by the Monte Carlo method to obtain the target buoy arrangement position corresponding to the maximum communication coverage rate.

4. The method for sea-air cross-medium communication according to claim 1, characterized in that: The step of acquiring a target optical fiber connection path and deploying an underwater optical fiber communication chain according to the target optical fiber connection path comprises the following steps: Get the total fiber bandwidth and total fiber distance; Obtaining optical fiber transmission efficiency according to the total optical fiber bandwidth and the total optical fiber distance; According to the optical fiber transmission efficiency, a target optical fiber connection path is obtained through an optical fiber link planning algorithm; The underwater optical fiber communication chain is deployed according to the target optical fiber connection path.

5. The method for sea-air cross-medium communication according to claim 1, characterized in that: The target data is transmitted through the communication relay chain to realize cross-media communication between sea and air, including the following steps: Transmitting the target data from the underwater drone to the underwater communication relay module via optical communication; Transmitting the target data from the underwater communication relay module to the surface radio communication buoy via the underwater optical fiber communication chain and hydroacoustic communication; The target data is transmitted from the above-water radio communication buoy to a monitoring center via radio communication.

6. The method for sea-air cross-medium communication according to claim 1, characterized in that: The following steps are also included: Pre-set link switching decision; Get the current control signal strength; When the control signal strength is less than the link switching threshold in the link switching decision, the communication relay link is switched to a backup link.

7. A sea-air cross-medium communication device, characterized in that: include: The first module is used to obtain the target buoy layout position, and deploy the water radio communication buoy according to the target buoy layout position; The second module is used to obtain a target optical fiber connection path, and deploy an underwater optical fiber communication chain according to the target optical fiber connection path; wherein the underwater optical fiber communication chain is connected to a plurality of suspended underwater communication relay modules; A third module is used to obtain a communication relay chain through the above-water radio communication buoy, the underwater communication relay module and the underwater optical fiber communication chain; The fourth module is used to transmit the target data through the communication relay chain to achieve cross-media communication between sea and air.

8. The sea-air cross-medium communication device according to claim 7, characterized in that: Also includes: The fifth module is used to pre-set link switching decisions; The sixth module is used to obtain the current control signal strength; The seventh module is used to switch the communication relay link to a backup link when the control signal strength is less than the link switching threshold in the link switching decision.

9. An electronic device, characterized in that: including a processor and a memory; The memory is used to store programs; The processor executes the program to implement the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The storage medium stores a program, and the program is executed by a processor to implement the method according to any one of claims 1 to 6.

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