Ocean three-dimensional observation system

Abstract

The invention relates to the technical field of ocean observation, in particular to an ocean three-dimensional observation system which comprises a buoy, two balancing weights and a seabed base, the buoy and the balancing weights are connected through a connecting cable, the buoy and the seabed base are connected through a communication cable, an overwater control system is installed on the buoy, the overwater control system comprises an overwater main control center, and the overwater main control center is connected with the seabed base through a communication cable. A plurality of underwater control systems are installed on the communication cable, the overwater main control center searches the installation positions of the underwater control systems based on the improved whale algorithm, and electric energy and data are transmitted between the overwater electromagnetic coupler and the underwater electromagnetic coupler through the communication cable. According to the invention, the installation position of the underwater control system is found by improving the whale algorithm, so that the layout of the underwater control system is more scientific and reasonable, thereby improving the communication efficiency and stability, simplifying the wiring, completing the function of transmitting electric energy and data by using a communication cable, reducing the demands of independently laying a power cable and a communication cable, and reducing the cost. And the installation and maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of ocean observation technology, in particular to an ocean stereoscopic observation system. Background Art

[0002] In the field of marine observation technology, especially in buoy communication scenarios involving marine environments, it is difficult to transmit data from underwater platforms to the water surface. Wireless communication is usually not used, and it is difficult to achieve stable transmission rate using cables. Three-anchor systems are usually used, and the traditional three-anchor system has many problems. On the one hand, there is a lack of scientific and effective planning methods for the installation location of the underwater control system, which may lead to problems such as low communication efficiency and unstable signal transmission. The previous method may be to rely on experience or simple rules to determine the location of the underwater control system, which cannot fully consider various complex marine environmental factors and the needs of communication cable transmission, and it is difficult to achieve the best communication effect.

[0003] On the other hand, the advantages of the three-anchor system are reliable connection and good stability, but the submarine cable anchor chain has the problem of easy entanglement. In terms of power and data transmission, the traditional three-anchor system may have problems such as large power transmission loss, slow data transmission rate and susceptibility to interference; the marine environment is complex and changeable, and the corrosiveness of seawater and the impact of water flow will have an adverse effect on the performance of communication cables. Traditional communication cables may be difficult to adapt to these harsh conditions, resulting in unstable communication quality and unable to meet the growing demand for efficient and stable communications in fields such as marine monitoring and marine scientific research. In order to avoid such problems, communication armored cables are needed. Summary of the invention

[0004] The object of the present invention is to provide an ocean stereoscopic observation system to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide an ocean stereoscopic observation system, including a buoy, two counterweights and a seabed base, the buoy and the counterweight are connected by a connecting cable, the buoy and the seabed are connected by a communication cable, the buoy is equipped with an underwater control system, the underwater control system includes a power board, an underwater main control center, an underwater relay, an underwater data transceiver module, a drive circuit, a full-bridge inverter circuit, an overcurrent protection circuit, an underwater electromagnetic coupler and a key circuit, and the communication cable is equipped with a plurality of underwater control The invention relates to a control system, wherein the above-water main control center searches for the installation locations of several underwater control systems based on the improved whale algorithm. The underwater control system comprises an underwater main control center, an underwater sensor, an underwater relay, an underwater data transceiver module, a rectifier filter circuit, a charging circuit, a super capacitor group, an LDO circuit, a voltage stabilizing circuit and an underwater electromagnetic coupler. The above-water electromagnetic coupler and the underwater electromagnetic coupler transmit electric energy and data through the communication cable. The above-water main control center performs filtering operation on the data output by the above-water data transceiver module based on the Kalman filter algorithm.

[0006] As a further improvement of the technical solution, the above-water main control center searches for the installation locations of several underwater control systems based on the improved whale algorithm, and the specific steps are as follows: S1. Assume that The underwater control system uses the connection between the communication cable and the seabed base as the origin of coordinates and establishes a coordinate system in the direction of the buoy; S2. Initialize the population: set the population size , maximum number of iterations and the initial population , , , , , and Represents the first individual, the second individual, and the Individual and Individuals, , and Respectively the horizontal coordinate, the vertical coordinate and the vertical coordinate of the first underwater control system in the individual, , and Respectively the horizontal coordinate, the vertical coordinate and the vertical coordinate of the second underwater control system in the individual, , and Respectively Individual The horizontal coordinate, vertical coordinate and vertical coordinate of the underwater control system are vectorized to obtain the individual , , , , , , ( , , , , , , , , , ); S3, boundary condition processing: process the individuals in the population separately and calculate the coefficient vector and , generate uniformly distributed decision random numbers , ; ; in, is the control vector, and decreases from 2 to 0 as the number of iterations increases during the entire iteration cycle. for [0,1] A random vector on ; S4, calculate the fitness value; S5. Hunting and searching for prey: When and hour, ; in, and Respectively represent The iteration and Iterations, For the The position vector of a randomly selected individual in the population, For the The whale individuals The position vector of the generation, No. The whale individuals The position vector of the generation; Converging around prey: and hour, ; in, For the The position vector of the best individual in the generation group; Spiral update position: When hour, ; in, is a constant used to define the shape of the logarithmic spiral, for [ - 1,1] A uniformly distributed random number between S5, search based on sine and cosine algorithm: ; ; ; in, for No. Dimensional data, for No. Dimensional data, for No. Dimensional data, is the first adaptive coefficient, is a constant, , and are random numbers that obey a uniform distribution. r 2 ∈ [0,2 π ] , r 3 ∈ [0,2] , r 4 ∈ [0,1] ; S6. Local search: ; ; in, is the second adaptive coefficient, For the dimensional random numbers that follow a uniform distribution, rand g ∈ [0,1] ; S7, repeat S3 to S6 until the maximum number of iterations is reached .

[0007] As a further improvement of the technical solution, the calculation formula of the fitness value in S3 is: ; ; in, is the fitness value, , and are weights, is the distance index, is the coverage index, is the distribution index.

[0008] As a further improvement of this technical solution, the distance index in S3 The calculation formula is: ; ; in, Indicates The shortest distance between the underwater control system and the communication cable, express The sum of the shortest distances between the underwater control systems and the communication cables, express The minimum value of express The maximum value of .

[0009] As a further improvement of this technical solution, the coverage index in S3 The calculation steps are: A1. Dividing the space between the seabed base and the buoy into a plurality of small cubic units; A2. Calculate the distance between the center of all small cube units and the nearest underwater control system , the monitoring radius of the underwater control system is ,like , then it is considered that the small cube unit cannot be monitored. , then it is considered that the small cube unit can be monitored; A3. Calculate coverage index ,have: ; ; in, represents the number of small cube units that can be monitored by the underwater control system, represents the total number of small cubic units, represents the monitoring coverage of the underwater control system, express The minimum value of express The maximum value of .

[0010] As a further improvement of this technical solution, the distribution index in S3 The calculation formula is: ; ; ; ; ; in, represents the standard deviation of the underwater control system on the horizontal axis, Indicates The horizontal coordinate of the underwater control system, represents the average value of the abscissa of the underwater control system, represents the standard deviation of the underwater control system on the ordinate position, Indicates the ordinate of the underwater control system, represents the average value of the ordinate of the underwater control system, represents the standard deviation of the underwater control system in the vertical coordinate position, Indicates the vertical coordinate of the underwater control system, represents the average value of the vertical coordinate of the underwater control system, represents the comprehensive standard deviation of the underwater control system in position, express The minimum value of express The maximum value of .

[0011] As a further improvement of the present technical solution, the power board, the full-bridge inverter circuit and the water electromagnetic coupler are electrically connected in sequence, the power board is used to supply power to the water main control center, the drive circuit and the water data transceiver module, the water main control center outputs a PWM signal to control the drive circuit to drive the full-bridge inverter circuit, the water main control center also collects operating data of the water electromagnetic coupler, and the overcurrent protection circuit is used to protect the full-bridge inverter circuit.

[0012] As a further improvement of the present technical solution, the button circuit is used to change the working state of the water main control center, and the water main control center controls the working state of the water data transceiver module through the water relay, and the water data transceiver module is connected to the water electromagnetic coupler signal.

[0013] As a further improvement of the present technical solution, the underwater electromagnetic coupler, the rectifier and filter circuit, the charging circuit and the supercapacitor group are electrically connected in sequence, the supercapacitor group supplies power to the underwater main control center through the LDO circuit, the supercapacitor group supplies power to the underwater sensor and the underwater relay through the voltage stabilizing circuit, and the underwater main control center also collects the voltage output by the rectifier and filter circuit.

[0014] As a further improvement of the technical solution, the underwater electromagnetic coupler, the underwater data transceiver module, the underwater main control center and the underwater sensor are connected in sequence by signals, and the underwater main control center controls the working state of the underwater data transceiver module through the underwater relay.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: in this marine stereoscopic observation system, the installation location of the underwater control system is found by improving the whale algorithm. Compared with the traditional method of determining the installation location by experience or simple rules, the layout of the underwater control system can be more scientific and reasonable, thereby improving communication efficiency and stability, while simplifying wiring, using communication cables to complete the function of transmitting power and data, reducing the need for separately laying power cables and communication cables, and reducing installation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is the overall structure diagram of the present invention; Figure 2 It is a structural diagram of the water control system in the present invention; Figure 3 It is a structural diagram of the underwater control system of the present invention; Figure 4 It is a structural diagram of the communication cable, the above-water control system and the underwater control system in the present invention; The meaning of each mark in the figure is: 1.Buoy; 2. Counterweight; 3. Connecting cable; 4. Seabed foundation; 5. Communication cable; 6. Water control system; 60. Power board; 61. Water main control center; 62. Water relay; 63. Water data transceiver module; 64. Drive circuit; 65. Full-bridge inverter circuit; 66. Overcurrent protection circuit; 67. Water electromagnetic coupler; 68. Key circuit; 7. Underwater control system; 70. Underwater main control center; 71. Underwater sensor; 72. Underwater relay; 73. Underwater data transceiver module; 74. Rectification and filtering circuit; 75. Charging circuit; 76. Supercapacitor group; 77. LDO circuit; 78. Voltage stabilization circuit; 79. Underwater electromagnetic coupler. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 are within the scope of protection of the present invention.

[0018] like Figure 1-Figure 4As shown, the purpose of this embodiment is to provide an ocean stereoscopic observation system, including a buoy 1, two counterweights 2 and a seabed base 4, the buoy 1 and the counterweight 2 are connected by a connecting cable 3, the buoy 1 and the seabed base 4 are connected by a communication cable 5, an above-water control system 6 is installed on the buoy 1, and the above-water control system 6 includes a power board 60, an above-water main control center 61, an above-water relay 62, an above-water data transceiver module 63, a drive circuit 64, a full-bridge inverter circuit 65, an overcurrent protection circuit 66, an above-water electromagnetic coupler 67 and a key circuit 68, and the communication cable 5 is connected to the seabed base 4. Several underwater control systems 7 are installed. The above-water main control center 61 searches for the installation positions of several underwater control systems 7 based on the improved whale algorithm. The underwater control system 7 includes an underwater main control center 70, an underwater sensor 71, an underwater relay 72, an underwater data transceiver module 73, a rectifier filter circuit 74, a charging circuit 75, a super capacitor group 76, an LDO circuit 77, a voltage stabilizing circuit 78 and an underwater electromagnetic coupler 79. The above-water electromagnetic coupler 67 and the underwater electromagnetic coupler 79 transmit power and data through a communication cable 5. The communication cable 5 can use a mooring steel cable. The water electromagnetic coupler 67 couples the inverter power signal generated by the water control system 6 to the communication cable 5. The communication cable 5 is used as a transmission medium and is responsible for transmitting power and data. The traditional three-anchor system is three cables with three counterweights. In the present invention, the communication cable 5 can bear weight and realize the communication function. The communication cable 5 also needs to be armored to improve the anti-interference ability of the communication cable 5 and extend the service life of the communication cable 5. The communication cable 5 can transmit power and data, reduce the need for laying power cables and communication cables separately, and reduce installation and maintenance costs. The water main control center 61 performs filtering operations on the data output by the water data transceiver module 63 based on the Kalman filtering algorithm. For systems with random interference and noise, the Kalman filter can estimate the state of the system in real time according to the state equation and observation equation of the system, and effectively suppress the interference in the carrier communication. It is particularly suitable for interference suppression in time-varying channels to improve the anti-interference ability. Frequency hopping technology or spread spectrum modulation algorithm can also be used to improve the anti-interference ability. Due to the different positions of different underwater control systems 7, the data transmitted by each underwater control system 7 needs to be filtered separately. The specific steps are: B1. Assuming that the measurement data of the underwater sensor 71 are all linear dynamic systems, the state equation is: ; in, is a discrete moment, for The system status at the moment, is the state transfer matrix, for The system status at the moment, is the control matrix, for The amount of control at the moment, for The process noise at the moment is specifically 0 and the covariance matrix is Gaussian white noise; Then the observation equation is: ; in, for The measured value at the moment, is the observation matrix, for The observation noise at time is specifically 0 and the covariance matrix is Gaussian white noise; B2. Make a prediction based on the previous state of the system. The corresponding formula is: ; ; in, for Moment based on The state prediction value of the moment information, for The optimal state estimate at time , for Moment based on The prediction covariance matrix of the moment information, for The posterior error estimate covariance matrix at time , for The transposed matrix of B3. Calculate the Kalman gain. The corresponding formula is: ; in, for The Kalman gain at time t, for The transposed matrix of B4. Update state estimation and error covariance. The corresponding formula is: X ̂ (k+1 ￨ k+1)= X ̂ (k+1 ￨ k)+K(k+1)[Y(k+1) - H X ̂ (k+1 ￨ k)] ; P(k+1 ￨ k+1)=[I - K(k+1)H]P(k+1 ￨ k) ; in, for The optimal state estimate at time , for The measured value at the moment, for The updated covariance matrix of the posterior error estimate.

[0019] In this embodiment, the above-water main control center 61 searches for the installation locations of several underwater control systems 7 based on the improved whale algorithm, and the specific steps are as follows: S1. Assume that An underwater control system 7 is provided, with the connection point between the communication cable 5 and the seabed base 4 as the coordinate origin, and a coordinate system is established in the direction of the buoy 1; S2. Initialize the population: set the population size , maximum number of iterations and the initial population , , , , , and Represents the first individual, the second individual, and the Individual and Individuals, , and Respectively the horizontal coordinate, the vertical coordinate and the vertical coordinate of the first underwater control system 7 in the individual, , and Respectively the horizontal coordinate, the vertical coordinate and the vertical coordinate of the second underwater control system 7 in the individual, , and Respectively Individual The horizontal coordinate, vertical coordinate and vertical coordinate of the underwater control system 7 are vectorized to obtain the individual , , , , , , ( , , , , , , , , , ); S3, boundary condition processing: process the individuals in the population separately and calculate the coefficient vector and , generate uniformly distributed decision random numbers , ; ; in, is the control vector, and decreases from 2 to 0 as the number of iterations increases during the entire iteration cycle. for [0,1] A random vector on ; S4. Calculate the fitness value. The calculation formula of the fitness value is: ; ; in, is the fitness value, , and are weights, is the distance index, is the coverage index, The distribution index comprehensively evaluates the advantages and disadvantages of the installation location of the underwater control system 7, so that the location planning can take into account multiple factors instead of considering it from a single perspective; Distance Index The calculation formula is: ; ; in, Indicates The shortest distance between an underwater control system 7 and a communication cable 5 can be calculated by Hamiltonian distance to reduce the calculation. express The sum of the shortest distances between an underwater control system 7 and a communication cable 5, express The minimum value of express The maximum value, distance index The calculation can ensure that the distance between the underwater control system 7 and the communication cable 5 is within a reasonable range, reducing unnecessary losses; Coverage Index The calculation steps are: A1, dividing the space between the seabed base 4 and the buoy 1 into a number of small cubic units; A2. Calculate the distance between the center of all small cube units and the nearest underwater control system 7 , the monitoring radius of the underwater control system 7 is ,like , then it is considered that the small cube unit cannot be monitored. , then it is considered that the small cube unit can be monitored; A3. Calculate coverage index ,have: ; ; in, represents the number of small cubic units that can be monitored by the underwater control system 7, represents the total number of small cubic units, represents the monitoring coverage of the underwater control system 7, express The minimum value of express The maximum value, coverage index The calculation can maximize the monitoring range of the underwater control system 7 and improve the monitoring efficiency of the system; Distribution Index The calculation formula is: ; ; ; ; ; in, represents the standard deviation of the underwater control system 7 on the horizontal axis, Indicates The horizontal coordinate of the underwater control system 7, represents the average value of the abscissa of the underwater control system 7, represents the standard deviation of the underwater control system 7 on the ordinate position, Indicates The vertical coordinate of the underwater control system 7, represents the average value of the ordinate of the underwater control system 7, represents the standard deviation of the vertical coordinate position of the underwater control system 7, Indicates The vertical coordinate of the underwater control system 7, represents the average value of the vertical coordinate of the underwater control system 7, represents the comprehensive standard deviation of the position of the underwater control system 7, express The minimum value of express The maximum value of the distribution index The calculation helps to make the underwater control system more evenly distributed in space, avoiding local over-crowding or over-sparseness, and ensuring the stability and reliability of the overall performance of the system; S5. Hunting and searching for prey: When and hour, ; in, and Respectively represent The iteration and Iterations, For the The position vector of a randomly selected individual in the population, For the The whale individuals The position vector of the generation, No. The whale individuals The position vector of the generation; Converging around prey: and hour, ; in, For the The position vector of the best individual in the generation group; Spiral update position: When hour, ; in, is a constant used to define the shape of the logarithmic spiral, for [ - 1,1] A uniformly distributed random number between S5. Search based on the sine and cosine algorithm. The sine and cosine algorithm is based on the characteristics of trigonometric functions. Through different sine and cosine operations, it can explore in different step sizes and directions in the search space. It can help the whale algorithm jump out of the local optimal solution, expand the search range, and more comprehensively explore possible combinations of underwater control system installation positions, thereby finding a better or even globally optimal installation position solution and improving the overall communication performance: ; ; ; in, for No. Dimensional data, for No. Dimensional data, for No. Dimensional data, is the first adaptive coefficient, is a constant, , and are random numbers that obey a uniform distribution. r 2 ∈ [0,2 π ] , r 3 ∈ [0,2] , r 4 ∈ [0,1] ; S6, local search, local search is to search in the neighborhood of the current solution, through the second adaptive coefficient Combined with random numbers, each dimension of individual data is adjusted. Local search can perform fine search within the range of the optimal solution, fine-tune the existing relatively optimal underwater control system installation position, further improve the fitness value, and find a more accurate position that meets actual needs: ; ; in, is the second adaptive coefficient, For the dimensional random numbers that follow a uniform distribution, rand g ∈ [0,1] ; S7, repeat S3 to S6 until the maximum number of iterations is reached .

[0020] In this embodiment, the power board 60, the full-bridge inverter circuit 65 and the water electromagnetic coupler 67 are electrically connected in sequence. The power board 60 is used to supply power to the water main control center 61, the drive circuit 64 and the water data transceiver module 63. The water main control center 61 outputs a PWM signal to control the drive circuit 64 to drive the full-bridge inverter circuit 65. The water main control center 61 also collects the operating data of the water electromagnetic coupler 67. The overcurrent protection circuit 66 is used to protect the full-bridge inverter circuit 65. The key circuit 68 is used to change the working state of the water main control center 61. The water main control center 61 controls the working state of the water data transceiver module 63 through the water relay 62. The transceiver module 63 is connected to the signal of the above-water electromagnetic coupler 67. The above-water control system 6 is the core of the system structure. Its function is to provide power supply to the underwater control system 7, control the operation of the underwater control system 7 and communicate with it, and control the scheduling of the entire system. The full-bridge inverter circuit 65 converts the DC power of the power board 60 into high-frequency AC power to generate the AC current required for inductively coupled contactless transmission. The above-water data transceiver module 63 is responsible for modulating, amplifying, sending and demodulating the data after receiving the data. The power board 60 outputs the electrical level required for the operation of the above-water control system 6. The above-water relay 62 is used to switch the state of the above-water data transceiver module 63.

[0021] In this embodiment, the underwater electromagnetic coupler 79, the rectifier filter circuit 74, the charging circuit 75 and the super capacitor group 76 are electrically connected in sequence. The super capacitor group 76 supplies power to the underwater main control center 70 through the LDO circuit 77. The super capacitor group 76 supplies power to the underwater sensor 71 and the underwater relay 72 through the voltage stabilizing circuit 78. The underwater main control center 70 also collects the voltage output by the rectifier filter circuit 74. The underwater electromagnetic coupler 79, the underwater data transceiver module 73, the underwater main control center 70 and the underwater sensor 71 are signal-connected in sequence. The underwater main control center 70 controls the working state of the underwater data transceiver module 73 through the underwater relay 72. The underwater control system 7 couples the alternating power on the communication cable 5 to the input end of the underwater electromagnetic coupler 79. The control system 7 is the auxiliary machine of the whole system. It is installed at different depths underwater according to different measurement requirements, collects data from the underwater sensor 71 and sends the data to the surface control system 6. The underwater main control center 70 controls the working timing of the underwater sensor 71 and generates necessary control signals. The rectifier and filter circuit 74 converts the AC signal received from the underwater electromagnetic coupler 79 into a DC signal. The charging circuit 75 is responsible for charging the supercapacitor group 76 and storing electrical energy for the entire underwater system. The voltage stabilizing circuit 78 converts the electrical energy stored in the supercapacitor group 76 into the level required for the underwater sensor 71 to work. The underwater data transceiver module 73 is responsible for receiving and sending data. The interface of the underwater sensor 71 is used to provide the sensor with a stable working power supply and communication interface.

[0022] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A marine stereoscopic observation system, characterized in that: The invention comprises a buoy (1), two counterweights (2) and a seabed base (4), wherein the buoy (1) and the counterweights (2) are connected via a connecting cable (3), and the buoy (1) and the seabed base (4) are connected via a communication cable (5). The buoy (1) is provided with an underwater control system (6), and the underwater control system (6) comprises a power supply board (60), an underwater main control center (61), an underwater relay (62), an underwater data transceiver module (63), a drive circuit (64), a full-bridge inverter circuit (65), an overcurrent protection circuit (66), an underwater electromagnetic coupler (67) and a key circuit (68). The communication cable (5) is provided with a plurality of underwater control systems (7), and the underwater main control center ( 61) Based on the improved whale algorithm, the installation positions of several underwater control systems (7) are found. The underwater control system (7) includes an underwater main control center (70), an underwater sensor (71), an underwater relay (72), an underwater data transceiver module (73), a rectifier filter circuit (74), a charging circuit (75), a super capacitor group (76), an LDO circuit (77), a voltage stabilizing circuit (78) and an underwater electromagnetic coupler (79). The above-water electromagnetic coupler (67) and the underwater electromagnetic coupler (79) transmit electric energy and data through the communication cable (5). The above-water main control center (61) performs a filtering operation on the data output by the above-water data transceiver module (63) based on the Kalman filter algorithm.

2. The ocean stereoscopic observation system according to claim 1, characterized in that: The above-water main control center (61) searches for the installation locations of the underwater control systems (7) based on the improved whale algorithm, and the specific steps are as follows: S1. Assume that The underwater control system (7) uses the connection point between the communication cable (5) and the seabed base (4) as the coordinate origin and establishes a coordinate system in the direction of the buoy (1); S2. Initialize the population: set the population size , maximum number of iterations and the initial population , , , , and Represents the first individual, the second individual, and the Individual and Individuals, , and Respectively the horizontal coordinate, the vertical coordinate and the vertical coordinate of the first underwater control system (7) in the individual, , and Respectively the horizontal coordinate, the vertical coordinate and the vertical coordinate of the second underwater control system (7) in the individual, , and Respectively Individual The horizontal coordinate, vertical coordinate and vertical coordinate of the underwater control system (7) are vectorized to obtain the individual , , , , , , ( , , , , , , , , , ); S3, boundary condition processing: process the individuals in the population separately and calculate the coefficient vector and , generate uniformly distributed decision random numbers , ； ； in, is the control vector, and decreases from 2 to 0 as the number of iterations increases during the entire iteration cycle. for A random vector on ; S4, calculate the fitness value; S5. Hunting and searching for prey: and hour, ； in, and Respectively represent The iteration and Iterations, For the The position vector of a randomly selected individual in the population, For the The whale individuals The position vector of the generation, No. The whale individuals The position vector of the generation; Converging around prey: and hour, ； in, For the The position vector of the best individual in the generation group; Spiral update position: When hour, ； in, is a constant used to define the shape of the logarithmic spiral, for A uniformly distributed random number between S5, search based on sine and cosine algorithm: ； ； ； in, for No. Dimensional data, for No. Dimensional data, for No. Dimensional data, is the first adaptive coefficient, is a constant, , and are random numbers that obey a uniform distribution. , , ; S6. Local search: ； ； in, is the second adaptive coefficient, For the dimensional random numbers that follow a uniform distribution, ; S7, repeat S3 to S6 until the maximum number of iterations is reached .

3. The ocean stereoscopic observation system according to claim 2, characterized in that: The calculation formula of the fitness value in S3 is: ； ； in, is the fitness value, , and are weights, is the distance index, is the coverage index, is the distribution index.

4. The ocean stereoscopic observation system according to claim 3, characterized in that: The S3 distance index The calculation formula is: ； ； in, Indicates the shortest distance between the underwater control system (7) and the communication cable (5), express The sum of the shortest distances between each of the underwater control systems (7) and the communication cable (5), express The minimum value of express The maximum value of .

5. The ocean stereoscopic observation system according to claim 3, characterized in that: The S3 coverage index The calculation steps are: A1. Dividing the space between the seabed base (4) and the buoy (1) into a plurality of small cubic units; A2. Calculate the distance between the center of all small cube units and the nearest underwater control system (7) , the monitoring radius of the underwater control system (7) is ,like , then it is considered that the small cube unit cannot be monitored. , then it is considered that the small cube unit can be monitored; A3. Calculate coverage index ,have: ； ； in, represents the number of small cubic units that can be monitored by the underwater control system (7), represents the total number of small cubic units, represents the monitoring coverage of the underwater control system (7), express The minimum value of express The maximum value of .

6. The ocean stereoscopic observation system according to claim 3, characterized in that: The S3 distribution index The calculation formula is: ； ； ； ； ； in, represents the standard deviation of the underwater control system (7) on the horizontal axis, Indicates The horizontal coordinate of the underwater control system (7), represents the average value of the horizontal axis of the underwater control system (7), represents the standard deviation of the underwater control system (7) on the ordinate position, Indicates The vertical coordinate of the underwater control system (7), represents the average value of the ordinate of the underwater control system (7), represents the standard deviation of the vertical coordinate position of the underwater control system (7), Indicates the vertical coordinate of the underwater control system (7), represents the vertical coordinate average value of the underwater control system (7), represents the comprehensive standard deviation of the position of the underwater control system (7), express The minimum value of express The maximum value of .

7. The ocean stereoscopic observation system according to claim 1, characterized in that: The power board (60), the full-bridge inverter circuit (65) and the water-borne electromagnetic coupler (67) are electrically connected in sequence; the power board (60) is used to supply power to the water-borne main control center (61), the drive circuit (64) and the water-borne data transceiver module (63); the water-borne main control center (61) outputs a PWM signal to control the drive circuit (64) to drive the full-bridge inverter circuit (65); the water-borne main control center (61) also collects operating data of the water-borne electromagnetic coupler (67); and the overcurrent protection circuit (66) is used to protect the full-bridge inverter circuit (65).

8. The ocean stereoscopic observation system according to claim 1, characterized in that: The key circuit (68) is used to change the working state of the above-water main control center (61); the above-water main control center (61) controls the working state of the above-water data transceiver module (63) through the above-water relay (62); and the above-water data transceiver module (63) is signal-connected to the above-water electromagnetic coupler (67).

9. The ocean stereoscopic observation system according to claim 1, characterized in that: The underwater electromagnetic coupler (79), the rectifying and filtering circuit (74), the charging circuit (75) and the supercapacitor group (76) are electrically connected in sequence; the supercapacitor group (76) supplies power to the underwater main control center (70) through the LDO circuit (77); the supercapacitor group (76) supplies power to the underwater sensor (71) and the underwater relay (72) through the voltage stabilizing circuit (78); and the underwater main control center (70) also collects the voltage output by the rectifying and filtering circuit (74).

10. The ocean stereoscopic observation system according to claim 1, characterized in that: The underwater electromagnetic coupler (79), the underwater data transceiver module (73), the underwater main control center (70) and the underwater sensor (71) are sequentially signal-connected, and the underwater main control center (70) controls the working state of the underwater data transceiver module (73) via the underwater relay (72).

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