Mesoscale eddy prediction-oriented automatic voyage temperature-salinity-depth profile observation system and method

Abstract

The invention belongs to the technical field of automatic sailing of unmanned ships, and particularly relates to an automatic sailing temperature-salinity-depth profile observation system and method for mesoscale eddy prediction, the system is arranged on an unmanned ship and connected with an automatic retractable winch, and the system comprises a temperature-salinity-depth probe device arranged at the tail end of an A frame of the automatic retractable winch and used for retracting through the automatic retractable winch; lifting is realized, so that temperature, salinity and depth parameters of seawater with different profiles are measured, and key ocean data are provided for mesoscale eddy prediction; the data is transmitted to a mother ship / shore base end through a remote intelligent navigation control system; and the remote intelligent navigation control system is used for receiving various data and sending the data to the mother ship / shore base end, and controlling the driving process or task process of the automatic winding and unwinding winch, the temperature-salinity-depth probe device and the unmanned ship according to the instruction of the mother ship / shore base end. According to the invention, the laying and recovery of the temperature-salinity-depth profile measuring equipment can be controlled when the ship is sailing, and the laying and recovery of the sailing type temperature-salinity-depth profile measuring equipment can be carried out on the unmanned ship after upgrading and reconstruction.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic navigation of unmanned ships, and in particular to an automatic navigation temperature-salinity-depth profile observation system and method for mesoscale eddy prediction. Background Art

[0002] With the trend of global ocean observation moving towards intelligence and unmanned operation, how to conduct ocean observation more efficiently, economically and automatically has become a research focus. Therefore, the observation of mesoscale eddies needs to break the inherent thinking and make major updates on the existing observation methods and technologies. Therefore, unmanned observation has come into being. Unmanned ships are unmanned autonomous mobile observation platforms that can be remotely controlled and can observe a full range of ocean elements for a long time. As an important technical means for observing the fine structure of mesoscale eddies, fully automatic ocean observation unmanned ships automatically acquire multi-parameter environmental data of the measured sea area, and achieve effective data observation requirements through platform recording and related calculations, which can provide important data for cutting-edge research in marine science. By carrying satellites and communication equipment modules, the application of digitalization, informatization and networking technologies can be realized. Unmanned ships can realize uninterrupted and real-time on-site observation information transmission of mesoscale eddies, which directly intervenes in the observation of mesoscale eddies when other observation equipment is difficult to reach or approach, and realizes real-time observation of all dimensions, all directions and all sea conditions, which is crucial for effectively obtaining mesoscale eddy fine structure data.

[0003] Although the existing temperature-salinity-depth profile observation devices have partially realized automated observation, they all require human intervention to work properly. At the same time, they need to be carried on conventional large scientific research ships to carry out effective measurements, which also limits their application in the current multi-purpose and multi-disciplinary spatial dimensions. In this field, there are currently the following problems:

[0004] Traditional marine environmental parameter measurement equipment and unmanned ship navigation control systems have many shortcomings. In terms of temperature, salinity and depth measurement, early temperature, salinity and depth measurement equipment had single functions, limited measurement accuracy, and low data acquisition and transmission efficiency. For example, some simple temperature, salinity and depth probe devices cannot work stably in deep-sea high-pressure environments, and their internal sensors are easily damaged by seawater corrosion and pressure shock, resulting in inaccurate measurement data and even equipment failure. Moreover, the communication method between previous temperature, salinity and depth probe devices and external equipment is backward, and the data transmission delay is large, which cannot meet the needs of real-time monitoring and analysis.

[0005] In terms of unmanned ship navigation control, traditional navigation control systems lack comprehensive perception and intelligent decision-making capabilities for complex marine environments. On the one hand, its communication module has weak anti-interference capabilities, and in bad weather or signal obstruction, communication interruptions or data transmission errors are prone to occur, seriously affecting the command transmission and data feedback between the unmanned ship and the mother ship / shore-based remote control monitoring platform. On the other hand, the path planning and tracking algorithms of the intelligent navigation module are simple and cannot fully consider obstacles, currents, wind and waves in the marine environment, causing the unmanned ship to easily deviate from the scheduled route during navigation, and even cause collision accidents. In addition, the traditional unmanned ship's internal state perception and external environment perception functions are imperfect, and it is impossible to obtain the unmanned ship's own state information and detailed data of the surrounding environment in real time and accurately, making it difficult to achieve precise control and safety assurance of the unmanned ship.

[0006] At the same time, in traditional unmanned ship systems, each module is independent of each other and lacks an effective collaborative working mechanism. For example, there is no close connection between the temperature, salinity and depth measurement equipment and the navigation control system of the unmanned ship, and the navigation route and operating status of the unmanned ship cannot be adjusted in real time according to the requirements of the measurement task, resulting in low measurement efficiency and failure to meet the requirements of modern marine scientific research for comprehensive, accurate and rapid measurement of marine environmental parameters. Summary of the invention

[0007] The purpose of the present invention is to provide an automatic navigation temperature-salinity-depth profile observation system and method for mesoscale eddy prediction, which adopts an independently designed remote intelligent navigation control system and controls the automatic retracting and releasing winch and the temperature-salinity-depth probe device to achieve comprehensive perception of the complex marine environment and intelligent decision-making capabilities.

[0008] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: an automatic navigation temperature-salinity-depth profile observation system for mesoscale eddy prediction, which is installed on an unmanned ship and connected to an automatic retractable winch, including: a remote intelligent navigation control system and a temperature-salinity-depth probe device interconnected with the system;

[0009] The temperature-salinity-depth probe device is arranged at the end of the A frame of the automatic retractable winch, and is used to achieve lifting and lowering through the automatic retractable winch, and then measure the temperature, salinity and depth parameters of seawater in different profiles, and provide key ocean data for mesoscale eddy prediction; the measured data is transmitted to the mother ship / shore-based remote control monitoring platform through the remote intelligent navigation control system;

[0010] The remote intelligent navigation control system includes: a communication module, a ship-borne control module, an internal state perception module, an external environment perception module, an intelligent navigation module, and a navigation control module;

[0011] The communication module is used to transmit in real time the command of the mother ship / shore-based remote control monitoring platform to the unmanned ship to automatically retract and release the winch, as well as the data feedback from the unmanned ship to the mother ship / shore-based remote control monitoring platform; the communication module is a Beidou and Tiantong dual-mode communication module, which sends the unmanned ship positioning, heading, speed-related data parameters to the mother ship / shore-based remote control monitoring platform to realize remote monitoring by the mother ship / shore-based remote control monitoring platform;

[0012] The shipboard control module is used to receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module; at the same time, it receives the control instructions for the automatic retractable winch sent by the mother ship / shore-based monitoring platform, controls the automatic retractable winch, and then realizes the upgrade control of the temperature, salinity and depth probe;

[0013] The internal state sensing module is used to collect basic data information of the unmanned ship under the navigation state in real time;

[0014] The external environment perception module is used to collect and integrate environmental data information in real time when the unmanned ship is in a navigation state;

[0015] The intelligent navigation module is used to receive instructions transmitted by the shipboard control module, and generate a track or a return track according to the issued instructions, and send it to the navigation control module;

[0016] The navigation control module is used to execute the instructions sent by the shipboard control module, and obtain the basic data information of the internal state perception module, the basic data information of the external environment perception module, the data information of the intelligent navigation module and the task operation assembly data information in real time, and perform real-time control of the unmanned ship based on all the data information, and at the same time, send all the data information to the shipboard control module.

[0017] The intelligent navigation module includes: a path planning module, a path tracking module and a return module;

[0018] The path planning module is used to receive data information from the external environment perception module, and perform path planning, generate a track, and perform navigation according to the data information from the external environment perception module;

[0019] The path tracking module is used to monitor in real time whether the current driving state of the unmanned ship deviates from the planned route segment path through satellite navigation and inertial navigation. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship to the planned route segment path, otherwise the current driving state remains unchanged;

[0020] The return module is used for generating a return track by the intelligent navigation module when the communication is interrupted, and the navigation control module controls the return according to the return track.

[0021] The path planning module includes: an obstacle judgment module and an obstacle avoidance decision module;

[0022] The obstacle judgment module is used to predict obstacles based on the basic data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is further expanded according to the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle.

[0023] The obstacle avoidance decision module is used to change the speed for dynamic obstacles without changing the original trajectory to avoid obstacles; for static obstacles, it determines the heading angle difference with the obstacle, determines which maritime rules to adopt, and then changes the speed direction according to the content of the maritime rules, thereby changing the path to avoid obstacles. After changing the path to avoid obstacles, it returns to the original path.

[0024] The basic data information includes: speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle;

[0025] The environmental data information includes: inertial navigation information, radar information, laser information, visual information, AIS information and nautical chart information.

[0026] The temperature-salinity-depth probe device includes: a pressure-resistant chamber, a temperature sensor, a conductivity cell, a pressure sensor, a power module, a data storage module, a data interaction protocol, and a GPS clock;

[0027] The pressure-resistant chamber, as an overall protective shell, is used to ensure the normal operation of various electronic components in the chamber under the deep-sea high-pressure environment;

[0028] The temperature sensor has a probe exposed outside the pressure-resistant chamber, in full contact with the surrounding seawater, so as to measure the real-time temperature of the seawater;

[0029] The conductivity cell is arranged in the pressure-resistant chamber and is provided with a channel in contact with the seawater, and is used to measure the conductivity of the seawater and obtain the salinity of the seawater;

[0030] The pressure sensor is placed in the pressure-resistant chamber to sense the pressure change caused by the change in seawater depth, and then obtain the depth of the temperature-salinity-depth probe device;

[0031] The power module is located inside the pressure-resistant chamber and provides a stable power supply for the entire temperature-salinity-depth probe device to ensure that each sensor and other modules continue to work normally;

[0032] The data storage module is used to store the data collected by the temperature sensor, conductivity cell and pressure sensor to ensure the integrity and security of the data for subsequent analysis and research; and through specific communication interfaces and protocol specifications, the collected data can be accurately transmitted to the remote intelligent navigation control system, the mother ship / shore-based monitoring platform host computer or other receiving equipment;

[0033] The GPS clock is integrated inside the device to provide an accurate time reference for the entire system, ensuring the time accuracy of data collection and facilitating subsequent analysis of data at different time points.

[0034] Also included: video surveillance module, antenna, radar and wireless charging device;

[0035] The video monitoring module includes: a collision avoidance camera and an automatic winch retracting and extending monitoring camera;

[0036] The collision avoidance camera is installed on the top of the cabin of the unmanned ship. It belongs to the external camera part of the video monitoring module of the intelligent navigation control system. It is used to monitor the surrounding environment in real time, provide collision avoidance visual information for the unmanned ship during navigation, and transmit the collected image data to the remote intelligent navigation control system to assist the remote intelligent navigation control system in making navigation decisions.

[0037] The automatic retractable winch monitoring camera is an external camera of the video monitoring module, which is used to monitor the working status of the automatic retractable winch in real time and transmit the captured video image information to the video monitoring module so that the mother ship / shore-based remote control monitoring platform can understand the operation of the winch in real time and ensure the normal coordinated operation of the unmanned ship and the automatic retractable winch;

[0038] The antenna is installed on the top of the cabin and connected to the intelligent navigation control system to enhance the signal receiving and sending capabilities of Beidou and Tiantong dual-mode communications, and to ensure the stability and reliability of communication between the remote intelligent navigation control system and the mother ship / shore-based remote control monitoring platform;

[0039] The radar is installed on the top of the cabin and connected to the intelligent navigation control system. It is used to monitor obstacles and ship targets around the unmanned ship in real time. The acquired radar information is integrated by the remote intelligent navigation control system for path planning of the intelligent navigation control system and navigation decision-making of the navigation control module.

[0040] The wireless charging device comprises: a wireless charging transmitting end with an anti-oscillation device, a wireless charging receiving end and an independent charging controller;

[0041] A wireless charging transmitter with a swing stopper is installed at the front end of the A frame of the automatic retractable winch, and a wireless charging receiver is arranged below the wireless charging transmitter. Both the wireless charging transmitter and the wireless charging receiver are provided with a watertight protective cover.

[0042] A method for an automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction includes the following steps:

[0043] 1) The mother ship / shore-based remote monitoring platform issues instructions: set the completion of a data transmission to the ship-borne control module, as well as the number of observations and observation time of the mother ship / shore-based remote monitoring platform;

[0044] 2) The communication module of the remote intelligent navigation control system receives the task instructions issued by the mother ship / shore-based remote control monitoring platform, and the shipboard control module stores and transmits the instructions to the intelligent navigation module and the navigation control module respectively; the external environment perception module collects environmental data information in real time and integrates it; the internal state perception module collects basic data information under the navigation state of the unmanned ship in real time;

[0045] 3) The intelligent navigation module receives the instructions transmitted by the shipboard control module, generates a track or a return track according to the instructions, and sends it to the navigation control module;

[0046] 4) The navigation control module executes the instructions sent by the shipboard control module, and obtains the basic data information of the internal state perception module, the basic data information of the external environment perception module, the data information of the intelligent navigation module and the data information of the task operation assembly in real time, and controls the unmanned ship in real time according to all the data information, and at the same time, sends all the data information to the shipboard control module;

[0047] 5) When the unmanned ship sails to the predetermined measurement area, the remote intelligent navigation control system controls the automatic retracting winch to lower the temperature, salinity and depth probe device into the seawater, and starts the temperature, salinity and depth probe device to measure the relevant parameters of the seawater;

[0048] 6) The temperature sensor, conductivity cell and pressure sensor store the collected data in the data storage module, which transmits the data to the remote intelligent navigation control system through a specific data interaction protocol and communication interface, and then the communication module of the remote intelligent navigation control system transmits the data to the mother ship / shore-based remote control monitoring platform;

[0049] 7) When the communication is interrupted, the return module of the intelligent navigation module generates a return track, and the navigation control module controls the unmanned boat to return according to the return track to complete the observation mission.

[0050] The step 3) is specifically:

[0051] 3-1) The path planning module performs path planning and generates a track based on the environmental data information of the external environment perception module and the task instructions;

[0052] 3-2) During the path planning process, the obstacle judgment module predicts obstacles based on the basic data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is further expanded according to the predicted data of the obstacle position, and the uncertainty data of the obstacle position is converted into specific data to determine whether the obstacle is a static obstacle or a dynamic obstacle;

[0053] 3-3) The obstacle avoidance decision module changes the speed for dynamic obstacles without changing the original trajectory to avoid obstacles. For static obstacles, it determines the heading angle difference with the obstacle and determines which maritime rules to adopt. Then, it changes the speed direction according to the content of the maritime rules, thereby changing the path to avoid obstacles. After changing the path to avoid obstacles, it returns to the original path;

[0054] 3-4) The path tracking module uses radar to monitor in real time whether the current driving state of the unmanned ship deviates from the planned route. If deviation occurs, a signal is sent to the navigation control module, and the navigation control module adjusts the unmanned ship to the planned route. Otherwise, the current driving state remains unchanged.

[0055] In step 4), the unmanned boat is controlled in real time according to all the data information, specifically:

[0056] 4-1) Data acquisition stage

[0057] Obtain basic data information of the internal state perception module, basic data information of the external environment perception module, data information of the intelligent navigation module, and data information of the task operation assembly;

[0058] Among them, intelligent navigation data: receiving target track data generated by path planning from the intelligent navigation module, including a series of target point coordinates (x target ,y target ) and the current navigation deviation information fed back by the path tracking module. If there is a deviation, obtain the deviation angle and deviation distance;

[0059] Obtaining task operation assembly data: receiving task operation assembly data, including the measurement point coordinate sequence of the temperature, salinity and depth measurement task and the status data of the automatic retractable winch equipment;

[0060] 4-2) Data fusion and analysis stage

[0061] a. Establish the state vector:

[0062] Combine all acquired data into a comprehensive state vector S;

[0063] b. Target track matching analysis:

[0064] The position coordinates (x, y) of the current unmanned ship in the comprehensive state vector S are compared with the target point coordinates (x target ,y target ) to perform comparative analysis and calculate the distance d between the current position and the next target point a and azimuth angle θ a , the formula is as follows:

[0065]

[0066] θ a =arctan2(y target -y,x target -x)

[0067] c. According to the current heading θ and θ a The difference between and is used to determine whether the heading needs to be adjusted;

[0068] d. Obstacle risk assessment:

[0069] Determine whether there is an obstacle threat based on radar information and visual information; if an obstacle is detected, o , azimuth angle β o And the current speed V of the unmanned ship, the collision time TTC is calculated as:

[0070]

[0071] If the TTC is less than the safety threshold, it is determined that there is a collision risk and obstacle avoidance is required;

[0072] e. Analysis of environmental factors:

[0073] Consider the water depth h in the nautical chart information and the draft depth h of the unmanned ship d , determine whether there is a risk of grounding; if hh d If the water depth is less than the safe depth margin, a shallow water alarm is issued and the navigation strategy is adjusted. At the same time, the ship's motion stability is analyzed based on the acceleration and angular velocity data in the inertial navigation information. If abnormal fluctuations are found, the navigation state may need to be adjusted to ensure stability.

[0074] 4-3) Regulatory decision-making stage

[0075] Course adjustment decision: If the target track matching analysis indicates that the course needs to be adjusted, the PID control algorithm is used to calculate the appropriate rudder angle adjustment Δδ based on the difference between the current course and the target course, that is:

[0076]

[0077] Where e(t) = θ a-θ, i.e. heading deviation, K P , K i , K d are the parameters of the PID controller, which are adjusted according to the dynamic characteristics and navigation environment of the unmanned ship;

[0078] Speed ​​adjustment decision: Comprehensively consider obstacle risk assessment, mission requirements and environmental factors to decide whether to adjust the speed; if there is a collision risk, for dynamic obstacles, change the speed according to the rules of the obstacle avoidance decision module; for static obstacles, determine which maritime rules to adopt based on the heading angle difference with the obstacle, and calculate the appropriate speed reduction if deceleration is required; at the same time, if the mission requires low-speed cruising in a specific area, or if environmental factors affect navigation efficiency, adjust the speed accordingly.

[0079] Comprehensive control command generation: The calculated rudder angle adjustment value Δδ and speed adjustment value ΔV are combined into a comprehensive control command C = [Δδ, ΔV];

[0080] 4-4) Regulation execution and data feedback stage

[0081] Send control instructions: Send the comprehensive control instructions C to the actuators of the unmanned ship, such as the steering gear and engine control system, to adjust the navigation state of the unmanned ship. The steering gear adjusts the rudder angle according to the received Δδ, and the engine control system adjusts the engine speed according to ΔV, thereby changing the heading and speed of the unmanned ship;

[0082] Data feedback: All data information involved in the regulation, that is, all data in the state vector S and the generated control command C, are sent back to the shipboard control module; the shipboard control module transmits this data to the mother ship / shore-based remote control monitoring platform through the communication module for real-time monitoring and subsequent data analysis; at the same time, the navigation control module itself records this data for retrospective analysis and fault diagnosis of the navigation process.

[0083] The step 5) is specifically:

[0084] 5-1) Decentralization operation:

[0085] The remote intelligent navigation control system issues commands to control the operation of the automatic retractable winch. Since the temperature, salt and depth probe device is set at the end of the A frame of the automatic retractable winch, the automatic retractable winch gradually lowers the cable connected to the temperature, salt and depth probe device according to the command.

[0086] 5-2) Temperature measurement

[0087] As the temperature-salinity-depth probe device is lowered into the seawater, the temperature sensor starts to work; the probe of the temperature sensor is exposed outside the pressure-resistant chamber so that the probe can fully contact the surrounding seawater; the temperature sensor is based on the principle of thermistor, and the resistance value of the thermistor changes with the change of seawater temperature; when the probe contacts the seawater, the heat of the seawater is transferred to the thermistor, and the resistance value of the thermistor changes accordingly; through the pre-calibrated correspondence between the resistance value and the temperature, the change in the resistance value is converted into a temperature value, thereby accurately measuring the real-time temperature of the seawater;

[0088] 5-3) Salinity measurement

[0089] When the temperature-salinity-depth probe device is in seawater, seawater flows into the conductivity cell through the channel. Two electrodes are arranged inside the conductivity cell. When a certain voltage is applied to both ends of the electrodes, the ions in the seawater will move in a directional manner under the action of the electric field to form a current. By measuring the current size, the conductivity of the seawater is calculated according to Ohm's law, and then the conductivity is converted into the salinity of the seawater using a specific algorithm.

[0090] 5-4) Depth measurement

[0091] The pressure sensor is a piezoresistive pressure sensor. When the seawater pressure acts on the sensitive element of the sensor, the resistance value of the sensitive element will change, and it is proportional to the pressure. As the temperature-salinity depth probe device continues to sink, the seawater pressure gradually increases, and the resistance value of the pressure sensor also changes accordingly. By measuring the change in resistance value and combining it with the pre-calibrated pressure-depth conversion relationship, the depth of the temperature-salinity depth probe device can be obtained.

[0092] 5-5) During the entire measurement process, the power module continuously provides a stable power supply to the temperature sensor, conductivity cell, pressure sensor, and data storage module, ensuring that each module can continue to work normally;

[0093] 5-6) The data storage module stores the data collected by the temperature sensor, conductivity cell and pressure sensor in real time to ensure the integrity and security of the data, so that the data can be subsequently transmitted to the remote intelligent navigation control system through the data interaction protocol, and then transmitted to the mother ship / shore-based remote control monitoring platform by the remote intelligent navigation control system; at the same time, the GPS clock provides an accurate time reference for the entire measurement process, ensuring the time accuracy of data collection, and facilitating the subsequent analysis and comparison of data at different time points.

[0094] The present invention has the following beneficial effects and advantages:

[0095] 1. Compared with the existing similar technologies, the present invention has a light and compact structure, simple and flexible operation, stable system operation, and strong corrosion resistance. The present invention can deploy and recover the temperature-salinity-depth profile measurement equipment when the ship is sailing. After upgrading and modification, the deployment and recovery of the sailing temperature-salinity-depth profile measurement equipment can be carried out on an unmanned ship.

[0096] 2. The temperature-salinity-depth probe device in the present invention has a perfect structural design. Its pressure-resistant chamber can ensure the normal operation of internal electronic components in the deep-sea high-pressure environment. The temperature sensor, conductivity cell and pressure sensor can accurately measure the temperature, salinity and depth parameters of seawater. Moreover, through the retracting and releasing operation of the automatic retracting winch, the measurement of seawater parameters in different profiles can be achieved, providing key high-quality data for marine research such as mesoscale vortex prediction. At the same time, the data storage module and data interaction protocol ensure the safe storage and fast and accurate transmission of data, greatly improving the efficiency and accuracy of data acquisition.

[0097] 3. The remote intelligent navigation control system in the present invention integrates multiple functional modules such as advanced communication modules, intelligent navigation modules, and navigation control modules. The communication module adopts Beidou and Tiantong dual-mode communication, and has strong anti-interference capabilities, ensuring stable and reliable communication between the unmanned ship and the mother ship / shore-based remote control monitoring platform. The intelligent navigation module can comprehensively consider various environmental data information collected by the external environment perception module, such as inertial navigation information, radar information, laser information, etc., through the path planning module, path tracking module and return module, to achieve high-precision path planning and real-time and accurate path tracking, and effectively avoid the unmanned ship from deviating from the route or collision accidents during navigation. The navigation control module performs real-time and precise control of the unmanned ship based on data information from various aspects such as the internal state perception module, the external environment perception module and the intelligent navigation module, to ensure the safe and stable navigation of the unmanned ship in complex marine environments.

[0098] 4. The present invention organically combines a temperature, salinity and depth probe device, a remote intelligent navigation control system, and multiple devices and modules such as collision avoidance cameras, antennas, radars, etc. to form a highly integrated system. The modules cooperate with each other and share information, and can adjust the navigation status and measurement operations of the unmanned ship in real time according to the needs of the marine research mission, thereby achieving efficient collaborative work. For example, when the temperature, salinity and depth probe device needs to measure in a specific area, the remote intelligent navigation control system can accurately control the unmanned ship to sail to the area according to the requirements of the measurement task, and adjust the navigation speed and attitude in real time to ensure that the temperature, salinity and depth probe device can accurately collect data. At the same time, collision avoidance cameras, radars and other equipment provide all-round protection for the navigation safety of the unmanned ship, and work in conjunction with the navigation control system to promptly detect and avoid potential dangers.

[0099] 5. The present invention is applicable to a variety of marine research scenarios and application requirements. Whether it is scientific exploration of the deep sea or environmental monitoring and resource investigation in offshore areas, it can play its advantages. Moreover, its modular design concept makes the system have good scalability and upgradeability. It can easily add or replace related equipment and modules according to different mission requirements and technological development, further improving the performance and application scope of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] Figure 1 System framework diagram of the present invention.

[0101] Figure 2 A schematic diagram of the positional relationship of the components and hardware of the present invention;

[0102] Among them, 1 is an unmanned boat, 2 is a collision avoidance camera, 3 is antenna 3, 4 is a radar, 5 is a flashing indicator light, 6 is an automatic winch monitoring camera, 7 is an intelligent navigation control system, 8 is an automatic winch, 9 is a wireless charging device, and 10 is a temperature-salinity-depth probe device;

[0103] Figure 3 Flow chart of the method of the present invention. DETAILED DESCRIPTION

[0104] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0105] like Figure 1-2 As shown, it is a system framework diagram and a layout diagram of the device of the present invention. The present invention is an automatic navigation temperature-salinity-depth profile observation system for mesoscale eddy prediction, which is arranged on an unmanned ship 1 and connected to an automatic retractable winch 8, and is characterized in that it includes: a remote intelligent navigation control system 7 and a temperature-salinity-depth probe device 10 interconnected therewith;

[0106] The temperature-salinity-depth probe device 10 is arranged at the end of the A frame of the automatic retractable winch 8, and is used to achieve lifting and lowering by retracting and releasing the automatic retractable winch 8, and then measure the temperature, salinity and depth parameters of seawater in different profiles, and provide key ocean data for mesoscale eddy prediction; the measured data is transmitted to the mother ship / shore-based remote control monitoring platform through the remote intelligent navigation control system 7;

[0107] In this embodiment, the automatic retractable winch 8 is applied to the winch independently developed by the Institute of Oceanology, Chinese Academy of Sciences, and the corresponding patent is applied for, the patent publication number is: CN112455603A, and the patent name is: Invention patent for a retractable device and retractable method for a traveling temperature-salinity-depth profile measuring instrument. Among them, the temperature-salinity-depth probe device 10 is installed at the end of the A frame of the device.

[0108] The remote intelligent navigation control system includes: a communication module, a ship-borne control module, an internal state perception module, an external environment perception module, an intelligent navigation module, and a navigation control module; its mother ship / shore-based remote control monitoring platform is installed in the shore-based control room or on the scientific research ship, and receives various environmental and ship parameters sent by the unmanned ship navigation control system through the gateway module and network communication. The mother ship / shore-based remote control monitoring platform can control the automatic retractable winch 8 through the communication module, and then realize the upgrade of the temperature, salinity and depth probe to measure the temperature, salinity and depth data of seawater in different profiles, and transmit the temperature, salinity and depth data to the mother ship / shore-based remote control monitoring platform computer through the communication module.

[0109] The communication module is used to transmit in real time the command of the mother ship / shore-based remote control monitoring platform to the unmanned ship to automatically retract and release the winch, as well as the data feedback from the unmanned ship 1 to the mother ship / shore-based remote control monitoring platform; the communication module is a Beidou and Tiantong dual-mode communication module, which sends the unmanned ship positioning, heading, speed-related data parameters to the mother ship / shore-based remote control monitoring platform to realize remote monitoring by the mother ship / shore-based remote control monitoring platform;

[0110] The shipboard control module is used to receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module; at the same time, it receives the control instructions for the automatic retractable winch sent by the mother ship / shore-based monitoring platform, controls the automatic retractable winch, and then realizes the upgrade control of the temperature, salinity and depth probe;

[0111] Internal state perception module, used to collect basic data information of the unmanned ship's navigation state in real time;

[0112] The external environment perception module is used to collect and integrate environmental data information in real time under the navigation state of the unmanned ship through remote sensors;

[0113] The intelligent navigation module is used to receive the instructions transmitted by the shipboard control module, and generate a track or a return track according to the instructions issued, and send it to the navigation control module;

[0114] The navigation control module is used to execute the instructions sent by the shipboard control module, and obtain the basic data information of the internal state perception module, the basic data information of the external environment perception module, the data information of the intelligent navigation module and the task operation assembly data information in real time, and perform real-time control of the unmanned ship 1 based on all the data information, and at the same time, send all the data information to the shipboard control module.

[0115] Intelligent navigation module, including: path planning module, path tracking module and return module;

[0116] The path planning module is used to receive data information from the external environment perception module, and perform path planning, generate a track, and perform navigation according to the data information from the external environment perception module;

[0117] The path tracking module is used to monitor in real time whether the current driving state of the unmanned ship deviates from the planned route through satellite navigation and inertial navigation. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship 1 to the planned route, otherwise the current driving state remains unchanged;

[0118] The return module is used when the communication is interrupted. The intelligent navigation module generates a return track, and the navigation control module controls the return according to the return track.

[0119] Path planning module, including: obstacle judgment module and obstacle avoidance decision module;

[0120] The obstacle judgment module is used to predict obstacles based on the basic data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is further expanded according to the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle;

[0121] The obstacle avoidance decision module is used to change the speed for dynamic obstacles without changing the original trajectory to avoid obstacles; for static obstacles, it determines the heading angle difference with the obstacle, determines which maritime rules to adopt, and then changes the speed direction according to the content of the maritime rules, thereby changing the path to avoid obstacles. After changing the path to avoid obstacles, it returns to the original path.

[0122] Basic data information, including: speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle;

[0123] Environmental data information, including: inertial navigation information, radar information, laser information, visual information, AIS information and nautical chart information.

[0124] The temperature-salinity-depth probe device 10 includes: a pressure-resistant chamber, a temperature sensor, a conductivity cell, a pressure sensor, a power module, a data storage module, a data interaction protocol, and a GPS clock;

[0125] The pressure-resistant chamber, as an overall protective shell, is used to ensure the normal operation of various electronic components in the chamber under the deep-sea high-pressure environment;

[0126] A temperature sensor, the probe of which is exposed outside the pressure-resistant chamber and fully in contact with the surrounding seawater to measure the real-time temperature of the seawater;

[0127] The conductivity cell is arranged in the pressure-resistant chamber and is provided with a channel in contact with the seawater, and is used to measure the conductivity of the seawater and obtain the salinity of the seawater;

[0128] A pressure sensor is placed in the pressure-resistant chamber to sense the pressure change caused by the change in seawater depth, and then obtain the depth of the temperature-salinity-depth probe device 10;

[0129] The power module is located inside the pressure-resistant chamber and provides a stable power supply for the entire temperature-salinity-depth probe device 10 to ensure that each sensor and other modules continue to work normally;

[0130] The data storage module is used to store the data collected by the temperature sensor, conductivity cell and pressure sensor to ensure the integrity and security of the data for subsequent analysis and research; and through specific communication interfaces and protocol specifications, the collected data can be accurately transmitted to the remote intelligent navigation control system 7; the mother ship / shore-based monitoring platform host computer or other receiving equipment;

[0131] The GPS clock is integrated inside the device to provide an accurate time reference for the entire system, ensuring the time accuracy of data collection and facilitating subsequent analysis of data at different time points.

[0132] like Figure 2 As shown, this embodiment is applied to an unmanned boat 1, and the unmanned boat 1 is also provided with: a video monitoring module, an antenna 3, a radar 4, a flashing indicator light 5 and a wireless charging device 9;

[0133] The video monitoring module includes: a collision avoidance camera 2 and an automatic retractable winch monitoring camera 6;

[0134] The collision avoidance camera 2 is installed on the top of the cabin of the unmanned ship 1. It belongs to the external camera part of the video monitoring module of the intelligent navigation control system 7. It is used to monitor the surrounding environment in real time, provide collision avoidance visual information for the unmanned ship during navigation, and transmit the collected image data to the remote intelligent navigation control system 7 to assist the remote intelligent navigation control system 7 in making navigation decisions;

[0135] The automatic retractable winch monitoring camera 6, which belongs to the external camera of the video monitoring module, is used to monitor the working status of the automatic retractable winch in real time, and transmit the captured video image information to the video monitoring module, so that the mother ship / shore-based remote control monitoring platform can understand the operation status of the winch in real time, and ensure that the unmanned ship and the automatic retractable winch work normally;

[0136] The communication module of the remote intelligent navigation control system: real-time transmission of the instructions issued by the mother ship / shore-based remote control monitoring platform to the unmanned ship to automatically retract and release the winch, as well as data feedback from the unmanned ship to the mother ship / shore-based remote control monitoring module; the communication module can adopt Beidou and Tiantong dual-mode communication modules, and send the unmanned ship positioning, heading, speed and other related data parameters to the mother ship / shore-based remote control monitoring platform via antenna 3, so as to realize remote monitoring of the mother ship / shore-based remote control monitoring platform.

[0137] The shipboard control module of the remote intelligent navigation control system for automatic retracting and releasing winches: receives, stores and transmits the instructions issued by the mother ship / shore-based remote control monitoring platform, and sends the basic data information and video image information collected by the video monitoring module when the unmanned ship is sailing to the mother ship / shore-based monitoring platform in real time through the communication module;

[0138] The antenna 3 is arranged on the top of the cabin and connected to the intelligent navigation control system 7 to enhance the signal receiving and sending capabilities of Beidou and Tiantong dual-mode communications, and to ensure the stability and reliability of communication between the remote intelligent navigation control system 7 and the mother ship / shore-based remote control monitoring platform;

[0139] The radar 4 is arranged on the top of the cabin and connected to the intelligent navigation control system 7, and is used to monitor obstacles and ship targets around the unmanned ship in real time, and the acquired radar information is integrated by the remote intelligent navigation control system 7 for the path planning of the intelligent navigation control system 7 and the navigation decision of the navigation control module;

[0140] The flashing indicator light 5 is arranged on the top of the cabin of the unmanned boat 1 and is connected to the remote intelligent navigation control system 7. It is used to inform surrounding ships or personnel of the existence and working status of the unmanned boat through flashing lights to avoid collision accidents.

[0141] The wireless charging device 9 comprises: a wireless charging transmitter with an anti-oscillation device, a wireless charging receiver and an independent charging controller;

[0142] A wireless charging transmitter with a sway stop is installed at the front end of the A frame of the automatic retractable winch 8, and a wireless charging receiver is provided below the wireless charging transmitter, and both the wireless charging transmitter and the wireless charging receiver are provided with a watertight protective cover;

[0143] There are 4 wireless charging receiving coils and 4 independent charging controllers; 1 wireless charging transmitting coil corresponds to 2 wireless charging receiving coils to ensure an ideal charging effect.

[0144] In the above-mentioned embodiment, this embodiment can be carried to the survey area by a mother ship, and after being flexibly released to the target location, the observation equipment can be automatically lowered and recovered to achieve automatic observation. The equipment is integrated, and the synchronous observation of temperature, salinity and depth can be completed after one lowering. After being lowered to the target depth, it can be quickly recovered, and then the second release can be quickly started, and the cycle is repeated. According to calculations, it can achieve high-frequency observations of 5-8 times an hour, which is 10 times the speed of manual observation, thereby effectively solving the problem of insufficient frequency of small-scale turbulence observations or low temporal resolution.

[0145] In addition, the unmanned ship 1 in this embodiment can conduct centralized observations specifically for turbulence because it does not affect other operations of the mother ship. During the automatic observation of the unmanned ship 1, the mother ship can sail to other sites to carry out operations without having to take care of the unmanned ship 1 nearby. The unmanned ship 1 can also form a formation with the mother ship to carry out synchronous collaborative observations, which can realize collaborative observations at fixed positions for both parties, and collaborative observations at synchronous moving positions, and their mutual positions and distances can be flexibly set according to the marine site conditions, thereby solving the problem of low spatial resolution of observations.

[0146] like Figure 3 As shown, it is a flow chart of the method of the present invention. The method of the present invention is an automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction, comprising the following steps:

[0147] 1) The mother ship / shore-based remote monitoring platform issues instructions: set the completion of a data transmission to the ship-borne control module, as well as the number of observations and observation time of the mother ship / shore-based remote monitoring platform;

[0148] 2) The communication module of the remote intelligent navigation control system 7 receives the task instructions issued by the mother ship / shore-based remote control monitoring platform, and the shipboard control module stores and transmits the instructions to the intelligent navigation module and the navigation control module respectively; the external environment perception module collects environmental data information in real time and integrates it; the internal state perception module collects basic data information under the navigation state of the unmanned ship in real time;

[0149] 3) The intelligent navigation module receives the instructions transmitted by the shipboard control module, generates a track or a return track according to the instructions, and sends it to the navigation control module;

[0150] 4) The navigation control module executes the instructions sent by the shipboard control module, and obtains the basic data information of the internal state perception module, the basic data information of the external environment perception module, the data information of the intelligent navigation module and the task operation assembly data information in real time, and controls the unmanned ship 1 in real time according to all the data information, and at the same time, sends all the data information to the shipboard control module;

[0151] 5) When the unmanned ship sails to the predetermined measurement area, the remote intelligent navigation control system 7 controls the automatic retracting winch 8 to lower the temperature-salinity-depth probe device 10 into the seawater, and the temperature-salinity-depth probe device 10 is started to measure the relevant parameters of the seawater;

[0152] 6) The temperature sensor, conductivity cell and pressure sensor store the collected data in the data storage module, and the data storage module transmits the data to the remote intelligent navigation control system 7 through a specific data interaction protocol and communication interface, and then the communication module of the remote intelligent navigation control system 7 transmits the data to the mother ship / shore-based remote control monitoring platform;

[0153] 7) When the communication is interrupted, the return module of the intelligent navigation module generates a return track, and the navigation control module controls the unmanned boat to return according to the return track to complete the observation mission.

[0154] Step 3), specifically:

[0155] 3-1) The path planning module performs path planning and generates a track based on the environmental data information of the external environment perception module and the task instructions;

[0156] 3-2) During the path planning process, the obstacle judgment module predicts obstacles based on the basic data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is further expanded according to the predicted data of the obstacle position, and the uncertainty data of the obstacle position is converted into specific data to determine whether the obstacle is a static obstacle or a dynamic obstacle;

[0157] 3-3) The obstacle avoidance decision module changes the speed for dynamic obstacles without changing the original trajectory to avoid obstacles. For static obstacles, it determines the heading angle difference with the obstacle and determines which maritime rules to adopt. Then, it changes the speed direction according to the content of the maritime rules, thereby changing the path to avoid obstacles. After changing the path to avoid obstacles, it returns to the original path;

[0158] 3-4) The path tracking module uses radar 4 to monitor in real time whether the current driving state of the unmanned ship deviates from the planned segment path. If deviation occurs, a signal is sent to the navigation control module, and the navigation control module adjusts the unmanned ship 1 to travel to the planned segment path, otherwise the current driving state remains unchanged.

[0159] In step 4), the unmanned boat 1 is controlled in real time according to all the data information, specifically:

[0160] 4-1) Data acquisition stage

[0161] Obtain basic data information of the internal state perception module, basic data information of the external environment perception module, data information of the intelligent navigation module, and data information of the task operation assembly;

[0162] Among them, intelligent navigation data: receiving target track data generated by path planning from the intelligent navigation module, including a series of target point coordinates (x target ,y target ) and the current navigation deviation information fed back by the path tracking module. If there is a deviation, obtain the deviation angle and deviation distance;

[0163] Obtaining task operation assembly data: receiving task operation assembly data, including the measurement point coordinate sequence of the temperature, salinity and depth measurement task and the status data of the automatic retractable winch equipment;

[0164] 4-2) Data fusion and analysis stage

[0165] a. Establish the state vector:

[0166] Combine all acquired data into a comprehensive state vector S;

[0167] b. Target track matching analysis:

[0168] The position coordinates (x, y) of the current unmanned ship in the comprehensive state vector S are compared with the target point coordinates (x target ,y target ) to perform comparative analysis and calculate the distance d between the current position and the next target point a and azimuth angle θ a , the formula is as follows:

[0169]

[0170] θ a =arctan2(y target -y,x target -x)

[0171] c. According to the current heading θ and θ a The difference between and is used to determine whether the heading needs to be adjusted;

[0172] d. Obstacle risk assessment:

[0173] Determine whether there is an obstacle threat based on radar information and visual information; if an obstacle is detected, o , azimuth angle β o And the current speed V of the unmanned ship, the collision time TTC is calculated as:

[0174]

[0175] If the TTC is less than the safety threshold, it is determined that there is a collision risk and obstacle avoidance is required;

[0176] e. Analysis of environmental factors:

[0177] Consider the water depth h in the nautical chart information and the draft depth h of the unmanned ship d , determine whether there is a risk of grounding; if hh d If the water depth is less than the safe depth margin, a shallow water alarm is issued and the navigation strategy is adjusted. At the same time, the ship's motion stability is analyzed based on the acceleration and angular velocity data in the inertial navigation information. If abnormal fluctuations are found, the navigation state may need to be adjusted to ensure stability.

[0178] 4-3) Regulatory decision-making stage

[0179] Course adjustment decision: If the target track matching analysis indicates that the course needs to be adjusted, the PID control algorithm is used to calculate the appropriate rudder angle adjustment Δδ based on the difference between the current course and the target course, that is:

[0180]

[0181] Where e(t) = θ a -θ, i.e. heading deviation, K P , K i , K d are the parameters of the PID controller, which are adjusted according to the dynamic characteristics and navigation environment of the unmanned ship;

[0182] Speed ​​adjustment decision: Comprehensively consider obstacle risk assessment, mission requirements and environmental factors to decide whether to adjust the speed; if there is a collision risk, for dynamic obstacles, change the speed according to the rules of the obstacle avoidance decision module; for static obstacles, determine which maritime rules to adopt based on the heading angle difference with the obstacle, and calculate the appropriate speed reduction if deceleration is required; at the same time, if the mission requires low-speed cruising in a specific area, or if environmental factors affect navigation efficiency, adjust the speed accordingly.

[0183] Comprehensive control command generation: The calculated rudder angle adjustment value Δδ and speed adjustment value ΔV are combined into a comprehensive control command C = [Δδ, ΔV];

[0184] 4-4) Regulation execution and data feedback stage

[0185] Send control instructions: Send the comprehensive control instructions C to the actuators of the unmanned ship, such as the steering gear and engine control system, to adjust the navigation state of the unmanned ship. The steering gear adjusts the rudder angle according to the received Δδ, and the engine control system adjusts the engine speed according to ΔV, thereby changing the heading and speed of the unmanned ship;

[0186] Data feedback: All data information involved in the regulation, that is, all data in the state vector S and the generated control command C, are sent back to the shipboard control module; the shipboard control module transmits this data to the mother ship / shore-based remote control monitoring platform through the communication module for real-time monitoring and subsequent data analysis; at the same time, the navigation control module itself records this data for retrospective analysis and fault diagnosis of the navigation process.

[0187] Step 5), specifically:

[0188] 5-1) Decentralization operation:

[0189] The remote intelligent navigation control system 7 issues a command to control the automatic retractable winch 8 to operate; since the temperature-salinity-depth probe device 10 is arranged at the end of the A frame of the automatic retractable winch 8, the automatic retractable winch 8 gradually lowers the cable connected to the temperature-salinity-depth probe device 10 according to the command;

[0190] 5-2) Temperature measurement

[0191] As the temperature-salinity-depth probe device 10 is lowered into the seawater, the temperature sensor starts to work; the probe of the temperature sensor is exposed outside the pressure-resistant chamber so that the probe can fully contact the surrounding seawater; the temperature sensor is based on the principle of thermistor, and the resistance value of the thermistor changes with the change of seawater temperature; when the probe contacts the seawater, the heat of the seawater is transferred to the thermistor, and the resistance value of the thermistor changes accordingly; through the pre-calibrated corresponding relationship between the resistance value and the temperature, the change of the resistance value is converted into a temperature value, thereby accurately measuring the real-time temperature of the seawater;

[0192] 5-3) Salinity measurement

[0193] When the temperature-salinity-depth probe device 10 is in seawater, seawater flows into the conductivity cell through the channel. Two electrodes are arranged inside the conductivity cell. When a certain voltage is applied to both ends of the electrodes, the ions in the seawater will move in a directional manner under the action of the electric field to form a current. By measuring the current, the conductivity of the seawater is calculated according to Ohm's law, and then the conductivity is converted into the salinity of the seawater using a specific algorithm.

[0194] 5-4) Depth measurement

[0195] The pressure sensor is a piezoresistive pressure sensor. When the seawater pressure acts on the sensitive element of the sensor, the resistance value of the sensitive element will change, and is proportional to the pressure. As the temperature-salinity depth probe device 10 continues to sink, the seawater pressure gradually increases, and the resistance value of the pressure sensor also changes accordingly. By measuring the change in resistance value and combining the pre-calibrated pressure-depth conversion relationship, the depth of the temperature-salinity depth probe device 10 can be obtained.

[0196] 5-5) During the entire measurement process, the power module continuously provides a stable power supply to the temperature sensor, conductivity cell, pressure sensor, and data storage module, ensuring that each module can continue to work normally;

[0197] 5-6) The data storage module stores the data collected by the temperature sensor, conductivity cell and pressure sensor in real time to ensure the integrity and security of the data, so that the data can be subsequently transmitted to the remote intelligent navigation control system 7 through the data interaction protocol, and then transmitted to the mother ship / shore-based remote control monitoring platform by the remote intelligent navigation control system 7; at the same time, the GPS clock provides an accurate time reference for the entire measurement process, ensuring the time accuracy of data collection, which is convenient for subsequent analysis and comparison of data at different time points.

[0198] Those skilled in the art will appreciate that the above are only preferred embodiments of the present invention, and the various embodiments of the present disclosure and / or the features described in the claims may be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. It is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or perform equivalent substitutions on some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

[0199] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic navigation temperature-salinity-depth profile observation system for mesoscale eddy prediction, which is arranged on an unmanned ship (1) and connected to an automatic retractable winch (8), characterized in that: include: A remote intelligent navigation control system (7) and a temperature, salinity and depth probe device (10) interconnected therewith; The temperature-salinity-depth probe device (10) is arranged at the end of the A frame of the automatic retractable winch (8), and is used to be retracted and extended by the automatic retractable winch (8) to achieve lifting and lowering, thereby measuring the temperature, salinity and depth parameters of seawater in different profiles, and providing key ocean data for mesoscale eddy prediction; the measured data is transmitted to the mother ship / shore-based remote control monitoring platform through the remote intelligent navigation control system (7); The remote intelligent navigation control system includes: a communication module, a ship-borne control module, an internal state perception module, an external environment perception module, an intelligent navigation module, and a navigation control module; The communication module is used for real-time transmission of the command of the mother ship / shore-based remote control monitoring platform to the unmanned ship to automatically retract and release the winch, as well as data feedback from the unmanned ship (1) to the mother ship / shore-based remote control monitoring platform; the communication module is a Beidou and Tiantong dual-mode communication module, which sends the unmanned ship positioning, heading, speed and related data parameters to the mother ship / shore-based remote control monitoring platform to realize remote monitoring by the mother ship / shore-based remote control monitoring platform; The shipboard control module is used to receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module; at the same time, it receives the control instructions for the automatic retractable winch sent by the mother ship / shore-based monitoring platform, controls the automatic retractable winch, and then realizes the upgrade control of the temperature, salinity and depth probe; The internal state sensing module is used to collect basic data information of the unmanned ship under the navigation state in real time; The external environment perception module is used to collect and integrate environmental data information in real time when the unmanned ship is in a navigation state; The intelligent navigation module is used to receive instructions transmitted by the shipboard control module, and generate a track or a return track according to the issued instructions, and send it to the navigation control module; The navigation control module is used to execute the instructions sent by the shipboard control module, and to obtain the basic data information of the internal state perception module, the basic data information of the external environment perception module, the data information of the intelligent navigation module and the task operation assembly data information in real time, and to control the unmanned ship (1) in real time according to all the data information, and at the same time, to send all the data information to the shipboard control module.

2. The automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claim 1 is characterized in that: The intelligent navigation module includes: a path planning module, a path tracking module and a return module; The path planning module is used to receive data information from the external environment perception module, and perform path planning, generate a track, and perform navigation according to the data information from the external environment perception module; The path tracking module is used to monitor in real time whether the current driving state of the unmanned ship deviates from the planned route segment path through satellite navigation and inertial navigation. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship (1) to travel to the planned route segment path; otherwise, the current driving state remains unchanged; The return module is used for generating a return track by the intelligent navigation module when the communication is interrupted, and the navigation control module controls the return according to the return track.

3. The automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claim 2 is characterized in that: The path planning module includes: an obstacle judgment module and an obstacle avoidance decision module; The obstacle judgment module is used to predict obstacles based on the basic data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is further expanded according to the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle. The obstacle avoidance decision module is used to change the speed for dynamic obstacles without changing the original trajectory to avoid obstacles; for static obstacles, it determines the heading angle difference with the obstacle, determines which maritime rules to adopt, and then changes the speed direction according to the content of the maritime rules, thereby changing the path to avoid obstacles. After changing the path to avoid obstacles, it returns to the original path.

4. The automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claim 1 is characterized in that: The basic data information includes: speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; The environmental data information includes: inertial navigation information, radar information, laser information, visual information, AIS information and nautical chart information.

5. The automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claim 1 is characterized in that: The temperature-salinity-depth probe device (10) comprises: a pressure-resistant chamber, a temperature sensor, a conductivity cell, a pressure sensor, a power module, a data storage module, a data interaction protocol, and a GPS clock; The pressure-resistant chamber, as an overall protective shell, is used to ensure the normal operation of various electronic components in the chamber under the deep-sea high-pressure environment; The temperature sensor has a probe exposed outside the pressure-resistant chamber, in full contact with the surrounding seawater, so as to measure the real-time temperature of the seawater; The conductivity cell is arranged in the pressure-resistant chamber and is provided with a channel in contact with the seawater, and is used to measure the conductivity of the seawater and obtain the salinity of the seawater; The pressure sensor is placed in the pressure-resistant chamber and is used to sense the pressure change caused by the change in seawater depth, thereby obtaining the depth of the temperature-salinity-depth probe device (10); The power module is located inside the pressure-resistant chamber and provides a stable power supply for the entire temperature-salinity-depth probe device (10), ensuring that each sensor and other modules continue to work normally; The data storage module is used to store the data collected by the temperature sensor, conductivity cell and pressure sensor to ensure the integrity and security of the data for subsequent analysis and research; and through a specific communication interface and protocol specification, the collected data can be accurately transmitted to the remote intelligent navigation control system (7); the mother ship / shore-based monitoring platform host computer or other receiving equipment; The GPS clock is integrated inside the device to provide an accurate time reference for the entire system, ensuring the time accuracy of data collection and facilitating subsequent analysis of data at different time points.

6. The automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claim 1 is characterized in that: Also includes: Video monitoring module, antenna (3), radar (4) and wireless charging device (9); The video monitoring module comprises: a collision avoidance camera (2) and an automatic retractable winch monitoring camera (6); The collision avoidance camera (2) is installed on the top of the cabin of the unmanned ship (1). It belongs to the external camera part of the video monitoring module of the intelligent navigation control system (7), and is used to monitor the surrounding environment in real time, provide collision avoidance visual information for the unmanned ship during navigation, and transmit the collected image data to the remote intelligent navigation control system (7), so as to assist the remote intelligent navigation control system (7) in making navigation decisions; The automatic retractable winch monitoring camera (6) is an external camera of the video monitoring module and is used to monitor the working status of the automatic retractable winch in real time, and transmit the captured video image information to the video monitoring module so that the mother ship / shore-based remote control monitoring platform can understand the operation status of the winch in real time, thereby ensuring that the unmanned ship and the automatic retractable winch work normally; The antenna (3) is arranged on the top of the cabin and is connected to the intelligent navigation control system (7) to enhance the signal receiving and sending capabilities of Beidou and Tiantong dual-mode communications and to ensure the stability and reliability of the communication between the remote intelligent navigation control system (7) and the mother ship / shore-based remote control monitoring platform; The radar (4) is arranged on the top of the cabin and connected to the intelligent navigation control system (7) for real-time monitoring of obstacles and ship targets around the unmanned ship, and the acquired radar information is integrated by the remote intelligent navigation control system (7) for path planning of the intelligent navigation control system (7) and navigation decision-making of the navigation control module; The wireless charging device (9) comprises: a wireless charging transmitting end with an anti-oscillation device, a wireless charging receiving end and an independent charging controller; A wireless charging transmitter with a swing stopper is installed at the front end of the A frame of the automatic retractable winch (8), and a wireless charging receiver is provided below the wireless charging transmitter. Both the wireless charging transmitter and the wireless charging receiver are provided with a watertight protective cover.

7. The method of the automatic underway temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claims 1 to 6, characterized in that: The following steps are involved: 1) The mother ship / shore-based remote monitoring platform issues instructions: set the completion of a data transmission to the ship-borne control module, as well as the number of observations and observation time of the mother ship / shore-based remote monitoring platform; 2) The communication module of the remote intelligent navigation control system (7) receives the task instructions issued by the mother ship / shore-based remote control monitoring platform, and the shipboard control module stores and transmits the instructions to the intelligent navigation module and the navigation control module respectively; the external environment perception module collects environmental data information in real time and integrates them; the internal state perception module collects basic data information under the navigation state of the unmanned ship in real time; 3) The intelligent navigation module receives the instructions transmitted by the shipboard control module, generates a track or a return track according to the instructions, and sends it to the navigation control module; 4) The navigation control module executes the instructions sent by the shipboard control module, and obtains the basic data information of the internal state perception module, the basic data information of the external environment perception module, the data information of the intelligent navigation module and the data information of the task operation assembly in real time, and controls the unmanned ship (1) in real time according to all the data information, and at the same time, sends all the data information to the shipboard control module; 5) When the unmanned ship sails to the predetermined measurement area, the remote intelligent navigation control system (7) controls the automatic retracting winch (8) to lower the temperature-salinity-depth probe device (10) into the seawater, and starts the temperature-salinity-depth probe device (10) to measure the relevant parameters of the seawater; 6) The temperature sensor, the conductivity cell and the pressure sensor store the collected data in the data storage module, and the data storage module transmits the data to the remote intelligent navigation control system (7) through a specific data interaction protocol and a communication interface, and then the communication module of the remote intelligent navigation control system (7) transmits the data to the mother ship / shore-based remote control monitoring platform; 7) When the communication is interrupted, the return module of the intelligent navigation module generates a return track, and the navigation control module controls the unmanned boat to return according to the return track to complete the observation mission.

8. The method of the automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claim 7, characterized in that: The step 3) is specifically: 3-1) The path planning module performs path planning and generates a track based on the environmental data information of the external environment perception module and the task instructions; 3-2) During the path planning process, the obstacle judgment module predicts obstacles based on the basic data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is further expanded according to the predicted data of the obstacle position, and the uncertainty data of the obstacle position is converted into specific data to determine whether the obstacle is a static obstacle or a dynamic obstacle; 3-3) The obstacle avoidance decision module changes the speed for dynamic obstacles without changing the original trajectory to avoid obstacles. For static obstacles, it determines the heading angle difference with the obstacle and determines which maritime rules to adopt. Then, it changes the speed direction according to the content of the maritime rules, thereby changing the path to avoid obstacles. After changing the path to avoid obstacles, it returns to the original path; 3-4) The path tracking module uses the radar (4) to monitor in real time whether the current driving state of the unmanned ship deviates from the planned route. If deviation occurs, a signal is sent to the navigation control module, and the navigation control module adjusts the unmanned ship (1) to travel to the planned route. Otherwise, the current driving state remains unchanged.

9. The method of the automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claim 7, characterized in that: In step 4), the unmanned ship (1) is controlled in real time according to all the data information, specifically: 4-1) Data acquisition stage Obtain basic data information of the internal state perception module, basic data information of the external environment perception module, data information of the intelligent navigation module, and data information of the task operation assembly; Among them, intelligent navigation data: receiving target track data generated by path planning from the intelligent navigation module, including a series of target point coordinates (x target ,y target ) and the current navigation deviation information fed back by the path tracking module. If there is a deviation, obtain the deviation angle and deviation distance; Obtaining task operation assembly data: receiving task operation assembly data, including the measurement point coordinate sequence of the temperature, salinity and depth measurement task and the status data of the automatic retractable winch equipment; 4-2) Data fusion and analysis stage a. Establish the state vector: Combine all acquired data into a comprehensive state vector S; b. Target track matching analysis: The position coordinates (x, y) of the current unmanned ship in the comprehensive state vector S are compared with the target point coordinates (x target ,y target ) to perform comparative analysis and calculate the distance d between the current position and the next target point a and azimuth angle θ a , the formula is as follows: θ a =arctan2(y target -y,x target -x) c. According to the current heading θ and θ a The difference between and is used to determine whether the heading needs to be adjusted. d. Obstacle risk assessment: Determine whether there is an obstacle threat based on radar information and visual information; if an obstacle is detected, o , azimuth angle β o And the current speed V of the unmanned ship, the collision time TTC is calculated as: If the TTC is less than the safety threshold, it is determined that there is a collision risk and obstacle avoidance is required; e. Analysis of environmental factors: Consider the water depth h in the nautical chart information and the draft depth h of the unmanned ship. d , determine whether there is a risk of grounding; if hh d If the water depth is less than the safe depth margin, a shallow water alarm is issued and the navigation strategy is adjusted. At the same time, the ship's motion stability is analyzed based on the acceleration and angular velocity data in the inertial navigation information. If abnormal fluctuations are found, the navigation state may need to be adjusted to ensure stability. 4-3) Regulatory decision-making stage Course adjustment decision: If the target track matching analysis indicates that the course needs to be adjusted, the PID control algorithm is used to calculate the appropriate rudder angle adjustment Δδ based on the difference between the current course and the target course, that is: Where e(t) = θ a -θ, i.e. heading deviation, K P , K i , K d are the parameters of the PID controller, which are adjusted according to the dynamic characteristics and navigation environment of the unmanned ship; Speed ​​adjustment decision: Comprehensively consider obstacle risk assessment, mission requirements and environmental factors to decide whether to adjust the speed; if there is a collision risk, for dynamic obstacles, change the speed according to the rules of the obstacle avoidance decision module; for static obstacles, determine which maritime rules to adopt based on the heading angle difference with the obstacle, and calculate the appropriate speed reduction if deceleration is required; at the same time, if the mission requires low-speed cruising in a specific area, or if environmental factors affect navigation efficiency, adjust the speed accordingly. Comprehensive control command generation: The calculated rudder angle adjustment value Δδ and speed adjustment value ΔV are combined into a comprehensive control command C = [Δδ, ΔV]; 4-4) Regulation execution and data feedback stage Send control instructions: Send the comprehensive control instructions C to the actuators of the unmanned ship, such as the steering gear and engine control system, to adjust the navigation state of the unmanned ship. The steering gear adjusts the rudder angle according to the received Δδ, and the engine control system adjusts the engine speed according to ΔV, thereby changing the heading and speed of the unmanned ship; Data feedback: All data information involved in the regulation, that is, all data in the state vector S and the generated control command C, are sent back to the shipboard control module; the shipboard control module transmits this data to the mother ship / shore-based remote control monitoring platform through the communication module for real-time monitoring and subsequent data analysis; at the same time, the navigation control module itself records this data for retrospective analysis and fault diagnosis of the navigation process.

10. The method of the automatic cruise temperature-salinity-depth profile observation system for mesoscale eddy prediction according to claim 7, characterized in that: The step 5) is specifically: 5-1) Decentralization operation: The remote intelligent navigation control system (7) issues instructions to control the operation of the automatic retractable winch (8); since the temperature-salinity-depth probe device (10) is arranged at the end of the A frame of the automatic retractable winch (8), the automatic retractable winch (8) gradually lowers the cable connected to the temperature-salinity-depth probe device (10) according to the instructions; 5-2) Temperature measurement As the temperature-salinity-depth probe device (10) is lowered into the seawater, the temperature sensor starts to work; the probe of the temperature sensor is exposed outside the pressure-resistant chamber so that the probe can fully contact the surrounding seawater; the temperature sensor is based on the principle of thermistor, and the resistance value of the thermistor changes with the change of seawater temperature; when the probe contacts the seawater, the heat of the seawater is transferred to the thermistor, and the resistance value of the thermistor changes accordingly; through the correspondence between the resistance value and the temperature that has been calibrated in advance, the change of the resistance value is converted into a temperature value, thereby accurately measuring the real-time temperature of the seawater; 5-3) Salinity measurement When the temperature-salinity-depth probe device (10) is in seawater, seawater flows into the conductivity cell through the channel. Two electrodes are arranged inside the conductivity cell. When a certain voltage is applied to both ends of the electrodes, ions in the seawater will move in a directional manner under the action of the electric field to form a current. By measuring the current, the conductivity of the seawater is calculated according to Ohm's law, and then a specific algorithm is used to convert the conductivity into the salinity of the seawater. 5-4) Depth measurement The pressure sensor is a piezoresistive pressure sensor. When the seawater pressure acts on the sensitive element of the sensor, the resistance value of the sensitive element will change, and the resistance value is proportional to the pressure. As the temperature-salinity depth probe device (10) continues to sink, the seawater pressure gradually increases, and the resistance value of the pressure sensor also changes accordingly. By measuring the change in the resistance value and combining the pre-calibrated pressure-depth conversion relationship, the depth of the temperature-salinity depth probe device (10) is obtained. 5-5) During the entire measurement process, the power module continuously provides a stable power supply to the temperature sensor, conductivity cell, pressure sensor, and data storage module, ensuring that each module can continue to work normally; 5-6) The data storage module stores the data collected by the temperature sensor, the conductivity cell and the pressure sensor in real time to ensure the integrity and security of the data, so that the data can be subsequently transmitted to the remote intelligent navigation control system (7) through the data exchange protocol, and then transmitted to the mother ship / shore-based remote control monitoring platform by the remote intelligent navigation control system (7); at the same time, the GPS clock provides an accurate time reference for the entire measurement process, ensuring the time accuracy of data collection, and facilitating the subsequent analysis and comparison of data at different time points.

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