A four-dimensional dynamic ocean multi-sensor system and its construction method and use method

Abstract

The present invention discloses a four-dimensional dynamic ocean multi-sensor system and its construction method and use method, which belong to the field of ocean observation technology. The present invention uses high-resolution ocean environment big data to construct a four-dimensional dynamic ocean multi-sensor system, and realizes the real simulation of multiple ocean sensors by constructing a data interface unit, a micro data processing unit, and a touch display and control unit, and realizes the four-dimensional dynamic time-varying calculation of multiple ocean sensor elements, customizable sensor protocols, optional multiple sensor interfaces and sensor communication methods, optional four-dimensional interpolation algorithms, automatic acquisition and update of raw data, and visualization of multiple ocean sensor parameter data. The lightweight four-dimensional dynamic ocean environment model constructed by the present invention provides a close-to-real, dynamically changing ocean environment for underwater unmanned submersible simulation and motion testing, and can provide access to ocean sensor equipment of different manufacturers and models, expanding the breadth of the use of ocean environment big data.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean observation, and in particular relates to a four-dimensional dynamic ocean multi-sensor system and a construction and use method thereof. Background Art

[0002] The ocean environmental parameters that influence the movement of underwater unmanned systems (UUVs) primarily include temperature, pressure, salinity, and current velocity. Furthermore, UUVs also collect other parameters during their movement, such as conductivity, chlorophyll, and dissolved oxygen. Currently, most research focuses on constructing single-parameter models, such as simplifying ocean currents into uniform, regular flow fields, treating them as stream functions, or developing non-dynamic, time-varying ocean current models. For parameters like temperature, pressure, and salinity, fitting formulas are used to derive the depth-dependent variations of these parameters at a specific ocean location for use in UUV simulation and testing. However, this requires re-acquiring data, fitting, and updating parameters at different ocean locations, leading to difficulties in updating ocean data and inconvenience in use. Furthermore, the lack of a comprehensive multi-sensor system for multiple ocean environmental parameters hinders integration with UUV testing systems and prevents the ability to arbitrarily select different ocean areas for laboratory testing and verification. This hinders the application of ocean environmental big data in UUVs. Summary of the Invention

[0003] The purpose of the present invention is to provide a four-dimensional dynamic ocean multi-sensor system, and also to provide a method for constructing the system and a method for using the system, so as to make up for the deficiencies of the existing technology.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A four-dimensional dynamic ocean multi-sensor system includes a micro data processing unit, a data interface unit, and a touch display and control unit; the micro data processing unit includes a large ocean database, a protocol retrieval module, a protocol parsing module, a data retrieval module, a data calculation module, and a protocol marking module; the data calculation module includes a four-dimensional temperature calculation model, a four-dimensional salinity calculation model, a four-dimensional conductivity calculation model, and a four-dimensional ocean current calculation model; the touch display and control unit includes a deployment position entry module, an interpolation algorithm selection module, a data import and update module, a sensor data display module, a sensor protocol customization module, and an electronic map display module; the data interface unit includes a protocol marking module, a protocol distribution module, and a data interface;

[0006] First, ocean big data is imported through the data import and update module of the touch display and control unit, the sensor protocol is customized through the sensor protocol customization module, the deployment position coordinates are entered through the deployment position entry module, and the four-dimensional interpolation algorithm is selected through the interpolation algorithm selection module. Secondly, when the data interface unit receives the underwater position protocol or sensor query protocol sent by the underwater unmanned system, it binds the data interface number and sends it to the micro data processing unit. After receiving it, the micro data processing unit performs protocol parsing and retrieval to obtain the sensor feedback protocol format, then parses the sensor feedback protocol format to obtain the ocean sensor element symbol, and obtains the data required for calculation through the data retrieval module. The ocean sensor element data is then calculated through the four-dimensional temperature calculation model, four-dimensional salinity calculation model, four-dimensional conductivity calculation model, and four-dimensional ocean current calculation model of the data calculation module. Finally, the sensor feedback protocol is obtained, bound to the data interface number, and sent to the data interface unit. The data interface unit determines the data interface number and pushes the sensor feedback protocol to the corresponding data interface. Finally, the simulation of real-time collection of multiple sensors in the marine environment is realized, providing the underwater unmanned system with real-time data of multiple sensors operating under actual working conditions.

[0007] A method for constructing a four-dimensional dynamic ocean multi-sensor system, comprising constructing a data interface unit, constructing a touch display and control unit, and constructing a micro data processing unit;

[0008] (1) Constructing the data interface unit:

[0009] The data interfaces of the data interface unit include underwater position interface, sensor interface 1, sensor interface 2, sensor interface 3, sensor interface 4, sensor interface 5, and sensor interface 6, but are not limited to the above interfaces; first, the communication mode of a certain data interface is selected through the dial switch, and the communication mode is one of 485, 422, and 232, but is not limited to the above communication modes; the sensor protocol includes a sensor query protocol and a sensor feedback protocol. When a data interface of the data interface unit receives the underwater position protocol or the sensor query protocol, the data interface number is bound through the protocol marking module and sent to the micro data processing unit; and when the data interface unit receives the sensor feedback protocol bound to the data interface number sent by the micro data processing unit, the protocol distribution module is used to perform protocol parsing to obtain the data interface number and the sensor feedback protocol. After judging the data interface number, the sensor feedback protocol is sent to the corresponding data interface, thereby realizing the optional use of multiple sensor interfaces and sensor communication modes;

[0010] (2) Constructing a micro data processing unit:

[0011] 1) Building a large ocean database:

[0012] The marine environmental parameters p include temperature, salinity, conductivity, and ocean current, but are not limited to the above parameters; a marine big data database is established, including a status data table, a protocol data table, a temperature big data table, a salinity big data table, a conductivity big data table, and an ocean current big data table, but are not limited to the above big data tables; the status data table includes the deployment longitude, deployment latitude, and interpolation type fields; the protocol data table includes the data interface number, sensor query protocol, and sensor feedback protocol format fields; the temperature big data table includes the date, longitude, latitude, depth value, and temperature value fields; the salinity big data table includes the date, longitude, latitude, depth value, and salinity value fields; the conductivity big data table includes the date, longitude, latitude, depth value, and conductivity value fields; the ocean current big data table includes the date, longitude, latitude, depth value, and ocean current speed value u and ocean current speed value v fields;

[0013] 2) Build a protocol retrieval module:

[0014] After the data interface unit sends the underwater position protocol or sensor query protocol bound to the data interface number to the micro data processing unit, the micro data processing unit first determines whether it is an underwater position protocol. If so, the east-west position, north-south position, and diving depth position are obtained through parsing by the protocol retrieval module, and the east-west position, north-south position, and diving depth position are automatically stored in the status data table of the database; if not, the data interface number and sensor query protocol are obtained through parsing by the protocol retrieval module, and the protocol data table is retrieved through the data interface number and sensor query protocol to obtain the sensor feedback protocol format.

[0015] 3) Build a protocol parsing module:

[0016] The protocol parsing module parses the sensor feedback protocol format to obtain the data format and ocean sensor element symbols. The module then obtains ocean sensor element data according to the data format requirements through the data retrieval module and the data calculation module, including one of the ocean sensor element data of temperature, salinity, conductivity, depth, current velocity u, and current velocity v. The obtained one or more ocean sensor element data are combined into a sensor feedback protocol according to the sensor feedback protocol format requirements, thus realizing the customization of multiple sensor protocol formats and the automatic packaging of sensor feedback protocols.

[0017] 4) Build data retrieval module:

[0018] The data retrieval module mentioned in the protocol parsing module retrieves the data block of one of the ocean sensor elements of temperature, salinity, conductivity, depth, and ocean current required for calculation based on the ocean sensor element symbol obtained by parsing the protocol parsing module, including one of the ocean sensor element symbols of temperature, salinity, conductivity, depth, and ocean current, the east-west position, north-south position, and diving depth position obtained by parsing the protocol retrieval module, and the deployment longitude and latitude values ​​entered through the touch display and control unit;

[0019] 5) Build data calculation module:

[0020] The data calculation module mentioned in the protocol analysis module calculates one of the ocean sensor data of the current location of the underwater unmanned system, namely, the temperature value, salinity value, conductivity value, ocean current velocity value u, and ocean current velocity value v, based on the four-dimensional interpolation algorithm selected by the touch display and control unit and the data block of one of the ocean sensor elements of temperature, salinity, conductivity, depth, and ocean current obtained by the data retrieval module through a four-dimensional temperature calculation model, a four-dimensional salinity calculation model, a four-dimensional conductivity calculation model, and a four-dimensional ocean current calculation model, thereby realizing real-time four-dimensional calculation of multiple ocean sensor data;

[0021] (3) Build a touch display and control unit:

[0022] The touch display and control unit includes a placement position entry module, an interpolation algorithm selection module, a data import and update module, a sensor data display module, a sensor protocol customization module, and an electronic map display module;

[0023] The deployment position input module can input the deployment longitude and latitude values ​​of the underwater unmanned system in the deployment longitude input box and the deployment latitude input box, or select a geographic coordinate on the electronic map, and automatically input the deployment longitude and latitude values ​​into the deployment longitude input box and the deployment latitude input box, and automatically store the deployment longitude and latitude values ​​in the status data table of the database;

[0024] The interpolation algorithm selection module selects an interpolation algorithm, including three-dimensional linear / time interpolation algorithm, Newton / bilinear / time interpolation algorithm, cubic spline / bilinear / time interpolation algorithm, but is not limited to the above interpolation algorithms; after selection, the four-dimensional temperature calculation model, four-dimensional salinity calculation model, four-dimensional conductivity calculation model, and four-dimensional ocean current calculation model calculate temperature, salinity, conductivity, and ocean current data according to the selected different interpolation algorithms, and automatically stores the interpolation type in the status data table of the database, realizing the switching of multiple four-dimensional interpolation algorithms;

[0025] The ocean sensor elements p include temperature, salinity, conductivity, depth, and current velocity. The temperature corresponds to the symbol T, the salinity corresponds to the symbol S, the conductivity corresponds to the symbol C, the depth corresponds to the symbol P, and the current velocity corresponds to the symbol V. The sensor protocol customization module enters the sensor query protocol in the query protocol box, edits the sensor feedback protocol format in the feedback protocol box, and selects a data interface of the data interface unit. The data interface number, sensor query protocol, and sensor feedback protocol format are written into the protocol data table through the micro data processing unit. One data interface can correspond to multiple sensor query protocols and sensor feedback protocol formats, and sensor protocols are customized for multiple data interfaces, thereby realizing the simulation of multiple ocean sensors.

[0026] The data import and update module automatically obtains the ocean environment parameter nc file according to the longitude and latitude range. After reading the nc file, it obtains the date, longitude, latitude, depth value, and ocean sensor element p variables. After connecting to the database, it cyclically reads layer by layer according to the number of layers of depth value, latitude and longitude, and stores the date, longitude, latitude, depth value, and ocean sensor element p data in the big data table corresponding to each ocean sensor element p, realizing the automatic acquisition and update of the original data.

[0027] The sensor data display module selects a certain ocean geographical area on the electronic map and selects different depth values ​​to display the current distribution map of the area at the depth value; by selecting a certain geographical coordinate on the electronic map, the curve of temperature and salinity changing with depth at the geographical coordinate is displayed. The electronic map display module is used to zoom the map, select a certain geographical coordinate or select a geographical area, or display the geographical coordinate mark transmitted by the micro data processing unit. The geographical coordinate mark corresponds to the water outlet point and sea surface timing positioning point of the underwater unmanned system, realizing the visualization of various ocean sensor parameter data. The current distribution map, temperature curve and salinity curve are used as the basis for selecting the underwater unmanned system test area.

[0028] A method for using a four-dimensional dynamic ocean multi-sensor system comprises the following steps: first, through a data import and update module of a touch display and control unit, temperature, salinity, and ocean current data of different dates are imported into an ocean big data database, and a conductivity big data table is automatically obtained through the temperature big data table and salinity big data table of the ocean big data database; and, through a sensor protocol customization module of the touch display and control unit, a sensor query protocol and a sensor feedback protocol format of one of the data interfaces are entered and written into a protocol data table of the database. Each data interface can correspondingly enter multiple sensor query protocols and sensor feedback protocol formats.

[0029] Secondly, select the current depth and data date, select an area of ​​the ocean on the electronic map, and click on the current distribution to display the current distribution map in the data display area; when you click on a geographical location in the ocean on the electronic map and click on the temperature, the temperature variation curve with depth will be displayed in the data display area. If you click on salinity, the salinity variation curve with depth will be displayed in the data display area. If you click on conductivity, the conductivity variation curve with depth will be displayed in the data display area; enter the deployment longitude and latitude values ​​through the deployment position entry module, select the four-dimensional interpolation algorithm through the interpolation algorithm selection module, and enter the sensor query protocol and sensor feedback protocol formats of multiple data interfaces through the sensor protocol customization module.

[0030] Finally, the status port of the underwater unmanned system is connected to the underwater position interface of the data interface unit, and multiple sensor interfaces are connected to the sensor interface of the customized sensor protocol of the data interface unit; the underwater unmanned system sends the underwater position protocol and sensor query protocol to the corresponding interface, and the micro data processing unit parses the sensor query protocol, obtains the sensor feedback protocol through retrieval and calculation, and sends the sensor feedback protocol to the corresponding sensor interface, so that the underwater unmanned system can collect real-time data from multiple sensors operating under actual working conditions; in addition, the micro data processing unit parses the east-west position, north-south position, and diving depth position obtained by the underwater position protocol, and combines the deployment longitude and latitude to obtain the latitude and longitude coordinates of the current position of the underwater unmanned system, and displays the geographic mark on the electronic map of the touch display and control unit.

[0031] Compared with the prior art, the present invention has at least the following beneficial effects:

[0032] This invention constructs a four-dimensional dynamic ocean sensing system that implements four-dimensional dynamic time-varying calculations of multiple ocean sensor elements, customizable sensor protocols, multiple sensor interfaces and sensor communication methods, selectable four-dimensional interpolation algorithms, automatic acquisition and updating of raw data, and visualization of multiple ocean sensor parameter data. The system only requires input of initial latitude and longitude and real-time underwater position to obtain various ocean sensor parameter data at the current location. This data is automatically packaged into standard sensor data using a customized sensor feedback protocol format and provided to underwater unmanned systems for collection. This provides a near-realistic, dynamically changing ocean environment for underwater unmanned system simulation and motion testing, and has significant application value for scientific research and reliability improvement of underwater unmanned systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is the overall block diagram of the system of the present invention.

[0034] Figure 2 It is a large marine database.

[0035] Figure 3Retrieve the flow chart for the protocol.

[0036] Figure 4 This is a protocol analysis flowchart.

[0037] Figure 5 This is a diagram showing an example of protocol analysis.

[0038] Figure 6 This is a diagram showing the touch display unit.

[0039] Figure 7 A data structure diagram.

[0040] Figure 8 Updated flowchart for ocean current big data import. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described below in detail with reference to specific embodiments and the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments disclosed herein without inventive effort are intended to fall within the scope of protection of the present invention.

[0042] Example 1

[0043] A four-dimensional dynamic ocean multi-sensor system, such as Figure 1 As shown, it includes a micro data processing unit, a data interface unit, and a touch display and control unit; the micro data processing unit includes a large ocean database, a protocol retrieval module, a protocol parsing module, a data retrieval module, a data calculation module, and a protocol marking module; the data calculation module includes a four-dimensional temperature calculation model, a four-dimensional salinity calculation model, a four-dimensional conductivity calculation model, and a four-dimensional ocean current calculation model; the touch display and control unit includes a deployment position entry module, an interpolation algorithm selection module, a data import and update module, a sensor data display module, a sensor protocol customization module, and an electronic map display module; the data interface unit includes a protocol marking module, a protocol distribution module, and a data interface.

[0044] First, ocean big data is imported through the data import and update module of the touch display and control unit, the sensor protocol is customized through the sensor protocol customization module, the deployment position coordinates are entered through the deployment position entry module, and the four-dimensional interpolation algorithm is selected through the interpolation algorithm selection module. Secondly, when the data interface unit receives the underwater position protocol or sensor query protocol sent by the underwater unmanned system, it binds the data interface number and sends it to the micro data processing unit. After receiving it, the micro data processing unit performs protocol parsing and retrieval to obtain the sensor feedback protocol format, then parses the sensor feedback protocol format to obtain the ocean sensor element symbol, and obtains the data required for calculation through the data retrieval module. The ocean sensor element data is then calculated through the four-dimensional temperature calculation model, four-dimensional salinity calculation model, four-dimensional conductivity calculation model, and four-dimensional ocean current calculation model of the data calculation module. Finally, the sensor feedback protocol is obtained, bound to the data interface number, and sent to the data interface unit. The data interface unit determines the data interface number and pushes the sensor feedback protocol to the corresponding data interface, realizing the simulation of real-time collection of multiple sensors from different manufacturers in the marine environment, providing the underwater unmanned system with real-time data of multiple sensors operating under actual working conditions.

[0045] A method for constructing a four-dimensional dynamic ocean multi-sensor system, comprising constructing a data interface unit, constructing a touch display and control unit, and constructing a micro data processing unit;

[0046] (1) Constructing the data interface unit:

[0047] The data interfaces of the data interface unit include underwater position interface, sensor interface 1, sensor interface 2, sensor interface 3, sensor interface 4, sensor interface 5, and sensor interface 6, but are not limited to the above interfaces; first, the communication mode of a certain data interface is selected through the dial switch, and the communication mode is one of 485, 422, and 232, but is not limited to the above communication modes; the sensor protocol includes a sensor query protocol and a sensor feedback protocol. When a data interface of the data interface unit receives the underwater position protocol or the sensor query protocol, the data interface number is bound through the protocol marking module and sent to the micro data processing unit; and when the data interface unit receives the sensor feedback protocol bound to the data interface number sent by the micro data processing unit, the protocol distribution module is used to perform protocol parsing to obtain the data interface number and the sensor feedback protocol. After judging the data interface number, the sensor feedback protocol is sent to the corresponding data interface, thereby realizing multiple optional sensor interfaces and sensor communication modes.

[0048] (2) Constructing a micro data processing unit:

[0049] 1) Building a large ocean database:

[0050] Establish a large marine database, such as Figure 2As shown, it includes a status data table, a protocol data table, a temperature big data table, a salinity big data table, a conductivity big data table, and an ocean current big data table, but is not limited to the above big data tables; the status data table includes the deployment longitude, deployment latitude, and interpolation type fields; the protocol data table includes the data interface number, sensor query protocol, and sensor feedback protocol format fields; the temperature big data table includes the date, longitude, latitude, depth value, and temperature value fields; the salinity big data table includes the date, longitude, latitude, depth value, and salinity value fields; the conductivity big data table includes the date, longitude, latitude, depth value, and conductivity value fields; the ocean current big data table includes the date, longitude, latitude, depth value, and ocean current speed value u and ocean current speed value v fields.

[0051] 2) Build a protocol retrieval module:

[0052] like Figure 3 As shown, after the data interface unit sends the underwater position protocol or sensor query protocol bound to the data interface number to the micro data processing unit, the micro data processing unit first determines whether it is an underwater position protocol. If so, the east-west position, north-south position, and diving depth position are parsed by the protocol retrieval module, and the east-west position, north-south position, and diving depth position are automatically stored in the status data table of the database; if not, the data interface number and sensor query protocol are parsed by the protocol retrieval module, and the protocol data table is retrieved through the data interface number and sensor query protocol to obtain the sensor feedback protocol format.

[0053] 3) Build a protocol parsing module:

[0054] like Figure 4 、 Figure 5 As shown, the protocol parsing module parses the sensor feedback protocol format character array s, starting from the first character of the sensor feedback protocol format, and when the character is a character other than "[", "]", and "\0", the character is stored in the character array t; when the "[" character is parsed, the character is stored in the format character array f, until the "]" character is parsed, and the data format and ocean sensor element symbol contained in the "[]" are obtained; and through the data retrieval module and the data calculation module, the ocean sensor element data is obtained according to the data format requirements, including one of the ocean sensor element data of temperature, salinity, conductivity, depth, current speed value u and current speed value v, and the ocean sensor element data is stored in the character array t in a cyclic manner according to the characters; the sensor feedback protocol format array s is continued to be parsed until the character is "\0". The character ends, and the sensor feedback protocol character array t is finally obtained; finally, the sensor feedback protocol is bound to the data interface number through the protocol tag module of the micro data processing unit and sent to the data interface unit, realizing the customization of multiple sensor protocol formats and automatic encapsulation of sensor feedback protocols.

[0055] 4) Build data retrieval module:

[0056] The data retrieval module mentioned in the protocol parsing module obtains the ocean sensor element symbols through the protocol parsing module, including one of the ocean sensor element symbols of temperature, salinity, conductivity, depth, and ocean current. The east-west position, north-south position, and diving depth position obtained through the protocol retrieval module, as well as the deployment longitude and deployment latitude values ​​entered through the touch display and control unit, retrieve the data block of one of the ocean sensor elements of temperature, salinity, conductivity, depth, and ocean current required for calculation.

[0057] 5) Build data calculation module:

[0058] The data calculation module mentioned in the protocol analysis module calculates the data block of one of the ocean sensor elements of temperature, salinity, conductivity, depth, and ocean current obtained by the data retrieval module based on the four-dimensional interpolation algorithm selected by the touch display and control unit, and the four-dimensional temperature calculation model, four-dimensional salinity calculation model, four-dimensional conductivity calculation model, and four-dimensional ocean current calculation model to obtain the ocean sensor element data of the temperature value, salinity value, conductivity value, ocean current speed value u, and ocean current speed value v of the current location of the underwater unmanned system, thereby realizing real-time four-dimensional calculation of multiple ocean sensor data.

[0059] (3) Build a touch display and control unit:

[0060] like Figure 6 As shown, the touch display and control unit includes a placement position entry module, an interpolation algorithm selection module, a data import and update module, a sensor data display module, a sensor protocol customization module, and an electronic map display module.

[0061] The deployment position entry module enters the deployment longitude and latitude values ​​of the underwater unmanned system in the deployment longitude input box and the deployment latitude input box, or selects a geographic coordinate on the electronic map and automatically enters the deployment longitude and latitude values ​​into the deployment longitude input box and the deployment latitude input box, and automatically stores the deployment longitude and latitude values ​​in the status data table of the database.

[0062] The interpolation algorithm selection module selects the interpolation algorithm, including three-dimensional linear / time interpolation algorithm, bilinear / Newton / time interpolation algorithm, bilinear / cubic spline / time interpolation algorithm, but not limited to the above interpolation algorithms; after selection, the four-dimensional temperature calculation model, four-dimensional salinity calculation model, four-dimensional conductivity calculation model, and four-dimensional ocean current calculation model calculate temperature, salinity, conductivity, and ocean current data according to the selected different interpolation algorithms, and automatically stores the interpolation type in the status data table of the database, realizing the switching of multiple four-dimensional interpolation algorithms; the data structure is as follows Figure 7 shown.

[0063] A lightweight four-dimensional dynamic ocean environment model is constructed by using a four-dimensional data interpolation method for data points at all depths adjacent to the real-time geographic coordinates of the underwater unmanned system.

[0064] The first four-dimensional interpolation is three-dimensional linear / time interpolation, which is done by linear interpolation in the k direction, as shown in formula (1), to obtain , then, bilinear interpolation is performed in the i and j directions to obtain Finally, we can get ;

[0065] (1);

[0066] The second type of four-dimensional interpolation is Newton / bilinear / time interpolation, which is performed in the k direction as shown in formula (2) to obtain , then, bilinear interpolation is performed in the i and j directions to obtain Finally, we can get ;

[0067] (2);

[0068] The third four-dimensional interpolation is cubic spline / bilinear / time interpolation, which is performed by cubic spline interpolation in the k direction, as shown in formula (3), to obtain , then, bilinear interpolation is performed in the i and j directions to obtain Finally, we can get ;

[0069] (3);

[0070] Time dimension interpolation: The time interval of the data source is h hours, so two adjacent data sources with a time interval of 3 hours are used to perform time dimension interpolation using formula (4), realizing the dynamic changes of multiple ocean sensor elements;

[0071] (4);

[0072] in express The underwater unmanned system is always in the underwater position The ocean environment parameter values, express Three hours after the time, the underwater unmanned system is in the underwater position The marine environment parameter values ​​are ,but express The underwater unmanned system is always in the underwater position The values ​​of marine environmental parameters.

[0073] The sensor element p includes temperature, salinity, conductivity, depth, and current velocity. The temperature corresponds to the symbol T, salinity corresponds to the symbol S, conductivity corresponds to the symbol C, depth corresponds to the symbol P, and current velocity corresponds to the symbol V. The sensor protocol customization module enters the sensor query protocol in the query protocol box, such as $takesample\r\n, edits the sensor feedback protocol format in the feedback protocol box, such as t [%8.4f(T)] p [%8.3f(P)] c [%7.4f(C)] s [%7.4f(S)]\r\n, selects a data interface of the data interface unit, and writes the data interface number, sensor query protocol, and sensor feedback protocol format into the protocol data table through the micro data processing unit. In addition, one data interface can correspond to multiple sensor query protocols and sensor feedback protocol formats, and sensor protocols can be customized for multiple data interfaces to achieve the simulation of multiple ocean sensors.

[0074] The data import and update module automatically obtains the ocean sensor element nc file according to the longitude and latitude range. After reading the nc file, it obtains the date, longitude lng, latitude lat, depth value deep, and ocean sensor element p variables. After connecting to the SQLite database, it reads the depth value, latitude and longitude layers n, m, and p layer by layer in a loop, and stores the date date, longitude lng(k), latitude lat(j), depth value deep(i), and ocean sensor element data p(j, k, i) in the big data table corresponding to each ocean sensor element p, realizing the automatic acquisition and import and update of the original data.

[0075] The sensor data display module selects a certain ocean geographical area on the electronic map and selects different depth values ​​to display the current distribution map of the area at the depth value; by selecting a certain geographical coordinate on the electronic map, the curve of temperature and salinity changing with depth at the geographical coordinate is displayed. The electronic map display module is used to zoom the map, select a certain geographical coordinate or select a geographical area, or display the geographical coordinate mark transmitted by the micro data processing unit. The geographical coordinate mark corresponds to the water outlet point and sea surface timing positioning point of the underwater unmanned system, realizing the visualization of various ocean sensor parameter data. The current distribution map, temperature curve and salinity curve are used as the basis for selecting the underwater unmanned system test area.

[0076] A method for using a four-dimensional dynamic ocean multi-sensor system, such as Figure 8As shown, first, the temperature, salinity, and ocean current data of different dates are imported into the ocean big data database through the data import and update module of the touch display and control unit, and the conductivity big data table is automatically obtained through the temperature big data table and salinity big data table of the ocean big data database; through the sensor protocol customization module of the touch display and control unit, the sensor query protocol and sensor feedback protocol format of one of the data interfaces are entered and written into the protocol data table of the database. Each data interface can enter multiple sensor query protocols and sensor feedback protocol formats.

[0077] Secondly, select the current depth and data date, select an area of ​​the ocean on the electronic map, and click on the current distribution to display the current distribution map in the data display area; when you click on a geographical location in the ocean on the electronic map and click on the temperature, the temperature variation curve with depth will be displayed in the data display area. If you click on salinity, the salinity variation curve with depth will be displayed in the data display area. If you click on conductivity, the conductivity variation curve with depth will be displayed in the data display area; enter the deployment longitude and latitude values ​​through the deployment position entry module, select the four-dimensional interpolation algorithm through the interpolation algorithm selection module, and enter the sensor query protocol and sensor feedback protocol formats of multiple data interfaces through the sensor protocol customization module.

[0078] Finally, the status port of the underwater unmanned system is connected to the underwater position interface of the data interface unit, and multiple sensor interfaces are connected to the sensor interface of the customized sensor protocol of the data interface unit; the underwater unmanned system sends the underwater position protocol and sensor query protocol to the corresponding interface, and the micro data processing unit parses the sensor query protocol, obtains the sensor feedback protocol through retrieval and calculation, and sends the sensor feedback protocol to the corresponding sensor interface, so that the underwater unmanned system can collect real-time data from multiple sensors operating under actual working conditions; in addition, the micro data processing unit parses the east-west position, north-south position, and diving depth position obtained by the underwater position protocol, and combines the deployment longitude and latitude to obtain the latitude and longitude coordinates of the current position of the underwater unmanned system, and displays the geographic mark on the electronic map of the touch display and control unit.

[0079] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects disclosed in the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A four-dimensional dynamic ocean multi-sensor system, characterized in that: The system includes a micro data processing unit, a data interface unit and a touch display and control unit; the micro data processing unit includes a large ocean database, a protocol retrieval module, a protocol parsing module, a data retrieval module, a data calculation module, and a protocol marking module; the data calculation module includes a four-dimensional temperature calculation model, a four-dimensional salinity calculation model, a four-dimensional conductivity calculation model, and a four-dimensional ocean current calculation model; the touch display and control unit includes a deployment position entry module, an interpolation algorithm selection module, a data import and update module, a sensor data display module, a sensor protocol customization module, and an electronic map display module; the data interface unit includes a protocol marking module, a protocol distribution module, and a data interface; Import ocean big data through the data import and update module of the touch display and control unit, customize the sensor protocol through the sensor protocol customization module, enter the deployment position coordinates through the deployment position entry module, and select the four-dimensional interpolation algorithm through the interpolation algorithm selection module; secondly, when the data interface unit receives the underwater position protocol or sensor query protocol sent by the underwater unmanned system, it binds the data interface number and sends it to the micro data processing unit; after receiving it, the micro data processing unit performs protocol parsing and retrieval to obtain the sensor feedback protocol format, then parses the sensor feedback protocol format to obtain the ocean sensor element symbol, and obtains the data required for calculation through the data retrieval module; Then, the ocean sensing element data is calculated through the four-dimensional temperature calculation model, four-dimensional salinity calculation model, four-dimensional conductivity calculation model, and four-dimensional ocean current calculation model of the data calculation module. Finally, the sensor feedback protocol is obtained, bound to the data interface number, and sent to the data interface unit; The data interface unit determines the data interface number and pushes the sensor feedback protocol to the corresponding data interface.

2. The method for constructing a four-dimensional dynamic ocean multi-sensor system according to claim 1, characterized in that: The steps include: S1: Build data interface unit The data interface unit's data interface includes an underwater position interface and multiple sensor interfaces. First, a DIP switch is used to select the communication mode of a data interface. The sensor protocol includes a sensor query protocol and a sensor feedback protocol. When a data interface of the data interface unit receives an underwater position protocol or a sensor query protocol, the protocol tag module binds the data interface number and sends it to the micro data processing unit. When the data interface unit receives the sensor feedback protocol bound to the data interface number sent by the micro data processing unit, it performs protocol parsing through the protocol distribution module to obtain the data interface number and the sensor feedback protocol, and sends the sensor feedback protocol to the corresponding data interface after determining the data interface number; S2: Build a micro data processing unit: S2-1: Build a big ocean database: Build a big ocean database, including status data table, protocol data table, temperature big data table, salinity big data table, conductivity big data table, and ocean current big data table; S2-2: Constructing a protocol retrieval module: After the data interface unit sends the underwater position protocol or sensor query protocol bound to the data interface number to the micro data processing unit, the micro data processing unit first determines whether it is an underwater position protocol. If so, the protocol retrieval module is used to parse and obtain the east-west position, north-south position, and diving depth position, and automatically stores the east-west position, north-south position, and diving depth position in the status data table of the database; if not, the protocol retrieval module is used to parse and obtain the data interface number and sensor query protocol, and the protocol data table is searched based on the data interface number and sensor query protocol to obtain the sensor feedback protocol format; S2-3: Constructing a protocol parsing module: The protocol parsing module parses the sensor feedback protocol format to obtain the data format and ocean sensor element symbols; and obtains the ocean sensor element data according to the data format requirements through the data retrieval module and the data calculation module; S2-4: Constructing a data retrieval module: The data retrieval module mentioned in the protocol parsing module retrieves the data block of one of the ocean sensor elements of temperature, salinity, conductivity, depth, and ocean current required for calculation based on the ocean sensor element symbols obtained by parsing the protocol parsing module, including one of the ocean sensor element symbols of temperature, salinity, conductivity, depth, and ocean current, the east-west position, north-south position, and diving depth position obtained by parsing the protocol retrieval module, and the deployment longitude and latitude values ​​entered through the touch display and control unit; S2-5: Constructing a data calculation module: Based on the four-dimensional interpolation algorithm selected by the touch display and control unit and the data block of one of the ocean sensor elements of temperature, salinity, conductivity, depth, and ocean current obtained by the data retrieval module, calculations are performed using the four-dimensional temperature calculation model, the four-dimensional salinity calculation model, the four-dimensional conductivity calculation model, and the four-dimensional ocean current calculation model to obtain the ocean sensor element data of the temperature value, salinity value, conductivity value, ocean current speed value u, and ocean current speed value v at the current location of the underwater unmanned system, thereby realizing real-time four-dimensional calculation of multiple ocean sensor data; S3: Build a touch display and control unit: The touch display and control unit includes a placement position entry module, an interpolation algorithm selection module, a data import and update module, a sensor data display module, a sensor protocol customization module, and an electronic map display module; The deployment position input module inputs the deployment longitude value and deployment latitude value of the underwater unmanned system in the deployment longitude input box and the deployment latitude input box; The interpolation algorithm selection module selects an interpolation algorithm, and the four-dimensional temperature calculation model, the four-dimensional salinity calculation model, the four-dimensional conductivity calculation model, and the four-dimensional ocean current calculation model calculate temperature, salinity, conductivity, and ocean current data according to the selected different interpolation algorithms, and automatically stores the interpolation type in the status data table of the database; The sensing protocol customization module enters the sensing query protocol in the query protocol box, edits the sensing feedback protocol format in the feedback protocol box, selects a data interface of the data interface unit, and writes the data interface number, sensing query protocol, and sensing feedback protocol format into the protocol data table through the micro data processing unit; The data import and update module automatically obtains the ocean environment parameter file according to the latitude and longitude range, obtains the date, longitude, depth value, and ocean sensor element p variables after reading the file, and after connecting to the database, cyclically reads the date, longitude, depth value, and ocean sensor element p data layer by layer according to the number of layers. The date, longitude, latitude, depth value, and ocean sensor element p data are stored in the big data table corresponding to each ocean sensor element p; The sensor data display module selects a certain ocean geographical area on the electronic map and selects different depth values ​​to display the ocean current distribution map at the depth value of the area; and selects a certain geographical coordinate on the electronic map to display the curve of temperature and salinity changing with depth at the geographical coordinate; The electronic map display module is used to zoom in and out of the map, select a certain geographical coordinate or select a geographical area, or display the geographical coordinate mark transmitted by the micro data processing unit.

3. The construction method according to claim 2, wherein: In S2-1: the marine environmental parameter p includes temperature, salinity, conductivity, and ocean current; the status data table includes the deployment longitude, deployment latitude, and interpolation type fields; the protocol data table includes the data interface number, sensor query protocol, and sensor feedback protocol format fields; the temperature big data table includes the date, longitude, latitude, depth value, and temperature value fields; the salinity big data table includes the date, longitude, latitude, depth value, and salinity value fields; the conductivity big data table includes the date, longitude, latitude, depth value, and conductivity value fields; the ocean current big data table includes the date, longitude, latitude, depth value, ocean current speed value u, and ocean current speed value v fields.

4. The construction method according to claim 2, wherein: In S2-3: the ocean sensor element data includes one of the ocean sensor element data of temperature value, salinity value, conductivity value, depth value, current speed value u and current speed value v. The obtained one or more ocean sensor element data are combined into a sensor feedback protocol according to the sensor feedback protocol format requirements, thereby realizing the customization of multiple sensor protocol formats and automatic packaging of sensor feedback protocols.

5. The construction method according to claim 2, wherein: In S3: after the deployment position entry module selects a certain geographic coordinate on the electronic map, the deployment longitude value and the deployment latitude value are automatically entered into the deployment longitude input box and the deployment latitude input box, and the deployment longitude value and the deployment latitude value are automatically stored in the status data table of the database; the ocean sensor element p includes temperature, salinity, conductivity, depth, and current speed, and the temperature corresponds to the symbol T, the salinity corresponds to the symbol S, the conductivity corresponds to the symbol C, the depth corresponds to the symbol P, and the current speed corresponds to the symbol V.

6. The method for using the four-dimensional dynamic ocean multi-sensor system according to claim 1, characterized in that: The method includes the following steps: (1) Through the data import and update module of the touch display and control unit, the temperature, salinity, and ocean current data of different dates are imported into the ocean big data database, and the conductivity big data table is automatically obtained through the temperature big data table and salinity big data table of the ocean big data database; through the sensor protocol customization module of the touch display and control unit, the sensor query protocol and sensor feedback protocol format of one of the data interfaces are entered and written into the protocol data table of the database. Multiple sensor query protocols and sensor feedback protocol formats are entered for each data interface; (2) Select the ocean current depth and data date, select an area of ​​the ocean on the electronic map, and click on the ocean current distribution to display the ocean current distribution map in the data display area. When you click on a geographical location in the ocean on the electronic map and click on the temperature, the temperature versus depth curve will be displayed in the data display area. If you click on salinity, the salinity versus depth curve will be displayed in the data display area. If you click on conductivity, the conductivity versus depth curve will be displayed in the data display area. (3) Enter the deployment longitude and latitude values ​​through the deployment position input module, select the four-dimensional interpolation algorithm through the interpolation algorithm selection module, and enter the sensor query protocol and sensor feedback protocol formats of multiple data interfaces through the sensor protocol customization module; (4) The status port of the underwater unmanned system is connected to the underwater position interface of the data interface unit, and multiple sensor interfaces are connected to the sensor interface of the customized sensing protocol of the data interface unit; The underwater unmanned system sends the underwater position protocol and sensor query protocol to the corresponding interface. After the micro data processing unit parses the sensor query protocol, it obtains the sensor feedback protocol through retrieval and calculation, and sends the sensor feedback protocol to the corresponding sensor interface, allowing the underwater unmanned system to collect real-time data from multiple sensors operating under actual working conditions. (5) The micro data processing unit parses the east-west position, north-south position, and diving depth position obtained by the underwater position protocol, and combines the deployment longitude and latitude to obtain the latitude and longitude coordinates of the current position of the underwater unmanned system, and displays the geographic mark on the electronic map of the touch display unit.

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