Multifunctional comprehensive buoy for cross-domain networking, working method and buoy system

Abstract

The invention discloses a cross-domain networking multifunctional comprehensive buoy, a working method and a buoy system, relates to the technical field of underwater acoustic communication, and solves the problems that an existing buoy is single in function, poor in collaborative operation capability and low in ocean target sensing precision. According to the scheme, the device comprises an antenna, a supporting rod, a floating body and a buoy closed bin which are connected in sequence, wherein the buoy closed bin is connected with an underwater acoustic Modem and a detection linear array; a buoy control main body is arranged in the buoy closed bin, is responsible for carrying a GPS (Global Positioning System) module, storing and processing data and managing a power supply, and is connected with the underwater acoustic Modem and the detection linear array; the underwater acoustic Modem is used for communicating with underwater nodes, and the detection linear array receives underwater target signals through the detection array; the buoy control main body further communicates with a radio station, an air communication network is constructed, and data interaction with a display control system is achieved; according to the buoy, data acquisition and multi-buoy networking can be carried out, and high-precision detection and multi-level information transmission of an underwater target are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic communication, and more specifically, to a multifunctional integrated buoy for cross-domain networking, a working method and a buoy system. Background Art

[0002] Cross-sea and air collaboration is an important application in marine operations. However, due to the complexity of the marine environment, different transmission media result in differences in channel capacity, transmission bandwidth, rate, and latency. Various physical forms of waves are limited by the characteristics of the air-seawater interface, making direct cross-media information exchange difficult. Electromagnetic waves and optical signals are significantly attenuated when transmitted directly across the air-seawater interface. Sound waves can be transmitted over long distances in water but are severely reflected at the seawater-air interface. An effective approach is to use buoys for indirect cross-media interaction. Existing buoys are primarily used for fixed-point marine environmental monitoring, collecting data by carrying a variety of ocean measurement sensors and transmitting it back periodically. They present the following key challenges.

[0003] First, the buoy has a single function and limited perception capability: traditional buoys are mainly equipped with basic environmental sensors, which can only achieve single-dimensional fixed-point monitoring, and it is difficult to achieve effective fusion and collaborative analysis of multi-source perception data; second, the cross-domain collaborative capability is insufficient: existing buoys lack the ability to interact with underwater nodes (such as submersibles, sensor networks) and aerial nodes (such as drones, satellites), and cannot support complex cross-media collaborative operations; third, the target detection performance is limited: although some sonar buoys have underwater target perception functions, their detection range is limited, and they lack the ability to network and coordinate multiple buoys, resulting in low target positioning accuracy and small coverage area, which makes it difficult to meet the needs of large-scale high-precision detection.

[0004] To this end, the present application provides a multifunctional integrated buoy, a working method and a buoy system with cross-domain networking to solve the above problems. Summary of the Invention

[0005] The purpose of this application is to provide a multifunctional integrated buoy, working method and buoy system with cross-domain networking, so as to solve the problems of existing buoys such as single buoy function, insufficient cross-domain coordination capability and limited target detection performance. After the buoy system of this application is put into a designated sea area, it realizes networking interaction with underwater nodes through an underwater acoustic modem, realizes interaction with aerial nodes through a radio station, and realizes detection of underwater targets through a detection array. The buoy can carry observation sensors for data collection, and can also realize high-precision detection of targets by multi-buoy networking, complete multi-level perception and information transmission, expand the buoy function, realize cross-domain coordination, and improve detection performance.

[0006] The first aspect of the present application provides a multifunctional integrated buoy with cross-domain networking, comprising: an antenna, a support rod, a float and a buoy closed chamber connected in sequence, the buoy closed chamber being connected to a hydroacoustic modem and a detection array respectively; a buoy control body is placed in the buoy closed chamber, the buoy control body being connected to the hydroacoustic modem and the detection array respectively, and the buoy control body is also connected to a radio station in the area for communication, the radio station serves as an air node to build an air communication network, and realizes communication between the multifunctional integrated buoy and the display and control system; the buoy control body is used to carry a GPS module, a data storage module and a data processing module to realize data storage and forwarding, power management, and provide a physical interface for connection with the hydroacoustic modem, the detection array and the radio station; the hydroacoustic modem is used to realize wireless communication with underwater nodes; the detection array comprises a signal processing circuit arranged in the detection array closed chamber and a detection array extending out of the chamber, and receives noise signals radiated by underwater targets through the detection array.

[0007] In one possible embodiment, the buoy control body includes: a battery management module, a GPS module, a data storage module and a data processing module; the power management module includes a battery array and a DC-DC module, which is used to convert the power supplied by the battery array into power supply for the buoy control body, the detection array and the hydroacoustic modem through the DC-DC module; the data storage module is used to store data; the data processing module is used to drive the GPS module to obtain positioning information and to exchange data with the detection array, the hydroacoustic modem and the radio station.

[0008] In a possible implementation, the detection array includes N sub-arrays, where N is a positive integer, each sub-array consists of a hydrophone, and the hydrophone array is distributed in a circular topology.

[0009] In a possible implementation, the buoy control body is connected to the radio station via a network port, and the buoy control body is connected to the detection array and the hydroacoustic modem via a watertight cable.

[0010] In one possible embodiment, the interface between the watertight cable and the detection array is designed to be 21 cores, of which 8 cores are network cables, 1 core is a network cable shielding wire, 3 cores are power supply GND, 3 cores are power cables, 2 cores are differential synchronization signal lines, 2 cores are differential serial port 485 transmission lines, 1 core is a serial port ground wire, and 1 core is a hanging wire.

[0011] In a possible implementation, the interface between the watertight cable and the underwater acoustic modem is designed to be 10 cores, 4 cores of which are data transmission lines of the serial port 422, 2 cores are positive and negative power supplies of the power supply, and 4 cores are reserved control lines.

[0012] The second aspect of the present application provides a working method of a multifunctional integrated buoy, which is based on the multifunctional integrated buoy as described above, and the method includes: step S1, initialization and self-test; step S2, synchronization information; step S3, entering the detection working state and communication working state in parallel; step S4, in the detection working state, detecting underwater target information; step S5, in the communication working state, sending the underwater target information to the cooperating aerial node or underwater node.

[0013] In a possible embodiment, step S4 includes: step S41, within one detection cycle, each detection array synchronously collects detection information, including: underwater target signal, depth data, temperature data and attitude data; step S42, each detection array packages the collected detection information and transmits it to the data processing module according to the communication protocol; step S43, when the data processing module receives a polling command sent by the display and control platform through the radio station, the data processing module adds the detection information collected by each detection array to its own GPS positioning information and uploads it to the display and control platform through the radio station. The display and control platform is used to calculate the positioning information of the underwater target based on the uploaded data and display the positioning information and detection information of the underwater target; step S45, enter the next working cycle.

[0014] In a possible implementation, step S5 includes: step S51, the data processing module receives the underwater target positioning information sent by the display and control platform through the radio station; step S52, the data processing module adds the underwater target positioning information to its own GPS positioning information to generate a frame and sends it to the underwater acoustic modem; step S53, the underwater acoustic modem adds a special code, a start bit, and a stop bit to the received information and forwards the information to the underwater node, which performs subsequent detection.

[0015] The third aspect of the present application provides a buoy system, including: a display and control platform, multiple radio stations, and multiple multifunctional integrated buoys for cross-domain ocean networking detection as mentioned above; the display and control platform is used to issue control command information, receive underwater monitored information, perform positioning and solution, and display the underwater target positioning results, the position and status of the multifunctional integrated buoy; a wireless communication radio station is used to realize the transmission and reception of radio signals between aerial nodes, to realize the forwarding of display and control platform command information to the multifunctional integrated buoy in the signal downlink, and to realize the uploading of the multifunctional integrated buoy underwater information to the display and control platform in the signal uplink.

[0016] Compared with the existing technology, the present application has the following beneficial effects: the cross-domain networking multifunctional integrated buoy, working method and buoy system provided by the present application are compatible with traditional monitoring sensors in design, and have the ability to exchange information with aerial nodes and underwater nodes. At the same time, they support multi-buoy network detection in the detection of ocean targets, which greatly improves the application scope and comprehensive capabilities of the buoy; on the one hand, it can directly carry various sensors such as temperature, salinity, humidity, and waves to collect physical ocean, meteorological and hydrological data; on the other hand, it can also perform underwater, sea surface, and air cross-domain joint operation tasks, forming an air-sea-submarine integrated operation network, and unblocking information links to realize cross-domain data interaction; in addition, the system can also automatically stand guard, realize unmanned operation and monitoring and early warning tasks in designated areas, and can effectively solve the problems of traditional ocean buoys with single functions, poor collaborative operation capabilities, and low accuracy in ocean target perception. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 A schematic structural diagram of a multifunctional integrated buoy provided in an embodiment of the present application; Figure 2 An internal schematic diagram of a multifunctional integrated buoy provided in an embodiment of the present application; Figure 3 A schematic diagram of data interaction of a multifunctional integrated buoy provided in an embodiment of the present application; Figure 4 A circuit principle block diagram of the multifunctional integrated buoy provided in an embodiment of the present application; Figure 5 A flowchart of the working method of the multifunctional integrated buoy provided in an embodiment of the present application; Figure 6 A schematic diagram of a buoy system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] Hereinafter, the terms "include" or "may include" as used in various embodiments of the present application indicate the presence of the claimed function, operation, or element, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present application, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0019] It should be noted that when a component is described as being “connected” to or “connected to” another component, the first component may be directly connected to the second component, and a third component may be “connected” between the first and second components. Conversely, when a component is described as being “directly connected” to or “directly connected to” another component, it can be understood that there is no third component between the first and second components.

[0020] The terms used in the various embodiments of the present application are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments of the present application. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise specified, all terms used herein (including technical terms and scientific terms) have the same meaning as those generally understood by those skilled in the art to which the various embodiments of the present application belong. Terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments of the present application.

[0021] In order to make the objectives, technical solutions and advantages of this application more clear, the present application is further described in detail below in conjunction with examples and drawings. The schematic implementation methods of this application and their descriptions are only used to explain this application and are not intended to limit this application.

[0022] See Figure 1 As shown, Figure 1 A schematic diagram of the structure of a multifunctional integrated buoy provided in an embodiment of the present application. The multifunctional integrated buoy includes: an antenna, a support rod, a float, and a buoy closed chamber connected in sequence, the buoy closed chamber being connected to a hydroacoustic modem and a detection array respectively; a buoy control body is placed in the buoy closed chamber, the buoy control body being connected to the hydroacoustic modem and the detection array respectively, and the buoy control body is also connected to a radio station in the area, which serves as an air node to build an air communication network to achieve communication between the multifunctional integrated buoy and the display and control system; the buoy control body is used to carry a GPS module, a data storage module, and a data processing module to achieve data storage and forwarding, power management, and provide a physical interface for connecting to the hydroacoustic modem, the detection array, and the radio station; the hydroacoustic modem is used to achieve wireless communication with underwater nodes; the detection array includes a signal processing circuit arranged in the detection array closed chamber and a detection array extending outside the chamber, which receives noise signals radiated by underwater targets through the detection array.

[0023] Specifically, the buoy control unit provides the physical platform and data interface for connecting to other components. It is responsible for mounting the GPS module, storing and forwarding data, and managing power supply voltage. The detection array receives target radiated noise signals to detect and locate underwater targets. The hydroacoustic modem interacts with underwater nodes, transmitting and receiving underwater signals. It forwards detection information from the multifunctional integrated buoy to underwater nodes on the downlink and uploads communication information from underwater nodes to the multifunctional integrated buoy on the uplink. The display and control platform and wireless communication radio are devices that interact with the multifunctional integrated buoy. The display and control platform issues control commands, receives underwater monitoring information, performs positioning calculations, and displays underwater target positioning results, the buoy's position, and its status. The wireless communication radio transmits and receives radio signals between aerial nodes. It forwards command information from the display and control platform to the multifunctional integrated buoy on the downlink and uploads underwater information from the multifunctional integrated buoy to the display and control platform on the uplink.

[0024] The improvement of this application lies in that the multifunctional integrated buoy provided by this application has the ability to exchange information with aerial nodes and underwater nodes on the basis of being compatible with traditional monitoring sensors. At the same time, it supports multi-buoy network detection in the detection of ocean targets, which can effectively solve the problems of traditional ocean buoys such as single function, poor collaborative operation capability, and low accuracy in ocean target perception. It is of great significance for distributed ocean observation and monitoring, cross-sea and air operations, and high-precision detection of target networks.

[0025] See Figure 2 As shown, Figure 2 A schematic diagram of the internal structure of a multifunctional integrated buoy provided in an embodiment of the present application. In one possible embodiment, the buoy control unit includes a battery management module, a GPS module, a data storage module, and a data processing module. The power management module includes a battery array and a DC-DC module, which converts power from the battery array into power for the buoy control unit, the detection array, and the hydroacoustic modem via the DC-DC module. The data storage module is used to store data. The data processing module is used to drive the GPS module to obtain positioning information and exchange data with the detection array, the hydroacoustic modem, and the radio station.

[0026] Specifically, the power management module is primarily powered by a 24V battery array, supporting 220V AC power. It also features a DC-DC module to supply power to the buoy control unit, detection array, and hydroacoustic modem. The data storage module utilizes EMMC chips for direct mounting. The data processing module drives the GPS module to obtain positioning information and exchanges data with the detection array, hydroacoustic modem, and radio.

[0027] See Figure 3As shown, Figure 3 Schematic diagram of data interaction of the multifunctional integrated buoy provided in the embodiment of the present application. The battery management module in the buoy control body supplies power to the buoy control body itself as well as the detection array and the hydroacoustic modem. The data processing module in the buoy control body is connected to the detection array and the hydroacoustic modem as the core module to receive hydroacoustic modem information and array sonar information. The data processing module is also connected to the GPS module and the data storage module to receive the positioning information of the buoy and store the data. The data processing module can also be connected to the GNSS antenna on the top through the digital radio and to the radio antenna on the top through the GNSS module, and is compatible with multiple communication methods. The data processing module can also be connected to other sensing sensors to collect a variety of data.

[0028] See Figure 4 As shown, Figure 4 This is a block diagram of the circuit principle of the multifunctional integrated buoy provided in the embodiment of the present application. The data processing module can adopt a MINI industrial computer. The data processing module is connected to the GPS module through the RS232 interface. The GPS module is connected to the GPS antenna through a feeder and is connected to the detection array through the interface module. The data processing module is connected to the radio station through the gigabit network. The radio station realizes signal interaction with the display and control platform through the wireless communication antenna. The data processing module is connected to the detection array through the gigabit network and to the hydroacoustic modem through RS422. The power management module provides the required 24V, 3.3V, 36V and 24V power supplies for the data processing module, GPS module, hydroacoustic modem and detection array respectively, and is connected to the battery array to supply 24V power. The multifunctional integrated buoy realizes air communication through the radio station and underwater communication through the hydroacoustic modem, forming a complete air and underwater communication network.

[0029] In a possible implementation, the detection array includes N sub-arrays, where N is a positive integer, each sub-array consists of a hydrophone, and the hydrophone array is distributed in a circular topology.

[0030] Specifically, N may be 8, and the detection array may collect the noise radiated by the underwater target, and realize the signal detection and direction determination of the underwater target through beamforming calculation.

[0031] In a possible implementation, the buoy control body is connected to the radio station via a network port.

[0032] In a possible implementation, the buoy control body is connected to the detection array and the hydroacoustic modem via a watertight cable.

[0033] Furthermore, the interface design between the watertight cable and the detection array is 21 cores, of which 8 cores are network cables, 1 core is the network cable shielding wire, 3 cores are power supply GND, 3 cores are power cables, 2 cores are differential synchronization signal lines, 2 cores are differential serial port 485 transmission lines, 1 core is the serial port ground wire, and 1 core is a hanging wire.

[0034] Furthermore, the interface between the watertight cable and the underwater acoustic modem is designed to be 10 cores, 4 cores of which are data transmission lines of the serial port 422, 2 cores are positive and negative power supplies of the power supply, and 4 cores are reserved control lines.

[0035] See Figure 5 As shown, Figure 5 The working method of the multifunctional integrated buoy provided in the embodiment of the present application is a flowchart. The working method of the multifunctional integrated buoy is based on the following Figure 1 The multifunctional integrated buoy shown is executed, and the method includes: step S1, initialization and self-test; step S2, synchronization information; step S3, entering the detection working state and communication working state in parallel; step S4, detecting underwater target information in the detection working state; step S5, sending the underwater target information to the cooperating aerial node or underwater node in the communication working state.

[0036] In a possible embodiment, step S4 includes: step S41, within one detection cycle, each detection array synchronously collects detection information, including: underwater target signal, depth data, temperature data and attitude data; step S42, each detection array packages the collected detection information and transmits it to the data processing module according to the communication protocol; step S43, when the data processing module receives a polling command sent by the display and control platform through the radio station, the data processing module adds the detection information collected by each detection array to its own GPS positioning information and uploads it to the display and control platform through the radio station. The display and control platform is used to calculate the positioning information of the underwater target based on the uploaded data and display the positioning information and detection information of the underwater target; step S45, enter the next working cycle.

[0037] In a possible implementation, step S5 includes: step S51, the data processing module receives the underwater target positioning information sent by the display and control platform through the radio station; step S52, the data processing module adds the underwater target positioning information to its own GPS positioning information to generate a frame and sends it to the underwater acoustic modem; step S53, the underwater acoustic modem adds a special code, a start bit, and a stop bit to the received information and forwards the information to the underwater node, which performs subsequent detection.

[0038] See Figure 6 As shown, Figure 6 Schematic diagram of the buoy system provided in the embodiment of the present application. The buoy system includes: a display and control platform, multiple radio stations, multiple Figure 1The multifunctional integrated buoy shown is used for cross-domain ocean networking detection; the display and control platform is used to issue control command information, receive underwater monitored information, perform positioning and solution, and display the underwater target positioning results, the position and status of the multifunctional integrated buoy; the wireless communication radio is used to realize the transmission and reception of radio signals between aerial nodes, forward the display and control platform command information to the multifunctional integrated buoy in the signal downlink, and upload the multifunctional integrated buoy underwater information to the display and control platform in the signal uplink.

[0039] Specifically, through the display and control platform, multiple radio stations, multiple Figure 1 The multifunctional integrated buoy system shown can be used for marine target sensing and positioning, enabling cross-media information transmission and supporting information exchange with various underwater and aerial nodes. The display and control platform issues commands and interprets information uploaded by the buoy, displaying the buoy's position and status. The multifunctional integrated buoy facilitates interaction with underwater nodes and uploads information to aerial nodes. The radio station enables information exchange with the back-end display and control platform and aerial nodes.

[0040] It can be understood that the cross-domain networking multifunctional integrated buoy, working method and buoy system provided by this application are designed to be compatible with traditional monitoring sensors, and have the ability to exchange information with aerial nodes and underwater nodes. At the same time, they support multi-buoy network detection in the detection of ocean targets, which greatly improves the application scope and comprehensive capabilities of the buoy; on the one hand, it can directly carry various sensors such as temperature, salinity, humidity, and waves to collect physical ocean, meteorological and hydrological data; on the other hand, it can also perform underwater, sea surface, and air cross-domain joint operation tasks, forming an integrated air, sea and submarine operation network, and unblocking information links to realize cross-domain data interaction; in addition, the system can also automatically stand guard, realize unmanned operation and monitoring and early warning tasks in designated areas, and can effectively solve the problems of traditional ocean buoys with single functions, poor collaborative operation capabilities, and low accuracy in ocean target perception.

[0041] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of 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 multifunctional integrated buoy with cross-domain networking, characterized in that: include: The antenna, support rod, float and buoy closed chamber are connected in sequence, and the buoy closed chamber is connected to the underwater acoustic modem and the detection array respectively; A buoy control body is placed in the buoy's sealed compartment. The buoy control body is connected to the hydroacoustic modem and the detection array respectively. The buoy control body is also connected to a radio station in the area. The radio station serves as an air node to build an air communication network to achieve communication between the multifunctional integrated buoy and the display and control system. The buoy control body is used to carry the GPS module, data storage module and data processing module to achieve data storage and forwarding, power management, and provide a physical interface for connecting with the underwater acoustic modem, detection array and radio station; The underwater acoustic modem is used to realize wireless communication with underwater nodes; The detection array includes a signal processing circuit arranged in a closed chamber of the detection array and a detection array extending outside the chamber, and receives noise signals radiated by underwater targets through the detection array.

2. The multifunctional integrated buoy for cross-domain networking according to claim 1, characterized in that: The buoy control body includes: a battery management module, a GPS module, a data storage module and a data processing module; The power management module includes a battery array and a DC-DC module, which is used to convert the power supplied by the battery array into power supply for the buoy control body, the detection array and the hydroacoustic modem through the DC-DC module; The data storage module is used to store data; The data processing module is used to drive the GPS module to obtain positioning information and to exchange data with the detection array, underwater acoustic modem, and radio station.

3. The multifunctional integrated buoy for cross-domain networking according to claim 1, characterized in that: The detection array includes N sub-arrays, where N is a positive integer. Each sub-array consists of a hydrophone, and the hydrophone array is distributed in a circular topology.

4. The multifunctional integrated buoy for cross-domain networking according to claim 1, characterized in that: The buoy control body is connected to the radio station through a network port, and is connected to the detection array and the underwater acoustic modem through a watertight cable.

5. The multifunctional integrated buoy for cross-domain networking according to claim 4 is characterized in that: The interface between the watertight cable and the detection array is designed to be 21 cores, of which 8 cores are network cables, 1 core is a network cable shielding wire, 3 cores are power supply GND, 3 cores are power cables, 2 cores are differential synchronization signal lines, 2 cores are differential serial port 485 transmission lines, 1 core is a serial port ground wire, and 1 core is a hanging wire.

6. The multifunctional integrated buoy for cross-domain networking according to claim 4, characterized in that: The interface between the watertight cable and the underwater acoustic modem is designed to be 10 cores, 4 cores of which are data transmission lines of the serial port 422, 2 cores are positive and negative power supplies of the power supply, and 4 cores are reserved control lines.

7. A method for operating a multifunctional integrated buoy, characterized in that: Based on the multifunctional integrated buoy of cross-domain networking according to any one of claims 1 to 6, the method includes: Step S1, perform initialization and self-test; Step S2, synchronization information; Step S3: Enter the detection working state and the communication working state in parallel; Step S4: In the detection working state, detecting underwater target information; Step S5: In the communication working state, the underwater target information is sent to the cooperating aerial node or underwater node.

8. The operating method of a multifunctional integrated buoy according to claim 7, characterized in that: Step S4 includes: Step S41: During a detection cycle, each detection array synchronously collects detection information, including underwater target signals, depth data, temperature data, and attitude data; Step S42: Each detection array packages the collected detection information and transmits it to the data processing module according to the communication protocol; Step S43: When the data processing module receives the polling command sent by the display and control platform via the radio station, the data processing module adds the detection information collected by each detection array to its own GPS positioning information and uploads it to the display and control platform via the radio station. The display and control platform is used to calculate the positioning information of the underwater target based on the uploaded data and display the positioning information and detection information of the underwater target; Step S45: Enter the next working cycle.

9. The operating method of a multifunctional integrated buoy according to claim 7, characterized in that: Step S5 includes: Step S51: The data processing module receives underwater target positioning information sent by the display and control platform via a radio station; Step S52: The data processing module adds the underwater target positioning information to its own GPS positioning information to generate a frame and sends it to the underwater acoustic modem; Step S53: The underwater acoustic modem adds a special code, a start bit, and a stop bit to the received information and forwards the information to the underwater node, which performs subsequent detection.

10. A buoy system, characterized in that: include: A display and control platform, multiple radio stations, and multiple multifunctional integrated buoys for cross-domain networking as described in any one of claims 1 to 6; The display and control platform is used to issue control command information, receive underwater monitoring information, perform positioning calculations, and display underwater target positioning results, the position and status of the multifunctional integrated buoy; The wireless communication radio is used to realize the transmission and reception of radio signals between aerial nodes, forward the command information of the display and control platform to the multifunctional integrated buoy in the signal downlink, and upload the underwater information of the multifunctional integrated buoy to the display and control platform in the signal uplink.

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