Monitoring device and monitoring method for underwater vehicle

Abstract

The invention relates to a monitoring device and method for an underwater vehicle, and the device comprises a mainboard which comprises a signal processing module and a communication control module. One end of the data acquisition module is a data acquisition end, and the other end is a data transmission end; the data transmission end of the data acquisition module is connected with the communication control module, or the data transmission end of the data acquisition module is connected with the communication control module through the analog-to-digital converter and the signal processing module in sequence. And the data storage module is connected with the communication control module and is used for storing the measurement data acquired by the data acquisition module. A plurality of plug ports are reserved in a mainboard of the monitoring device and used for being connected with a plurality of sensors, different types of sensors can be configured according to actual needs to collect required measurement data, the modular design supports configuration of sensor combinations according to needs, the universal adaptation capability of the system on different models of aircrafts is enhanced, and the system is convenient to use. And a flexible and reliable technical support means is provided for research and development of an underwater unmanned system.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater vehicle technical field, specifically relates to a kind of monitoring device and monitoring method for underwater vehicle. BACKGROUND

[0002] In recent years, the development of China's underwater unmanned vehicle (such as UUV, AUV, etc.) has entered the fast lane, and various underwater vehicles are active in the fields of marine science, marine engineering, underwater security and underwater combat. As a kind of intelligent equipment mainly supported by submarine or surface ship, underwater vehicle can be self-propelled underwater for a long time and can be recycled, can carry various sensors, special equipment or weapon modules, and can perform specific mission.

[0003] However, due to the difficulty of underwater test, the test means is less, the data that can be collected is limited, especially the test cost is high when testing on sea or lake, there are the following shortcomings: the data obtained when testing or monitoring the running state underwater is single or not rich enough; underwater high-speed dynamic posture test is relatively insufficient; data storage capacity is limited; test system is not highly universal; data analysis method is not intuitive enough.

[0004] Therefore, for the underwater launch, operation and test of the vehicle, how to realize reliable and stable test and record the attitude, depth and other information of the motion process is a problem to be solved in the underwater control technology of the vehicle. SUMMARY

[0005] Therefore, the embodiment of the present application provides a monitoring device and monitoring method for underwater vehicle to solve the problem of lack of universal monitoring system for monitoring the running state of underwater vehicle in the prior art.

[0006] The embodiment of the present application provides a monitoring device for underwater vehicle, comprising: a mainboard comprising a signal processing module and a communication control module; a data acquisition module, one end of which is a data acquisition end, and the other end is a data transmission end; the data transmission end of the data acquisition module is connected with the communication control module, or the data transmission end of the data acquisition module is connected with the communication control module through an analog-to-digital converter and a signal processing module in sequence; a data storage module connected with the communication control module, for storing the measurement data collected by the data acquisition module; Wherein, the test device body is fixedly installed in the underwater vehicle, and the communication control module of the test device is connected with the controller of the underwater vehicle through the communication interface to realize the data transmission of the measurement signal.

[0007] Optionally, the signal processing module uses FPGA, and the communication control module uses ARM processor.

[0008] Optionally, the data acquisition module comprises at least one of a posture sensor, a six-dimensional force sensor, an impact sensor, a vibration sensor, a pressure sensor, a temperature sensor, an optical sensor, a sonar sensor, a turbidity sensor, a dissolved oxygen sensor, a pH sensor and a salinity sensor.

[0009] Optionally, the coordinate system of the posture sensor, the coordinate system of the test device and the coordinate system of the underwater vehicle are kept aligned.

[0010] Optionally, the data storage module comprises an embedded memory, and / or a memory card, and / or a solid state disk.

[0011] Optionally, it further comprises: a data analysis module connected with the communication control module, for local data analysis on the collected measurement data.

[0012] Optionally, the communication control module is connected with the controller of the underwater vehicle through an ETH communication interface and / or a serial communication interface, wherein the measurement device realizes measurement data transmission with the shore system through the communication module of the underwater vehicle.

[0013] Optionally, the power supply for the measurement device is realized through a storage battery and / or connection with the power module of the underwater vehicle.

[0014] The embodiment of the present application also provides a monitoring method for an underwater vehicle, applied to the monitoring device for the underwater vehicle, comprising: performing system self-checking and initialization of the data acquisition module; after the posture sensor completes calibration and the six-dimensional force sensor completes preheating, the system enters a continuous working mode.

[0015] Optionally, it further comprises: in the regular running phase, the measurement data of the last N hours are saved in a cyclic coverage manner; when a key event is detected, a high-density recording mode is adopted to save the complete data segments before and after the key event.

[0016] The present application has the following beneficial effects: 1. The embodiment of the present application provides a monitoring device for an underwater vehicle, which comprises a mainboard, a data acquisition module and a data storage module, wherein the mainboard comprises a signal processing module and a communication control module. One end of the data acquisition module is a data acquisition end, and the other end is a data transmission end; the data transmission end of the data acquisition module is connected with the communication control module, or the data transmission end of the data acquisition module is connected with the communication control module in sequence through an analog-to-digital converter and the signal processing module. The data storage module is connected with the communication control module and is used for storing the measurement data collected by the data acquisition module. The mainboard of the monitoring device is provided with a plurality of plug-in interfaces for connecting a plurality of sensors. Different types of sensors can be configured according to actual needs to collect required measurement data, and the modular design supports on-demand configuration of sensor combinations, thereby enhancing the universal adaptation capability of the system on different types of vehicles and providing a flexible and reliable technical support means for underwater unmanned system research and development.

[0017] 2. The method disclosed by the present application significantly improves the richness and spatiotemporal consistency of the test data of the underwater vehicle through a highly integrated attitude, depth, impact, vibration and drag force multi-parameter synchronous acquisition architecture; and the real-time performance and flexibility are taken into account by using the ZYNQ platform to realize the software and hardware cooperative processing. BRIEF DESCRIPTION OF DRAWINGS

[0018] The features and advantages of the present application will be more clearly understood through reference to the accompanying drawings, which are schematic and should not be construed as any limitation to the present application, and in the drawings: Figure 1 Fig. 1 shows the structure diagram of a monitoring device for an underwater vehicle in the embodiment of the present application; Figure 2 Fig. 2 shows the flow chart of a monitoring method for an underwater vehicle in the embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined invention purposes, the specific embodiments, structures, features and effects according to the present application are described in detail below in combination with the drawings and preferred embodiments.

[0020] The embodiment of the present application provides a monitoring device for an underwater vehicle, as Figure 1As shown, the test device includes a main board, a data acquisition module, and a data storage module. The main board includes a signal processing module and a communication control module. One end of the data acquisition module is a data acquisition end, and the other end is a data transmission end. The data transmission end of the data acquisition module is connected to the communication control module through a serial interface, or the data transmission end of the data acquisition module is sequentially connected to the communication control module through an analog-to-digital converter and the signal processing module. The data storage module is connected to the communication control module and is configured to store measurement data collected by the data acquisition module. The test device body is fixedly installed in the underwater vehicle, and the communication control module of the test device is connected to the controller of the underwater vehicle through a communication interface to realize data transmission of measurement signals.

[0021] In this embodiment, the monitoring device is an integrated device fixed in the interior of the underwater vehicle. According to actual needs, a communication connection is established between the controller of the underwater vehicle and the monitoring device, so that the controller of the underwater vehicle can access the measurement data collected by the monitoring device. In specific embodiments, the monitoring device uses a communication system matched with the underwater vehicle to realize communication with the shore, thereby realizing network data transmission.

[0022] In specific embodiments, the main board of the monitoring device is provided with a plurality of plug-in interfaces for connecting a plurality of sensors. Different types of sensors can be configured according to actual needs to collect required measurement data. The modular design supports on-demand configuration of sensor combinations, enhances the universal adaptation capability of the system on different types of vehicles, and provides a flexible and reliable technical support means for the development of underwater unmanned systems.

[0023] As an optional implementation, the signal processing module uses an FPGA, and the communication control module uses an ARM processor.

[0024] In this embodiment, the communication control module and the signal processing module are deployed in a ZYNQ chip on the substrate. The communication control module runs on a PS end. A typical PS end runs an embedded linux system. The software running on the communication control module is designed based on a linux system running environment. The signal processing module runs on a PL end.

[0025] As an optional implementation, the data acquisition module includes at least one of an attitude sensor, a six-dimensional force sensor, an impact sensor, a vibration sensor, a pressure sensor, a temperature sensor, an optical sensor, a sonar sensor, a turbidity sensor, a dissolved oxygen sensor, a pH sensor, and a salinity sensor. The coordinate system of the attitude sensor, the coordinate system of the test device, and the coordinate system of the underwater vehicle are kept aligned.

[0026] In the embodiment, the attitude sensor is connected with the communication control module through an RS422 serial port. It should be noted that some attitude sensors can communicate with the master control chip through other communication interfaces such as CAN, SPI and the like. When the attitude sensor is installed, its coordinate system needs to be strictly aligned with the coordinate system of the test device. Further, when the test device is installed in the underwater vehicle, its coordinate system needs to be strictly aligned with the coordinate system of the vehicle body.

[0027] The drag sensor mainly has a six-dimensional force sensor to undertake the measurement work. The six-dimensional force sensor is connected with the communication control module through an RS485 communication interface to complete the measurement and signal processing functions of the drag force.

[0028] The impact measurement module is composed of an overload impact sensor, an ADC chip and a signal processing module, and completes the filtering conversion and signal measurement processing of the impact signal. The impact measurement module is installed at the center of the outer envelope circle, and the overload impact sensor is rigidly connected with the shell. The impact sensor is connected with the corresponding socket of the mainboard through a low-noise shielded cable, the sensor signal output pin is connected with the signal arrangement circuit, after signal amplification, filtering and bias adjustment, the ADC chip is connected, the ADC chip samples the analog signal into a digital signal and introduces it into the signal processing module, and the signal processing module further completes the required processing of the digital signal and inputs the communication control module of the PS end through the AXI interface.

[0029] The vibration measurement module is composed of a vibration sensor, an ADC chip and a signal processing module, and completes the filtering conversion and signal measurement processing of the vibration signal. The vibration measurement module is installed at the center of the outer envelope circle, and the vibration sensor is installed in a proper rigid connection manner between the shell. The vibration sensor is connected with the corresponding socket of the mainboard through a low-noise shielded cable, the sensor signal output pin is connected with the signal arrangement circuit, after signal amplification, filtering and bias adjustment, the ADC chip is connected, the ADC chip samples the analog signal into a digital signal and introduces it into the signal processing module, and the signal processing module further completes the required processing of the digital signal and inputs the communication control module of the PS end through the AXI interface.

[0030] The depth measurement module is composed of a pressure sensor, an ADC chip and a signal processing module, and completes the filtering conversion and signal measurement processing of the pressure sensor output signal. The pressure sensor is a constant current source excitation pressure sensor, and a precision constant current source circuit is designed on the substrate circuit. A 1mA constant current source is connected to the sensor input pin, and the output pin of the pressure sensor is connected to a voltage amplification circuit. After the millivolt-level voltage output by the pressure sensor is amplified, the ADC chip is connected, the ADC chip samples the analog signal into a digital signal and introduces it into the signal processing module, and the signal processing module further completes the required processing of the digital signal and inputs the communication control module of the PS end.

[0031] In summary, the sensor signals related to the impact measurement module, the vibration measurement module, and the depth measurement module need to be converted into digital signals by an ADC and processed by a signal processing module before being forwarded to the communication control module. The attitude sensor and the tow sensor are connected to the mainboard through a special connector via a serial communication interface and send data to the communication control module. It should be noted that different types of sensors have different packaging forms and usage methods. For example, the attitude sensor and the tow sensor used in the present application are packaged as an assembly component, which directly outputs numerical data of related indicators. The analog signals output by the pressure sensor, the vibration sensor, and the impact sensor need to be processed by a peripheral circuit to obtain digital signals. In the implementation of the present application, different sensor models may be used, and the usage methods may also have the above-mentioned similar situations, i.e., the depth sensor packaged as an assembly component can directly output depth signals.

[0032] As an optional implementation, the data storage module includes an embedded memory, and / or a storage card, and / or a solid state disk.

[0033] The data storage module is installed on the substrate and connected to the communication control module through a high-speed data interface. The system accesses the data storage module through the communication control module to complete the high-speed reading and writing of various sensors or signal data. Preferably, the storage module can use an EMMC storage chip, and the capacity can typically be 128 GB or more. When the data storage module is connected to the communication control module, the standard EMMC interface is followed. The following signal lines are included: CLK: clock signal, provided by the communication control module, CMD: bidirectional command / response signal line, used for sending commands and receiving status responses. DATA0-DATA7: 8 bidirectional data lines.

[0034] As an optional implementation, it further includes: A data analysis module connected to the communication control module for local data analysis of the collected measurement data.

[0035] In the present embodiment, the data analysis module is integrated in the monitoring device and establishes a communication relationship with the controller of the underwater vehicle. The data analysis module locally analyzes and processes the collected measurement data and generates a suggestion instruction according to the corresponding event for the underwater vehicle to adjust the operating parameters.

[0036] As an optional implementation, the communication control module is connected to the controller of the underwater vehicle through an ETH communication interface and / or a serial communication interface. The measurement device realizes measurement data transmission with the shore system through the communication module of the underwater vehicle.

[0037] As an optional embodiment, the power supply for the measuring device is realized by a battery and / or connection with a power module of the underwater vehicle.

[0038] The embodiment of the present application also provides a monitoring method for an underwater vehicle, applied to the monitoring device for the underwater vehicle, and comprising the following steps of: Performing system self-check and initialization of the data acquisition module.

[0039] After the attitude sensor completes calibration and the six-dimensional force sensor completes preheating, the system enters a continuous working mode.

[0040] In a normal operation stage, the last N hours of measurement data are saved in a cyclic coverage mode; When a key event is detected, a high-density recording mode is adopted to save a complete data segment before and after the key event.

[0041] As shown in Figure 2 Before the underwater vehicle is deployed, the monitoring device is installed in a designated position inside the vehicle, so as to ensure that the coordinate system of the device is strictly aligned with the coordinate system of the vehicle body. The system is powered on through a power button on the device, and the secondary lithium battery powers on the mainboard.

[0042] 1. After the system is powered on, the secondary battery powers on the mainboard, and the PS end, the PL end and each sensor are powered on and started at the same time. The PS end performs system initialization, and after the initialization is completed, a system self-check program is entered to detect, in sequence, the secondary lithium battery power supply state, the integrity of the connection of each sensor module, the available space of the data storage module, and the link connectivity between the communication control module and the signal processing module. If the self-check is passed, the next peripheral initialization process is entered, otherwise, a fault code is output to write in the area of the EMMC fixed record abnormal information, and the fault alarm indicator light on the device is flashed.

[0043] 2. After the self-check is passed, the communication control module sends an initialization command to the attitude sensor and the tow sensor through a serial port. After the attitude sensor initialization is completed, a calibration process is further needed. After the tow sensor is powered on, a preheating process is needed, and the initialization process is completed only after the internal devices are heated and balanced. Further, the tow sensor is reset after the preheating is completed, so as to ensure that the output value is accurate and meaningful.

[0044] 3. In terms of timing, the PL end is synchronized to perform initialization after being powered on, mainly to complete the initialization of the signal processing module inside, and to prepare for sampling the signals of the pressure sensor and the acceleration sensor.

[0045] 4、All module initialization is completed, the whole system enters continuous working mode. Attitude sensor sends three-axis attitude angle (pitch, roll, yaw) and angular velocity data to communication control module through RS422 interface at preset frequency (such as 115200bps); constant current source in depth measurement module stimulates pressure sensor to output millivolt-level voltage signal corresponding to water depth in real time, which is converted into digital depth value after amplification by signal processing module; overload impact sensor and vibration sensor in impact measurement module synchronously collect transient impact acceleration and broadband vibration signal, which is sent into signal processing module for filtering and feature extraction after analog-digital conversion by ADC chip; drag sensor obtains three-dimensional force and three-dimensional moment suffered by the vehicle during towing or launching through six-dimensional force sensor, and uploads to communication control module through RS485 interface.

[0046] 5、Communication control module synchronizes and aligns data from various modules based on timestamp, and packs the fused multi-dimensional state data; then writes into data storage module through high-speed EMMC interface. Preferably, the system adopts a storage strategy combining circular buffering and event triggering: adopts circular coverage method to save the latest N hours of data in the regular running stage; when detecting critical events such as impact peak exceeding threshold or attitude mutation, automatically triggers high-density recording mode to retain complete data segments before and after the event.

[0047] 6、All raw and processed data are stored in the on-board EMMC storage chip first to ensure storage reliability and anti-interference capability. When underwater communication conditions are available (such as through underwater acoustic modem or buoy relay), communication control module can selectively upload key data summary or alarm information on command; if there is no real-time communication capability, then export all test data through wired interface (such as USB or Ethernet) after the vehicle is recovered.

[0048] 7、When the secondary lithium battery power is lower than the safety threshold or an external shutdown instruction is received, the communication control module executes an orderly shutdown process: stops data acquisition, completes the last frame of data writing, turns off the power of each sensor, and locks the storage area to prevent accidental erasure, ensuring data integrity.

[0049] 8、When the test is completed, the test data can be analyzed through the host computer, the steps mainly include: 8.1、The computer installed with the host computer software is connected with the test device through RS232 serial port and Ethernet network cable; 8.2、The host computer software initiates a data download request, and the test device reads out the test data from the EMMC through a private protocol and sends it to the host computer software through the Ethernet network cable; 8.3、The host computer software receives the test data and parses the test data; 8.4. The host computer software displays the data waveform graph plotted on the time axis in different windows for researchers to analyze the test data.

[0050] The following is the application of the monitoring device for underwater vehicles provided in the embodiment in AUV lake test: The embodiment provides a running state test and monitoring device for lake test of an autonomous underwater vehicle (AUV), which has a cylindrical pressure-resistant shell with a diameter of 300 mm and a length of 1500 mm, is made of titanium alloy and meets the working requirements of 200 meters of water depth. The device internally integrates a mainboard, a secondary lithium battery, a communication control module, a signal processing module, a data storage module and various sensor modules, has a compact overall layout and a centralized gravity center, so as to reduce the influence on the original fluid dynamics of the AUV.

[0051] 1. System installation and power-on Before the AUV is deployed, the test and monitoring device is fixed to the center position of the equipment cabin in the AUV through a special support, so as to ensure that the device coordinate system (the X axis points to the navigation direction, the Y axis points to the right and the Z axis points downward) is strictly aligned with the AUV body coordinate system. The device is connected to the power button through a waterproof plug on the top, and after being pressed, the secondary lithium battery (with a capacity of 20 Ah and a nominal voltage of 12 V) starts to supply power to the mainboard.

[0052] 2. System self-check and initialization After the system is powered on, the PS end of the ZYNQ chip starts the Linux embedded operating system and executes a self-check program: Check whether the battery voltage is higher than 10.5 V; Through polling of the IDs of various sensors through an external serial port or a ZYNQ internal bus, it is confirmed that the attitude sensor (model: DFEC900), the six-dimensional force sensor (model: HPS-FT120) and the pressure sensor (model: NPI-15C-C00903) are all online; Read the remaining space of the EMMC storage chip (with a capacity of 128 GB) and confirm that the available capacity is greater than 50 GB; Verify that the FPGA logic of the PL end is normally loaded, and the ADC sampling channel has no short circuit.

[0053] After the self-check is passed, the PS end sends a calibration instruction to the attitude sensor to perform static zero offset correction; at the same time, a reset command is sent to the six-dimensional force sensor, and it is waited for 30 seconds of preheating. The PL end synchronously configures the sampling rate of the ADC chip (model: AD7656BSTZ) to be 20 kHz, which is used for impact and vibration signal acquisition.

[0054] 3. Before the experiment, the test system can be connected through the debugging serial port by the dedicated host computer, and relevant settings can be made, such as modifying the sampling frequency of the relevant measurement module, setting the serial communication settings, setting the ip address of the eth communication, etc. After the settings are saved, the experiment is carried out.

[0055] 4. Multi-source data synchronous acquisition After the system enters the continuous working mode, the modules work in the following manner: Attitude data: DFEC900 attitude sensor outputs three-axis attitude angle (heading, pitch, roll, acceleration X, acceleration Y, acceleration Z, gyroscope X, gyroscope Y, gyroscope Z) and angular velocity through the RS422 interface at a frequency of 100Hz, and the communication baud rate is 115200bps; Depth data: NPI-15C-C00903 pressure sensor is excited by a 1mA constant current source provided by the mainboard, outputs millivolt-level differential voltage, after amplification circuit (gain 100 times), sends to PL end ADC, and FPGA real-time solves water depth (precision ±0.1m); Impact and vibration data: EAM1011-100 type MEMS accelerometer (range ±100g), this domestic sensor has 0Hz~10kHz vibration measurement performance and 15000g impact resistance, and has vibration measurement and impact measurement capabilities. The overload impact at the moment of launching and the broadband vibration during navigation can be collected respectively. The analog signal is connected to the ADC through the shielded cable, and the anti-aliasing filtering and digital decimation are completed by the PL end; Towing force data: HPS-FT120 six-axis force sensor uploads three-dimensional force (Fx, Fy, Fz) and three-dimensional torque (Mx, My, Mz) through the RS485 interface at a frequency of 100Hz, which is used to analyze the mechanical response of the AUV to the cable drag during deployment / recycling.

[0056] All data streams are uniformly marked with high-precision timestamps (synchronized based on PTP protocol, error <1ms) by the PS end, and are time and space aligned at a period of 10ms.

[0057] 5. Data storage and event triggering The fused multi-dimensional data packet is written into the EMMC storage chip through the EMMC controller of the PS end. The system defaults to a circular buffer strategy, retaining complete data for the last 3 hours. When the PL end detects that the peak value of impact acceleration exceeds 20g (such as the moment of AUV water entry impact), it immediately triggers the "high-density recording mode": all sensor raw data within the previous and next 5 seconds are saved at full sampling rate, and the event type and time sequence label are marked.

[0058] 6. Data backhaul and shutdown After the AUV returns from the task, the technician connects the notebook computer through the ETH interface reserved by the device, and uses the special host computer software to export all the test data. The host computer can display the waveforms of various data.

[0059] After the test is completed, the operator sends a shutdown instruction through the host computer, and the system performs an orderly shutdown: stops collecting, writes the last frame, turns off the sensor power, and locks the EMMC storage partition to prevent accidental erasure.

[0060] 7. Application effect This embodiment successfully recorded the whole process from deployment on the water surface to cruising at a depth of 50 meters and returning in a lake test of a certain type of AUV, captured 3 key impact events (deployment into water, underwater emergency stop, and recovery bottom touch) a total of 3 times, and obtained high-synchronization attitude-depth-impact-drag force multi-dimensional data sets. Subsequent analysis shows that the data effectively support the optimization of AUV impact-resistant structures and the iteration of motion control algorithms, and verify the practicality and reliability of the system.

[0061] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with a preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content without departing from the scope of the present application, and any simple modification, equivalent change and modification made on the basis of the technical essence of the present application to the above embodiments are still within the scope of the present application.

Claims

1. A monitoring device for an underwater vehicle, characterized in that, The utility model relates to a kind of underwater measurement device, including: Mainboard, including signal processing module and communication control module; Data acquisition module, one end is data acquisition end, the other end is data transmission end;The data transmission end of the data acquisition module is connected with the communication control module, or the data transmission end of the data acquisition module is sequentially connected with the communication control module through analog-digital converter and the signal processing module; Data storage module, connected with the communication control module, for storing the measurement data collected by the data acquisition module; Wherein, test device body is fixedly installed in underwater vehicle, and the communication control module of the test device is connected with the controller of the underwater vehicle through communication interface, to realize the data transmission of measurement signal.

2. The monitoring device for an underwater vehicle of claim 1, wherein, The signal processing module uses FPGA, and the communication control module uses ARM processor.

3. The monitoring device for an underwater vehicle of claim 1, wherein, The data acquisition module includes at least one of attitude sensor, six-dimensional force sensor, impact sensor, vibration sensor, pressure sensor, temperature sensor, optical sensor, sonar sensor, turbidity sensor, dissolved oxygen sensor, pH sensor and salinity sensor.

4. The monitoring device for an underwater vehicle of claim 3, wherein, The coordinate system of the attitude sensor, the coordinate system of the test device and the coordinate system of the underwater vehicle are kept aligned.

5. The monitoring device for an underwater vehicle of claim 1, wherein, The data storage module includes embedded memory, and / or memory card, and / or solid state disk.

6. The monitoring device for an underwater vehicle of claim 1, wherein, Further including: Data analysis module, connected with the communication control module, for local data analysis on the collected measurement data.

7. The monitoring device for an underwater vehicle of claim 1, wherein, The communication control module is connected with the controller of the underwater vehicle through ETH communication interface and / or serial communication interface, wherein the measurement device realizes measurement data transmission with shore system through the communication module of the underwater vehicle.

8. The monitoring device for an underwater vehicle of claim 1, wherein, Power supply for the measurement device is realized through battery and / or power module of the underwater vehicle.

9. A monitoring method for an underwater vehicle, applied to the monitoring device for an underwater vehicle according to any one of claims 1 to 8, characterized by, Including: Performing system self-checking and initialization of data acquisition module; After the attitude sensor completes calibration and the six-dimensional force sensor completes preheating, the system enters continuous working mode.

10. The method for monitoring an underwater vehicle of claim 9, wherein, Further including: In the regular operation phase, the last N hours of measurement data are saved in a cyclic coverage manner; When a key event is detected, a high-density recording mode is adopted to save the complete data segment before and after the key event.

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