Mobile self-organizing relay communication unmanned sampling method and system for wide water area

Abstract

The invention relates to the technical field of unmanned aerial vehicle sampling and water area ecological environment quality monitoring, in particular to a mobile self-organizing relay communication unmanned sampling method and system for a wide water area. Comprising a mobile vehicle-mounted console, a mobile self-organizing multistage relay communication link formed by a plurality of unmanned ships, and a collaborative operation unit formed by sampling unmanned aerial vehicles. The unmanned ships are connected end to end according to specific intervals, the signal radiation ranges of the unmanned ships are mutually overlapped, and the unmanned ships are automatically networked to form a continuous communication chain extending to a far-shore wide water area. The sampling unmanned aerial vehicle firstly stably hovers at a first hovering height and then vertically descends to a second hovering height to execute accurate sampling, and after sampling is completed, an automatic return flight instruction is triggered to achieve sample recovery. According to the invention, by constructing the dynamic self-organizing node network and state feedback closed-loop control, the bottleneck of signal transmission and collaborative operation capability of the unmanned aerial vehicle in a wide water area is solved, and large-range, high-efficiency and high-precision automatic unmanned sampling is realized.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) sampling and aquatic ecological environment quality monitoring technology, specifically to a mobile self-organizing relay communication unmanned sampling method and system for large water areas. Background Technology

[0002] Monitoring the ecological environment quality of aquatic waters is a crucial component of ecological geochemical surveys. Water sampling is a fundamental step in obtaining accurate water quality information, and the precision and scope of sampling directly impact the accuracy of the overall assessment of the aquatic ecosystem's condition. According to relevant technical specifications such as the "Surface Water Environmental Quality Standard" (GB 3838-2002) and the "Nearshore Marine Environmental Monitoring Specification" (HJ 442-2008), strict regulations govern the layout of sampling points, sampling frequency, sampling methods, and sample preservation and transportation for different water areas to ensure that the collected water samples accurately reflect the actual water quality. Traditional water sampling methods have numerous limitations in vast waters or sea areas, especially far from the shore. Conventional manual sampling methods are extremely inefficient, requiring significant time and manpower for each sampling session. Moreover, in adverse weather conditions, it becomes exceptionally difficult for vessels to approach pre-designated sampling points, posing a significant challenge to high-precision sampling and often resulting in delayed sampling operations. Even more seriously, under extremely harsh conditions, sampling operations may even endanger personnel lives, causing irreparable losses. Faced with this dilemma, traditional water sampling methods are no longer sufficient to meet the stringent requirements of modern ecological and environmental fields for data accuracy, timeliness, and operational safety in monitoring vast water areas.

[0003] For unmanned aerial vehicle (UAV) water sampling, stable, high-bandwidth, and real-time signal transmission has always been a core bottleneck restricting its widespread application in vast water areas (such as tens of kilometers offshore). Ordinary UAVs use point-to-point direct communication, which has limited signal transmission distance. Far from shore-based control stations, the signal is easily attenuated or even interrupted by the Earth's curvature and environmental interference, preventing the UAV from flying stably in the target area and performing high-precision trajectory recording and sampling tasks. Current technologies typically consider using satellite communication (such as Starlink) or deploying large relay base stations to solve the long-distance communication problem. However, satellite communication modules are expensive, have significant data transmission delays, and suffer from blind spots, making them unsuitable for large-scale deployment on low-cost unmanned sampling platforms; while large relay base stations lack mobility and cannot quickly respond to flexible and changing sampling tasks. Therefore, it is necessary to design a mobile, self-organizing relay communication unmanned sampling method and system for vast water areas. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a mobile self-organizing relay communication unmanned sampling method and system for large water areas. This invention solves the limitations of existing unmanned sampling technologies and enables efficient, accurate, and collaborative unmanned sampling of multiple target points in a large offshore water area.

[0005] The technical solution adopted by this invention to solve its technical problem is: A method for unmanned sampling in mobile ad hoc relay communication over vast water areas includes the following steps: Step 1: Self-organizing network construction and system deployment: Sampling points are planned on the computer control panel of the mobile vehicle-mounted console, and their deployment positions are calculated based on the signal radiation radius of the unmanned surface vessels (USVs). This ensures that the spacing between adjacent USVs allows their signal radiation ranges to form an effective signal overlap zone at the USV's flight altitude. After the mission planning is completed, the system is transported to the shore by vehicle, and USVs are deployed sequentially to the designated water area and anchored using tow ropes. The vehicle-mounted transmitter is activated; the onboard transceivers of each USV automatically network, forming a mobile self-organizing multi-level relay communication link extending to the far shore. This link provides continuous communication support for all subsequent USV operations. Step 2, Multi-drone synchronous deployment and flight track recording: Plan multi-point collaborative sampling tasks on the computer control center, control multiple sampling drones to depart from the vehicle where the mobile vehicle control center is located, the drones fly according to the preset route of the computer control center, and fly towards the sampling point on the far shore within the effective signal overlap area of ​​the unmanned vessel group. The high-precision GPS module built into the drone continuously records the flight trajectory information, and the flight altitude is maintained at the first hovering altitude. Step 3: Precise Positioning and Layered Water Sampling: When the sampling drone determines via its GPS module that it has arrived directly above the preset sampling point and that the horizontal positioning accuracy meets the requirements, the first hovering height trigger module for the sampling point is activated. The drone hovers stably at the first hovering height and records its GPS coordinates. After the GPS coordinates are recorded, the drone begins its vertical descent, simultaneously controlling the water sampler to descend vertically. The upper and lower hinged covers of the water sampler, located on the lower part of the hoisting rope, open upwards upon contact with the water surface, filling the water sampler with water. This continues until the drone descends to the second hovering height, at which point the second hovering height trigger module is activated, and the water sample collection reaches the target layer. Subsequently, the sampling drone ascends vertically, lifting the water sampler. Due to water pressure, the opening and closing mechanisms of the upper and lower hinged covers close, allowing the drone to hover stably at the first hovering height, completing the water sample collection. Step 4: Status Feedback and Sample Recovery: After the sampling drone completes sampling and reaches the first hovering height, it activates the first hovering height trigger module. The drone transmits a signal via its transceiver and sends it back to the task module on the vehicle-mounted control console via the unmanned vessel's self-organizing multi-level relay communication link. Upon receiving this feedback, the task module immediately sends a signal through the vehicle-mounted transmitter to schedule the sampling drone to return with the sample. The sampling drone returns to the vehicle platform, opens the water outlet valve of the water sampler, and injects the water sample into the water sample collector through the drain hose, completing the single-operation, one-sample return and recovery cycle. Step 5, Cyclic Operation and System Recovery: Repeat steps 3 and 4. Multiple sampling drones can work collaboratively in different segments of the self-organized multi-level relay communication link formed by the unmanned vessel group until the sampling task is completed. Finally, recover all drones and unmanned vessels.

[0006] In the above technical solution, the mobile self-organizing multi-level relay communication link formed by the unmanned surface vessels is the core component ensuring stable and uninterrupted transmission of control commands, GPS track data, and trigger module status feedback signals for all UAVs operating remotely. The vehicle-mounted control console integrates an operating panel, a central computer control unit, and a task module, enabling centralized monitoring, task scheduling, and command issuance for the entire system. The height of the signal overlap zone between adjacent unmanned surface vessels is greater than the flight altitude of the UAVs, ensuring that the UAVs remain within a stable communication range throughout the entire operational airspace. The return of the sampling UAV is initiated by the status signal indicating that sampling has been completed and the UAV has stabilized at the first hovering altitude. This signal is transmitted back to the vehicle-mounted control console via the UAV transceiver and the self-organizing multi-level relay communication link, and is then automatically triggered by the task module. This achieves automated closed-loop feedback of the "sampling-recovery" command chain, reducing delays caused by manual intervention. The simultaneous operation of multiple sampling drones relies on the mobile self-organizing multi-level relay communication link's ability to transmit and logically isolate multiple command and data streams in parallel, as well as the central scheduling logic of the computer control and task module in the vehicle-mounted console: the task module maintains a dynamic task status for each drone and dynamically calculates task priorities based on three core rules: "sampled drones waiting to return take priority over unsampled drones," "drones with low battery take priority over drones with high battery," and "drones with long distances take appropriate priority." This automatically and intelligently schedules the return order and flight path of the drones, avoids conflicts, and achieves efficient collaboration, providing key technical support for achieving high-efficiency sampling over a wide area.

[0007] Furthermore, the horizontal positioning accuracy of the sampling drone at the sampling point is controlled by a high-precision GPS module, and the control of the first and second hovering heights at the sampling point is achieved through collaborative control logic. First, the airborne controller continuously judges the output of the high-precision GPS module. Only when the horizontal coordinates are continuously and stably within the preset accuracy range (≤3m) will the drone be triggered to hover at the first hovering height. Subsequently, the controller combines the data from the high-precision radar sensor to perform fusion judgment during the vertical descent of the UAV. When it senses that the preset second hovering height is reached, it immediately triggers the sampling hovering action. This step-by-step and condition-triggered collaborative logic jointly ensures the three-dimensional spatial accuracy of the sampling points.

[0008] Furthermore, in step one, the layout spacing of the unmanned boats is optimized based on the signal radiation radius of the on-board signal transceiver. It is ensured that within the target operation area (such as a vast offshore water area), the signal overlap area within the signal radiation range of the unmanned boats can seamlessly cover the flight height of the UAV, which is the basis for realizing long-distance mobile ad hoc network relay without interruption.

[0009] Furthermore, the specific logical relationship of the optimization calculation is: the layout spacing L should be less than twice the signal radiation radius R, that is, L < 2R, to ensure that the coverage ranges of adjacent unmanned boats can overlap.

[0010] Furthermore, considering the actual propagation characteristics of signals on the water surface, a redundancy coefficient k is introduced, where 0 < k < 1 (k usually takes values from 0.5 to 0.9). Therefore, the actual layout spacing is calculated and determined by the formula L = 2kR, so as to maximize the single-boat coverage distance while ensuring reliable connection and optimizing the layout quantity.

[0011] Furthermore, in step three, there is a clear height difference between the first hovering height and the second hovering height. The first hovering height can ensure that the UAV flies at a safe height, completes accurate horizontal positioning, and records the GPS coordinates of the sampling points; the second hovering height can accurately collect samples from a specific water layer (such as surface water, 0.5 meters below the water surface). The range of the height difference is preferably set to 5 - 15 meters according to the principle of avoiding water surface disturbance and ensuring flight safety. That is, the sampling UAV at the first hovering height is usually located 15 to 25 meters above the water surface, and the sampling UAV at the second hovering height is located within the safe range of 10 meters above the water surface, and it is ensured that the water intake device is 0.5 meters deep underwater. The height difference between the two is adjusted according to the specific task within this range.

[0012] The present invention also provides another technical solution: A mobile ad hoc relay communication unmanned sampling system for vast water areas, comprising: A vehicle-mounted console, integrated with an operation console, a vehicle-mounted transmitter, a computer main control, and a task module, for processing centralized monitoring, task scheduling, and instruction issuing of the entire system; Unmanned boats, several unmanned boats are connected end to end at a specific spacing and laid out and anchored in a predetermined water area. Each unmanned boat is provided with an on-board signal transceiver, and the signal radiation ranges of the on-board signal transceivers overlap with each other; Unmanned aerial vehicles (UAVs) can simultaneously perform sampling round-trip operations. The UAVs have built-in GPS modules to record flight trajectory information, and they also have built-in airborne triggering modules and radar reflection modules. A water sampler, mounted beneath the drone, is used for water sample collection. Technical effects of the present invention: Compared with existing technologies, the unmanned sampling method for mobile self-organizing relay communication in vast water areas of the present invention has the following advantages: Breaking distance limitations: This invention extends the effective control and sampling range to vast offshore waters by forming a mobile self-organizing multi-level relay communication link using unmanned vessels, thus solving the fundamental problem of insufficient signal transmission distance of a single UAV. Achieving precise three-dimensional sampling: This invention achieves precise control of the three-dimensional coordinates of the sampling point by accurately positioning at the first hovering height and sampling at a specified water depth at the second hovering height, combined with high-precision horizontal positioning, thus meeting the specifications. Improved operational efficiency: This invention supports multiple sampling drones to simultaneously conduct sampling round trips, realizing the parallelization and automation of the "sampling-recovery" process; Ensuring operational safety: All operations of this invention are completed on shore, ensuring personnel safety; Systematic and groundbreaking: This invention integrates a vehicle-mounted platform, an unmanned surface vessel network, multiple drones, water samplers, and various electronic control modules into a complete system based on mobile self-organizing relay and closed-loop feedback. Its "water surface mobile node self-organizing network" communication mode and "dual altitude triggering" precise sampling method break through the original structural setup of using satellite communication or deploying large relay base stations. It designs an innovative communication networking scheme specifically for regional water areas, which can provide a low-cost, highly mobile, and flexibly deployable stable communication link for unmanned sampling equipment clusters to meet the increasingly severe water environment investigation and monitoring needs. This is of great significance for improving the accuracy and efficiency of ecological environment monitoring. Attached Figure Description

[0013] Figure 1 This is a schematic diagram illustrating the structural principle of the mobile self-organizing relay communication unmanned sampling method for vast water areas according to the present invention. Figure 2 This is a schematic diagram of the mobile node self-organizing network signal relay unmanned vessel group of the present invention; Figure 3 This is a schematic diagram of the drone and water collector of the present invention; Figure 4 This is a schematic diagram of the vehicle-mounted control console and sample recovery of the present invention.

[0014] In the diagram: 1. Vehicle-mounted control console; 2. Signal radiation radius; 3. Signal radiation range; 4. Signal overlap area; 5. Spacing; 6. Unmanned surface vessel; 7. Towing rope; 8. Unmanned aerial vehicle (UAV); 9. First hovering height; 10. Second hovering height; 11. Shipborne transceiver; 12. GPS module; 13. UAV transceiver; 14. First hovering height trigger module; 15. Second hovering height trigger module; 16. UAV support frame; 17. Water collector; 18. Water drain valve; 19. Lifting rope; 20. Movable upper cover with shaft; 21. Scale; 22. Movable lower cover with shaft; 23. Drain hose; 24. Water sample collector; 25. Control panel; 26. Operator; 27. Central computer control; 28. Vehicle-mounted transmitter; 29. ​​Mission module. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0016] Example 1: This embodiment relates to a mobile self-organizing relay communication unmanned sampling method for large water areas, forming a closed-loop "perception-decision-execution-feedback" system. The system's mobile vehicle-mounted control console 1 integrates an operating console 25, a radio frequency signal transmission module (vehicle-mounted transmitter 28), and a central processing module (computer control 27 and task module 29), enabling centralized monitoring, task scheduling, and command issuance for the entire system. Control commands generated by the mobile vehicle-mounted control console 1 and GPS information of the sampling points are relayed via radio frequency signals through a dynamic self-organizing multi-level relay network composed of multiple unmanned vessels 6 (each equipped with a shipborne signal transceiver 11), ultimately reaching the execution unit, i.e., multiple sampling drones 8. The execution unit incorporates a high-precision GPS module 12, a first hovering height trigger module 14 for sampling points, and a second hovering height trigger module 15 for sampling points, used for precise positioning, action triggering, and status feedback, thereby achieving parallel and precise sampling and repeated sample retrieval from multiple points in a large water area.

[0017] This embodiment relates to a mobile self-organizing relay communication unmanned sampling method for large water areas, including: a vehicle-mounted control console 1, an unmanned boat 6, an unmanned aerial vehicle 8, and a water sampler 17.

[0018] The vehicle-mounted control console 1 integrates an operating console 25, a vehicle-mounted transmitter 28, a central computer control unit 27, and a task module 29, used for centralized monitoring, task scheduling, and command issuance of the entire system. Five unmanned surface vessels (USVs) 6 are deployed sequentially to a predetermined water area and anchored via tow ropes 7. Each USV 6 is equipped with a shipborne signal transceiver 11. Two unmanned aerial vehicles (UAVs) 8 are included, capable of simultaneously performing sampling round-trip operations. Each UAV 8 has a built-in GPS module, a first hovering altitude trigger module 14, a second hovering altitude trigger module 15, and a radar reflection module. The water sampler 17 is mounted on the UAV bracket 16 of the UAV 8. USVs 6 are deployed according to the signal radiation radius 2 of the shipborne signal transceiver 11. The signal radiation range 3 of adjacent USVs 6 forms a signal overlap area 4 at the flight altitude of the UAV 8, constituting a complete mobile self-organizing relay communication link.

[0019] This embodiment involves water chemistry sampling at a monitoring section 10 kilometers offshore, covering five sampling points. The specific sampling method includes the following steps: Step 1: Building and Deploying Self-Organizing Networks Operator 26 performs task planning on the computer control unit 27 of the mobile vehicle-mounted console 1, importing the GPS coordinates of five preset sampling points. Based on the typical signal radiation radius 2 of the shipborne transceiver 11 (in this embodiment, the signal radiation radius 2 is R, R = 2 kilometers), the system calculates that five unmanned surface vessels 6 are needed. These five unmanned surface vessels 6 are arranged linearly to form an unmanned surface vessel group, with a spacing 5 of L between adjacent unmanned surface vessels 6 (in this embodiment, L = 2 kilometers) to ensure that the signal radiation range 3 of adjacent unmanned surface vessels 6 is within the flight range of the drone 8 along a path 10 kilometers offshore. At an altitude (set to 15m), a sufficient signal overlap area 4 is formed, thus constituting a complete mobile ad hoc relay communication link. After the mission planning is completed, the system is transported to the shore by vehicle, and the unmanned boat group is deployed in sequence by tow rope 7 and anchored after reaching the predetermined position. The vehicle-mounted transmitter 28 is turned on, and the shipborne signal transceiver 11 of each unmanned boat 6 is powered on and automatically performs network discovery and route establishment, forming a stable mobile ad hoc multi-level relay communication link extending to the far shore. This link provides continuous communication support for all subsequent UAV operations.

[0020] Step 2: Multi-aircraft synchronized sortie and flight track recording: Two sampling drones 8 are set to take off from the vehicle where the vehicle-mounted control console 1 is located. The high-precision GPS module 12 built into the drone 8 starts to continuously record flight track information and transmits it back to the vehicle-mounted control console 1 in real time through the self-organizing relay communication link. Within the effective self-organizing network coverage area (i.e. signal radiation range 3) formed by the unmanned vessel group, the drone 8 flies to the target point according to the predetermined route, and the flight altitude is stabilized at the first hovering altitude 9, which is h1 (h1 = 15 meters).

[0021] Step 3: Precise positioning and stratified water sampling: When UAV 8 arrives at sampling point A, its GPS module 12 calculates the horizontal deviation from the target point in real time. When the deviation enters the tolerance range of ≤3 meters (the horizontal positioning accuracy error limit is set to within 3 meters to meet the preset accuracy requirements), the first hovering height trigger module 14 of the sampling point is immediately activated. The first hovering height trigger module 14 issues a command to make UAV 8 hover stably at the first hovering height 9 (h1=15 meters) and record the accurate GPS coordinates of the sampling point. After the GPS coordinates are recorded, UAV 8 begins to descend vertically. The water sampler 17 is suspended on the UAV support 16 by the water sampler hoisting rope 19. The water sampler 17 is equipped with a scale 21. UAV 8 controls the water sampler 17 to descend vertically. The upper cover 20 and the lower cover 22 of the water sampler 17 with shafts are opened after touching the water surface, and the water sampler 17 is filled with water sample. When the water sampler 17 descends to 0.5m underwater (the target sampling level), the water sample collection reaches the target level, and the second hovering height trigger module 15 of the drone 8 is activated, causing the drone 8 to hover stably at the second hovering height 10 (h2). Subsequently, the sampling drone 8 rises vertically, the water sampler 17 is raised, and the water pressure causes its shaft-mounted opening and closing mechanism to close, and it rises to the first hovering height h1 and hovers stably, completing the water sample collection. In this embodiment, the water sampler 17 is a closed water sampler with a shaft-mounted movable upper cover 20 and a shaft-mounted movable lower cover 22, which can be controlled to open and close by water pressure. It has a water sampler scale 21 for observing the water volume and a water sampler drain valve 18 to facilitate the discharge of water samples through the drain hose 23 at the water sample collector 24.

[0022] Step 4: Status Feedback and Sample Recovery After sampling drone 8 completes sampling and stabilizes at the first hovering height 9, the status signal is transmitted via drone transceiver 13 and relayed back to task module 29 of vehicle-mounted control console 1 via the mobile self-organizing multi-level relay link. Upon receiving the sampling completion feedback signal, task module 29 automatically issues a return command to drone 8. Sampling drone 8 returns to vehicle-mounted control console 1, where operator 26 opens the drain valve 18 of water sampler 17 to inject water sample into water sample collector 24 through drain hose 23. This process achieves sampling and retrieval of one sample in a single operation. Simultaneously, sampling drone 8 also executes the task at sampling point B in parallel in different segments of the self-organizing relay communication link. The working logic of its trigger module is completely consistent with that of drone 8, fully demonstrating the ability of multiple drones to operate simultaneously and communicate in parallel via the self-organizing network.

[0023] Step 5: Cyclic Operation and System Recovery: The above process is repeated. The vehicle-mounted control console 1 dynamically schedules the sampling drones 8 based on the status information fed back by each drone 8, and performs the sampling and sample recovery process repeatedly until all GPS points are recorded and confirmed that five samples have been collected. Finally, a unified command is issued to recover all drones 8 and unmanned boats 6.

[0024] In this embodiment, the unmanned vessel group constructs a mobile self-organizing multi-level relay communication link, organically integrating the vehicle-mounted control console 1, unmanned vessel 6, sampling drone 8, GPS module 12, drone signal transceiver 13, first hovering height trigger module 14, and second hovering height trigger module 15 to form an efficient automated system with a closed loop of command and status information, thereby reliably completing the task of accurately collecting water samples from multiple water sites across a wide water area.

[0025] The unmanned surface vessels (USVs) described in this invention are deployed end-to-end at specific intervals, with their signal radiation ranges overlapping to automatically form a continuous communication chain extending to a vast expanse of water on the far shore. Guided by a high-precision GPS module, the sampling USV flies to a preset sampling point, first hovering stably at a first hovering height, and then descending vertically to a second hovering height via a radar module to perform precise sampling. Its horizontal positioning accuracy is controllable to the order of several meters. After sampling, the status feedback signal is transmitted back to the vehicle-mounted control console via the self-organizing multi-level relay communication link, triggering an automatic return command to achieve sample retrieval. This invention, through a mobile vehicle-mounted control console, a mobile self-organizing multi-level relay communication network composed of multiple USVs, and collaborative operations among the sampling USV groups, constructs a dynamic self-organizing node network and a closed-loop status feedback control system. This solves the bottleneck of signal transmission and collaborative operation capabilities of a single USV in a vast expanse of water, achieving large-scale, high-efficiency, and high-precision automated unmanned sampling.

[0026] The above-described specific embodiments are merely specific examples of the present invention. The patent protection scope of the present invention includes, but is not limited to, the above-described specific embodiments. Any appropriate changes or modifications made by a person skilled in the art that conform to the claims of the present invention should fall within the patent protection scope of the present invention.

Claims

1. A method for unmanned sampling in mobile self-organizing relay communication over vast water areas, characterized in that, Includes the following steps: Step 1: Self-organizing network construction and system deployment: Sampling points are planned on the computer control panel of the mobile vehicle-mounted console, and their deployment positions are calculated based on the signal radiation radius of the unmanned boats. This ensures that the distance between adjacent unmanned boats is sufficient to form an effective signal overlap zone at the flight altitude of the unmanned boats. After the mission planning is completed, the system is transported to the shore by vehicle, and the unmanned boats are deployed sequentially to the designated water area and anchored using tow ropes. The vehicle-mounted transmitter is activated; the onboard transceivers of each unmanned boat automatically form a network, creating a mobile self-organizing multi-level relay communication link extending to the far shore. Step 2, Multi-drone synchronous deployment and flight track recording: Plan multi-point collaborative sampling tasks on the computer control center, control multiple sampling drones to depart from the vehicle where the mobile vehicle control center is located, the drones fly according to the preset route of the computer control center, and fly towards the sampling point on the far shore within the effective signal overlap area of ​​the unmanned vessel group. The high-precision GPS module built into the drone continuously records the flight trajectory information, and the flight altitude is maintained at the first hovering altitude. Step 3: Precise Positioning and Layered Water Sampling: When the sampling drone determines via its GPS module that it has arrived directly above the preset sampling point and that the horizontal positioning accuracy meets the requirements, the first hovering height trigger module for the sampling point is activated. The drone hovers stably at the first hovering height and records its GPS coordinates at this time. After the GPS coordinates are recorded, the drone begins to descend vertically, simultaneously controlling the water sampler to descend vertically and fill the water sampler until it reaches the second hovering height. At this point, the second hovering height trigger module is activated, and the water sample collection reaches the target layer. Afterward, the sampling drone ascends vertically, raising the water sampler and hovering stably at the first hovering height, completing the water sample collection. Step 4: Status Feedback and Sample Recovery: After the sampling drone completes sampling and reaches the first hovering height, it activates the first hovering height trigger module. The drone transmits a signal via its transceiver and sends it back to the task module on the vehicle-mounted control console via the unmanned vessel's self-organizing multi-level relay communication link. Upon receiving this feedback, the task module immediately sends a signal through the vehicle-mounted transmitter to schedule the sampling drone to return with the sample. The sampling drone returns to the vehicle platform, opens the water outlet valve of the water sampler, and injects the water sample into the water sample collector through the drain hose, completing the single-operation, one-sample return and recovery cycle. Step 5, Cyclic Operation and System Recovery: Repeat steps 3 and 4, with multiple sampling drones working collaboratively in different segments of the self-organized multi-level relay communication link formed by the unmanned vessel group until the sampling task is completed.

2. The unmanned sampling method for mobile self-organizing relay communication in vast water areas according to claim 1, characterized in that, The horizontal positioning accuracy of the sampling drone at the sampling point is controlled by a high-precision GPS module, and the control of the first hovering height and the second hovering height at the sampling point is achieved through collaborative control logic. First, the airborne controller continuously judges the output of the high-precision GPS module. Only when the horizontal coordinates are continuously and stably within the preset accuracy range will the drone be triggered to hover at the first hovering altitude. Subsequently, the controller combines data from high-precision radar sensors to make a fusion judgment during the drone's vertical descent. When it senses that it has reached the preset second hovering height, it immediately triggers a sampling hovering action.

3. The unmanned sampling method for mobile self-organizing relay communication in vast water areas according to claim 1, characterized in that, In step one, the layout spacing of the unmanned boats is optimized based on the signal radiation radius of the on-board signal transceiver to ensure that within the target operation area, the signal overlap area within the signal radiation range of the unmanned boats can seamlessly cover the flight altitude of the unmanned aerial vehicles.

4. The unmanned sampling method for mobile self-organizing relay communication in vast waters according to claim 3, characterized in that, The specific logical relationship of the optimization calculation is that the layout spacing L is less than twice the signal radiation radius R, that is, L < 2R is satisfied.

5. The unmanned sampling method for mobile self-organizing relay communication in vast water areas according to claim 4, characterized in that it introduces... For the redundancy coefficient k, 0 < k < 1, the actual layout spacing is calculated and determined by the formula L = 2kR.

6. The unmanned sampling method for mobile self-organizing relay communication in vast water areas according to claim 1, characterized in that, In step three, there is a height difference between the first hovering altitude and the second hovering altitude, and the height difference is 5 - 15 meters.

7. The unmanned sampling method for mobile self-organizing relay communication in vast water areas according to claim 1, characterized in that, It is implemented based on a sampling system, and the sampling system includes: A vehicle-mounted console, which integrates an operation console, a vehicle-mounted transmitter, a computer master control, and a task module, and is used for processing centralized monitoring, task scheduling, and instruction issuance of the entire system; Unmanned boats, several unmanned boats are arranged end to end at a specific spacing and anchored in a predetermined water area, and each unmanned boat is provided with an on-board signal transceiver, and the signal radiation ranges of the on-board signal transceivers overlap with each other; Unmanned aerial vehicles, several unmanned aerial vehicles can simultaneously perform sampling round-trip operations. The unmanned aerial vehicles are built-in with a GPS module for recording flight trajectory information, and the unmanned aerial vehicles are built-in with an on-board trigger module and a radar reflection module; A water sampler, which is installed below the unmanned aerial vehicle and is used for water sample collection.

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