Deep-sea fixed-point wireless cooperative observation system and laying method
By first deploying anchored buoys and then using acoustic ranging and positioning methods to plan the deployment routes and coordinates of seabed observation nodes, the difficulties in deploying and recovering deep-sea seabed observation systems were solved, ensuring system security and communication effectiveness, reducing costs, and guaranteeing real-time data transmission.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- STATE OCEAN TECH CENT
- Filing Date
- 2026-06-25
- Publication Date
- 2026-07-24
AI Technical Summary
Existing deep-sea seabed observation systems suffer from problems such as seabed observation node drift, communication link loss, and entanglement during deployment and retrieval, resulting in difficult and costly system deployment and the inability to achieve real-time data transmission and fault diagnosis.
The method involves first deploying anchor buoys, then determining the anchor point coordinates using acoustic ranging and positioning, planning the deployment route and coordinates of seabed observation nodes, and combining this with a safe and effective deployment ring area to ensure that the nodes sink to the bottom at the predetermined location and establish an underwater acoustic communication link. Acoustic release devices and acoustic transducers are used for positioning and communication.
It improves the communication effectiveness and deployment and recovery safety of the deep-sea seabed observation system, reduces system deployment risks and costs, and ensures the system's operational efficiency and real-time data transmission capabilities.
Smart Images
Figure CN122448165A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of marine observation technology, and in particular to a deep-sea fixed-point wireless collaborative observation system and its deployment method. Background Technology
[0002] Long-term, continuous, and multi-parameter in-situ observation of the deep seabed is a core requirement for marine science, resource exploration, environmental monitoring, and disaster early warning. Traditional deep-sea observation mainly relies on two technical approaches: cabled observation systems and single-point self-contained observation systems. Cabled observation systems, represented by "submarine observation networks," provide high-voltage power and high-speed communication bandwidth to junction boxes and various sensors by laying submarine fiber optic composite cables. This type of system has the advantages of long-term, real-time, high-power, and large-data-volume transmission. However, its deployment and maintenance costs are extremely high, making it difficult to deploy in open sea areas or complex terrain. Single-point self-contained observation systems involve deploying equipment integrating sensors and recorders to the seabed, which is then retrieved after the observation period to acquire data. Its deployment is relatively simple and flexible. However, its fundamental drawback is that the data is not real-time, making it unsuitable for real-time early warning and timely diagnosis and handling of equipment failures.
[0003] To overcome the aforementioned shortcomings, deep-sea fixed-point collaborative observation systems based on wireless communication (mainly underwater acoustic communication) have emerged. These systems combine the "long-term in-situ" concept of cabled systems with the "flexible deployment" advantages of uncabled systems. The aim is to deploy one or more self-sufficient observation nodes on the seabed, communicating via underwater acoustic links. An anchored buoy equipped with satellite and acoustic communication devices is deployed around each observation node, serving as a bridge between the seabed observation node and the shore-based control center, thus forming a collaborative observation system. Figure 1 As shown. Typically, each seabed node and moored buoy in the system is equipped with an acoustic release device to release the counterweight and achieve node recovery.
[0004] However, reliably and accurately deploying such a wireless collaborative observation system to its designated location in the deep sea and ensuring its effective operation presents significant challenges. The main problems include: During the descent from the surface to a depth of several thousand meters, the seabed observation nodes are affected by ocean currents, causing their final seabed location to drift by hundreds of meters or even kilometers. The distance between the observation node and the surface buoy may exceed the effective range of underwater acoustic communication, leading to data communication interruptions; or the observation node and anchored buoy may be too concentrated, causing the observation node to become entangled with the surface buoy's mooring during retrieval, resulting in system recovery failure. Summary of the Invention
[0005] In summary, the purpose of this invention is to provide a deep-sea fixed-point wireless collaborative observation system and deployment method, which aims to improve the communication effectiveness and deployment and retrieval safety of the deep-sea seabed observation system, reduce the deployment risks and costs, and ensure the system's operational efficiency.
[0006] To achieve the above objectives, the present invention provides a method for deploying a deep-sea fixed-point wireless cooperative observation system, comprising the following steps: Step 1: Based on the water depth H of the deployment area and the maximum communication distance of the underwater acoustic communication equipment. And the anchoring design parameters of the anchoring buoy, to calculate the safe and effective deployment ring area of the seabed observation node relative to the anchoring point of the anchoring buoy; Step 2: The operation sequence of first deploying anchoring buoys and then deploying seabed observation nodes is adopted. The anchoring buoys are deployed to the predetermined stations, and after the anchoring buoys sink to the bottom, the actual anchor point coordinates of the anchoring buoys on the seabed are obtained by acoustic ranging and positioning method. Step 3: Using the actual anchor point as the center, and based on the boundary of the safe and effective deployment ring area determined in Step 1 as a constraint, and combined with the actual drift direction of the anchor buoy after it enters the water, plan the surface deployment route and deployment point of the seabed observation node. Step 4: Deploy the seabed observation node at the deployment point and let it sink to the seabed. After it falls to the seabed, use the acoustic ranging and positioning method from Step 2 to obtain the actual seabed coordinates of the seabed observation node. Step 5: Calculate the horizontal distance between the actual anchor point coordinates of the anchored buoy and the actual bottom coordinates of the observation node. Verify whether the horizontal distance falls within the safe and effective deployment ring area. If it is within the area, the system is deemed to have been successfully deployed and has the conditions for safe retrieval. If it is outside the area, the system is deemed to have failed to deploy. Retrieve the observation node, adjust the deployment point, and repeat steps 3 to 4 to obtain the actual bottom coordinates of the observation node again before making a judgment.
[0007] More preferably, in step one, the safe and effective deployment annular area is centered on the anchor point of the anchored buoy, and its inner boundary is defined by the minimum anti-entanglement distance. The outer boundary is defined by the maximum effective communication distance. Define; in, L represents the maximum length of the mooring system, and H represents the water depth of the deployment area. This represents the maximum communication distance for underwater acoustic communication equipment.
[0008] More preferably, in step two, the actual anchor point coordinates of the anchoring buoy on the seabed are obtained by acoustic ranging and positioning, specifically including: S21. The deployment vessel stops at three different sea surface positions P1, P2, and P3 in sequence in the waters near the pre-set anchoring buoy anchoring point, and records the latitude and longitude coordinates of each point. S22. At the three sea surface positions P1, P2, and P3, respectively send acoustic ranging interrogation signals to the first acoustic release device installed at the bottom of the anchored buoy, and receive the response signals returned by the first acoustic release device. Based on the round-trip propagation time of the acoustic signal and the sound speed of seawater, calculate the spatial distances D1, D2, and D3 between the three sea surface positions and the first acoustic release device. S23. Establish a local three-dimensional rectangular coordinate system with point P1 as the origin, where the x-axis points due east, the y-axis points due north, and the z-axis points vertically downward. Then the first acoustic release device... The coordinates satisfy the following system of three quadratic equations: in,( , , ( ) are the coordinates of point P1, ( , , () are the coordinates of point P2, ( , ( ) are the coordinates of point P3; , , (The first acoustic release device) The coordinates; S24: Solve the system of equations to obtain the first acoustic release device. Coordinates in the local three-dimensional rectangular coordinate system ( , , ); in, The water depth at which the first acoustic release device is located; and That is, the plane projection offset of the actual anchor point W1′ relative to point P1; S25: Combining the latitude and longitude coordinates of point P1, the planar projection offset is converted into latitude and longitude increments to obtain the latitude and longitude coordinates of the actual anchor point W1′ of the anchoring buoy on the seabed, and the drift direction F1 and drift distance of the anchor block after entering the water are determined based on the coordinates.
[0009] More preferably, in step three, the planning of the surface deployment route and deployment point for the seabed observation node, based on the actual drift direction of the anchored buoy after it enters the water, specifically includes: Taking the anchor point W1 of the anchor buoy as the starting point of navigation, navigate along the vertical direction of the anchor buoy deployment route V1, and away from the drift direction F1 of the anchor block. <Sailing distance< After reaching the designated location, the bow of the ship is adjusted to face the wind and current and then the ship is stopped. The stopping position is the surface deployment point of the seabed observation node.
[0010] More preferably, in step four, when the seabed observation node is deployed to the bottom at the deployment point, if the seabed observation node is an integral structure: the entire seabed observation node is directly lifted at the deployment point using a ship-mounted crane, slowly lowered into the water, and released after it stabilizes and floats or establishes a sinking posture. If the seabed observation node is a split structure, the floating frame part is first hoisted and lowered into the water downstream of the deployment point; after the floating frame is deployed and in place on the water surface, the seabed platform part is then hoisted and lowered into the water at the deployment point. The seabed observation node is equipped with a second acoustic release device, which is used for the recovery of the observation node and simultaneously receives and responds to surface acoustic ranging signals to determine the actual seabed coordinates of the seabed observation node.
[0011] A further preferred embodiment is that at the instant the node is detached from the hook and enters the water, the latitude and longitude coordinates of the sea surface at that location are recorded using a shipborne positioning device and denoted as the water surface launch point W2. When multiple seabed observation nodes are involved, steps three to five are executed cyclically, and the surface deployment point W2 of all seabed observation nodes is positioned and planned using the coordinates of the same actual anchor point W1′ determined in step two as the center reference.
[0012] More preferably, when deploying the second and subsequent seabed observation nodes, the navigation direction of the planned surface deployment route in step three is selected as any one of the same, opposite, or perpendicular directions along the deployment route of the anchored buoy, so as to ensure that each observation node is spatially discretely distributed within the coverage area of underwater acoustic communication.
[0013] This invention also provides a deep-sea fixed-point wireless cooperative observation system, deployed based on the above-described deployment method, comprising: Anchoring buoys are deployed at predetermined locations, including: surface buoys equipped with satellite communication terminals and mooring assemblies connecting the surface buoys to seabed anchor blocks, wherein the length of the mooring assemblies is equal to the water depth H of the deployment area; The first acoustic release device, installed on the mooring assembly and located near the seabed, is used for anchoring buoy retrieval and can also receive and respond to surface acoustic ranging signals to determine the coordinates of the actual anchor point W1′ of the anchor block on the seabed. At least one seabed observation node is deployed on the seabed, including: observation sensors for collecting seabed environmental data; An acoustic communication device is used to establish an underwater acoustic data link with the surface buoy. The second acoustic release device is installed on the seabed observation node for the recovery of the observation node. It can also receive and respond to surface acoustic ranging signals to determine the actual seabed coordinates W2′ of the seabed observation node. The acoustic release deck control unit includes: An acoustic transducer is used to send an interrogation pulse to the first acoustic releaser or the second acoustic releaser and to receive a response signal; The signal control and processing module is used to calculate the distance between the shipborne ranging point and the corresponding acoustic release device based on the round-trip time of the response signal. The verification module, configured on a shipboard terminal or shore-based control center, is used to calculate the actual anchor point coordinates and / or the actual bottom coordinates based on the coordinates and distance values of at least three ranging points; calculate the horizontal distance between the actual anchor point of the anchored buoy and the actual bottom of the observation node, and determine whether the horizontal distance falls within a pre-set safe and effective deployment ring area to confirm the deployment status of the system and the effectiveness of the underwater acoustic communication link.
[0014] More preferably, the anchoring assembly of the anchoring buoy is an elastic tension type anchoring system, and its maximum length L is set to L=(1+k)*H based on the elastic elongation rate under normal sea conditions, where k is the elastic elongation rate coefficient and k≤15%.
[0015] The deep-sea fixed-point wireless collaborative observation system and deployment method disclosed in this application pre-determine the boundary conditions for safe and effective deployment of the system based on the water depth of the deployment site, the mooring design, and the configuration of communication equipment. On-site implementation employs a sequence of first deploying anchoring buoys, followed by the deployment of seabed observation nodes. The operational route is determined according to the site environment, and the anchoring points are determined based on the system design and safe and effective deployment boundary conditions. Finally, the actual anchoring points are located using on-site acoustic ranging to confirm successful deployment. This method can accurately control and determine the seabed position of the observation nodes, improve the communication effectiveness of the deep-sea seabed observation system, ensure the system's operational efficiency, create conditions for safe system recovery, and effectively reduce the risks and costs of system deployment. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of a deep-sea fixed-point wireless collaborative observation system.
[0017] Figure 2 This is a flowchart of a method for deploying a deep-sea fixed-point wireless collaborative observation system.
[0018] Figure 3 This is a schematic diagram showing the safe and effective location area of the seabed observation node relative to the anchor point of the anchored buoy.
[0019] Figure 4This is a schematic diagram showing the deployment route and anchorage locations on site.
[0020] Figure 5 This is a schematic diagram showing the spatial relationship between three distance measuring points on the sea surface and the seabed anchor. Detailed Implementation
[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0022] like Figure 2 As shown, one embodiment of the present invention provides a method for deploying a deep-sea fixed-point wireless cooperative observation system, which includes the following steps: Step 1: Based on the water depth H of the deployment area and the maximum communication distance of the underwater acoustic communication equipment. And the anchoring design parameters of the anchored buoy, to calculate the safe and effective deployment ring area of the seabed observation node relative to the anchoring point of the anchored buoy; refer to Figure 3 As shown, the system deployment station water depth data H, and the anchored buoy uses an elastic tension type mooring system with a mooring length equal to H. Under normal sea conditions, the maximum elongation of the mooring system is approximately 15%, so the maximum length of the mooring system L = (1 + 15%)H. The maximum patrol radius R of the surface buoy is calculated using the right triangle triangle relationship formula. 面max : Figure 3 As shown, further, the maximum communication distance D of the underwater acoustic communication equipment configured in the system is... max When the surface buoy is within the maximum patrol area, the maximum allowable horizontal distance R between the seabed observation node and the anchor point of the anchored buoy is calculated using the right triangle inequality formula. 底max for: Furthermore, considering the water depth at the system deployment sites, to prevent entanglement between the seabed observation nodes and the anchoring buoys during system deployment and retrieval, the minimum distance R between the seabed observation nodes and the anchoring points of the anchoring buoys was determined. 底min ≥500 meters, great water depth, R 底min Yida; The boundary condition for the safe and effective deployment of the system is the safe and effective deployment location area of the seabed observation node relative to the anchor point of the anchored buoy, that is, with the anchor point of the anchored buoy as the center, R... 底min ≤ radius ≤ R 底max The annular region; Step 2: The operation sequence of first deploying anchoring buoys and then deploying seabed observation nodes is adopted. The anchoring buoys are deployed to the predetermined stations, and after the anchoring buoys sink to the bottom, the actual anchor point coordinates of the anchoring buoys on the seabed are obtained by acoustic ranging and positioning method.
[0023] like Figure 4 Once the work vessel reaches the vicinity of the predetermined station, a vessel drift test is conducted to determine the direction of the wind and current on site. Based on the principle of going against the wind and current, the navigation route V1 for deploying the anchor buoy is determined. The route includes a starting point and an ending point, with the ending point being the predetermined station. The distance between the starting point and the predetermined station is greater than the total length of the anchoring mooring of the anchor buoy. At the starting point of the route, the surface buoy is hoisted and deployed into the water. The vessel travels at a speed of 1-2 knots and sequentially deploys the anchor chain, cable, buoy, and acoustic release device. After the release device enters the water, the vessel tows the buoy to the end point of the route (the predetermined station) to complete the deployment of the anchor. Both the anchored buoy and the seabed observation node are equipped with acoustic release devices, namely the first acoustic release device 1 and the second acoustic release device 2, and are located near or on the seabed. The first or second acoustic release device receives the acoustic signal sent by the surface acoustic transducer and calculates the distance between the surface transducer and the seabed acoustic release device based on the acoustic signal propagation time data. The surface acoustic transducer is placed on the bottom of the ship and is controlled by the signal control and processing module to transmit an acoustic pulse signal to the first seabed acoustic release device 1 or the second acoustic release device 2. After receiving the signal, it sends back a response acoustic pulse signal. Based on the propagation time and sound speed information, the distance between the surface acoustic transducer and the seabed acoustic release device is calculated. Figure 4 In the process, the deployment vessel stops at any three points within an area several kilometers in diameter centered on the anchoring point W1 of the anchored buoy. The surface acoustic transducer sends acoustic pulse signals to the acoustic release device 1, measures the distance between the stopping point and the acoustic release device 1, and records the positions of the three stopping points.
[0024] Based on the location and distance measurement data of the three ranging points, a ternary quadratic equation is set up to calculate the location of the first acoustic release device, i.e., the actual anchor point W1' of the anchoring buoy, and at the same time, the drift direction F1 and drift distance after anchoring into the water are determined. Based on the positions and ranging data of the three ranging points, a ternary quadratic equation is established to calculate the position of the acoustic release device 1. The specific method is as follows: like Figure 5 The three distance measuring points located at the sea surface are , Expressed using latitude and longitude values respectively ; These are longitude and latitude, respectively, where i takes the values 1, 2, and 3.
[0025] Water surface acoustic transducers in The three points sent acoustic ranging commands to the acoustic release device on the seabed, and the distances between the three points and the acoustic release device on the seabed were measured as D1, D2 and D3, respectively, in meters. by A local three-dimensional rectangular coordinate system is established with the origin at point X. The x-axis points due east, the y-axis points due north, and the z-axis points vertically downwards. The unit for each coordinate axis is meters (m). In this coordinate system... The coordinates of the point are That is ; The coordinates of the point are That is ; The coordinates of the point are That is The coordinates of the underwater acoustic release device are: Its projected coordinates on the sea surface are ; use Calculate the latitude and longitude values of the point. Point and The coordinates of a point in a coordinate system, where 1 degree of latitude is taken as 111320m, and the distance corresponding to 1 degree of longitude is not constant. Here, we take the equator as an example, where 1 degree of longitude is also taken as 111320m. Then: use The coordinates of the point and the relationship between each point and Distance between points Write out the quadratic equation in three variables: In the above formula If all are 0, then the above equation becomes: Because in the above equation, only one of the three equations... Since it is an unknown quantity, it can be obtained. The coordinates of the point are: By combining the latitude and longitude coordinates of point P1, the planar projection offset is converted into latitude and longitude increments to obtain the latitude and longitude coordinates of the actual anchor point W1′ of the anchoring buoy on the seabed, and the drift direction F1 and drift distance of the anchor block after entering the water are determined based on the coordinates.
[0026] Step 3: Using the actual anchor point as the center, and based on the boundary of the safe and effective deployment ring area determined in Step 1 as a constraint, and combined with the actual drift direction of the anchor buoy after it enters the water, plan the surface deployment route and deployment point of the seabed observation node. It should be noted that the navigation starts from the anchor point W1 of the anchor buoy and proceeds in the direction perpendicular to the anchor buoy deployment route V1, while staying away from the drift direction F1 of the anchor block. <Sailing distance< After reaching the designated location, the bow of the ship is adjusted to face the wind and current and then the ship is stopped. The stopping position is the surface deployment point of the seabed observation node.
[0027] Step 4: Deploy the seabed observation node at the deployment point and let it sink to the seabed. After it falls to the seabed, use the acoustic ranging and positioning method from Step 2 to obtain the actual seabed coordinates of the seabed observation node. When the seabed observation node is deployed to the bottom at the deployment point, if the seabed observation node is an integral structure: the entire seabed observation node is directly lifted at the deployment point using a ship-mounted crane, slowly lowered into the water, and released after it stabilizes and floats or establishes a sinking posture. If the seabed observation node is a split structure, the floating frame part is first lifted and lowered into the water downstream of the deployment point; after the floating frame is deployed and in place on the water surface, the seabed platform part is then lifted and lowered into the water at the deployment point. The seabed observation node is equipped with a second acoustic release device, which is used for the recovery of the observation node and simultaneously receives and responds to surface acoustic ranging signals to determine the actual seabed coordinates of the seabed observation node.
[0028] At the moment the observation node is detached from the hook and enters the water, the latitude and longitude coordinates of the sea surface at that location are recorded using the shipborne positioning instrument and denoted as the water surface deployment point W2. When deploying the second and subsequent seabed observation nodes, the navigation direction of the planned water surface deployment route in step three is selected as any one of the same, opposite, or perpendicular directions along the deployment route of the anchored buoy, so as to ensure that each observation node is spatially discretely distributed within the coverage area of underwater acoustic communication.
[0029] When multiple seabed observation nodes are included, steps three to five are executed cyclically, and the surface deployment point W2 of all seabed observation nodes is positioned and planned using the same actual anchor point coordinates W1′ determined in step two as the center reference.
[0030] Step 5: Calculate the horizontal distance between the actual anchor point coordinates of the anchored buoy and the actual bottom coordinates of the observation node. Verify whether the horizontal distance falls within the safe and effective deployment ring area. If it is within the area, the system is deemed to have been successfully deployed and has the conditions for safe retrieval. If it is outside the area, the system is deemed to have failed to deploy. Retrieve the observation node, adjust the deployment point, and repeat steps 3 to 4 to obtain the actual bottom coordinates of the observation node again before making a judgment.
[0031] After all the seabed observation nodes are deployed and the system is in operation, the observation data from the seabed observation nodes is received using shipborne or shore-based satellite receiving terminals to confirm the successful deployment of the system.
[0032] like Figure 1 As shown, this application also provides a deep-sea fixed-point wireless cooperative observation system, deployed based on the above deployment method, including: Anchoring buoy 3, deployed at a predetermined location, includes: a surface buoy equipped with a satellite communication terminal and an anchoring assembly connecting the surface buoy to the seabed anchor block (i.e., surface buoy 301, anchor chain 302, cable 303, glass buoy 304, etc., arranged from top to bottom in the figure), wherein the configuration length of the anchoring assembly is equal to the water depth H of the deployment area. The first acoustic release device 1 is installed on the mooring assembly and located near the seabed. It is used for buoy retrieval and simultaneously receives and responds to surface acoustic ranging signals to determine the actual anchor point W1′ coordinates of the anchor block 4 on the seabed. At least one seabed observation node 5 is deployed on the seabed, including: observation sensors for collecting seabed environmental data; Acoustic communication device 6, used to establish an underwater acoustic data link with the surface buoy; The second acoustic release device 2 is installed on the seabed observation node 5 and is used for the recovery of the observation node. At the same time, it receives and responds to the acoustic ranging signal from the water surface to determine the actual seabed coordinates W2′ of the seabed observation node. Acoustic release deck unit, including: An acoustic transducer is used to send an interrogation pulse to the first acoustic releaser or the second acoustic releaser and to receive a response signal; The signal control and processing module is used to calculate the distance between the shipborne ranging point and the corresponding acoustic release device based on the round-trip time of the response signal. The verification module, configured on a shipboard terminal or shore-based control center, is used to calculate the actual anchor point coordinates of the anchoring buoy and / or the actual bottoming coordinates of the observation node based on the coordinates and distance values of at least three ranging points, calculate the horizontal distance between the actual anchor point of the anchoring buoy and the actual bottoming coordinates of the observation node, and determine whether the horizontal distance falls within a pre-set safe and effective deployment ring area to confirm the system deployment status and the effectiveness of the underwater acoustic communication link.
[0033] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.
Claims
1. A method for deploying a deep-sea fixed-point wireless cooperative observation system, characterized in that, Includes the following steps: Step 1: Based on the water depth H of the deployment area and the maximum communication distance of the underwater acoustic communication equipment. And the anchoring design parameters of the anchoring buoy, to calculate the safe and effective deployment ring area of the seabed observation node relative to the anchoring point of the anchoring buoy; Step 2: The operation sequence of first deploying anchoring buoys and then deploying seabed observation nodes is adopted. The anchoring buoys are deployed to the predetermined stations, and after the anchoring buoys sink to the bottom, the actual anchor point coordinates of the anchoring buoys on the seabed are obtained by acoustic ranging and positioning method. Step 3: Using the actual anchor point as the center, and based on the boundary of the safe and effective deployment ring area determined in Step 1 as a constraint, and combined with the actual drift direction of the anchor buoy after it enters the water, plan the surface deployment route and deployment point of the seabed observation node. Step 4: Deploy the seabed observation node at the deployment point and let it sink to the seabed. After it falls to the seabed, use the acoustic ranging and positioning method from Step 2 to obtain the actual seabed coordinates of the seabed observation node. Step 5: Calculate the horizontal distance between the actual anchor point coordinates of the anchored buoy and the actual bottom coordinates of the observation node. Verify whether the horizontal distance falls within the safe and effective deployment ring area. If it is within the area, the system is deemed to have been successfully deployed and has the conditions for safe retrieval. If it is outside the area, the system is deemed to have failed to deploy. Retrieve the observation node, adjust the deployment point, and repeat steps 3 to 4 to obtain the actual bottom coordinates of the observation node again before making a judgment.
2. The deployment method of the deep-sea fixed-point wireless cooperative observation system according to claim 1, characterized in that, In step one, the safe and effective deployment ring area is centered on the anchor point of the anchored buoy, and its inner boundary is defined by the minimum anti-entanglement distance. The outer boundary is defined by the maximum effective communication distance. Define; in, L represents the maximum length of the mooring system, and H represents the water depth of the deployment area. This represents the maximum communication distance for underwater acoustic communication equipment.
3. The deployment method of the deep-sea fixed-point wireless cooperative observation system according to claim 1, characterized in that, In step two, the actual anchor point coordinates of the anchored buoy on the seabed are obtained using acoustic ranging and positioning methods, specifically including: S21. The deployment vessel stops at three different sea surface positions P1, P2 and P3 in sequence in the waters near the pre-set anchoring buoy anchoring point, and records the latitude and longitude coordinates of each point. S22. At the three sea surface positions P1, P2, and P3, respectively send acoustic ranging interrogation signals to the first acoustic release device installed at the bottom of the anchored buoy, and receive the response signals returned by the first acoustic release device. Based on the round-trip propagation time of the acoustic signal and the sound speed of seawater, calculate the spatial distances D1, D2, and D3 between the three sea surface positions and the first acoustic release device. S23. Establish a local three-dimensional rectangular coordinate system with point P1 as the origin, where the x-axis points due east, the y-axis points due north, and the z-axis points vertically downward. Then the first acoustic release device... The coordinates satisfy the following system of three quadratic equations: in,( , , ( ) are the coordinates of point P1, ( , , () are the coordinates of point P2, ( , ( ) are the coordinates of point P3; , , (The first acoustic release device) The coordinates; S24: Solve the system of equations to obtain the first acoustic release device. Coordinates in the local three-dimensional rectangular coordinate system ( , , );in, The water depth at which the first acoustic release device is located; and That is, the plane projection offset of the actual anchor point W1′ relative to point P1; S25: Combining the latitude and longitude coordinates of point P1, the planar projection offset is converted into latitude and longitude increments to obtain the latitude and longitude coordinates of the actual anchor point W1′ of the anchoring buoy on the seabed, and the drift direction F1 and drift distance of the anchor block after entering the water are determined based on the coordinates.
4. The deployment method of the deep-sea fixed-point wireless cooperative observation system according to claim 1, characterized in that, In step three, based on the actual drift direction of the anchored buoy after it enters the water, the surface deployment route and deployment point for the seabed observation node are planned, specifically including: Taking the anchor point W1 of the anchor buoy as the starting point of navigation, navigate along the vertical direction of the anchor buoy deployment route V1, and away from the drift direction F1 of the anchor block. <Sailing distance< After reaching the designated location, the bow of the ship is adjusted to face the wind and current and then the ship is stopped. The stopping position is the surface deployment point of the seabed observation node.
5. The deployment method of the deep-sea fixed-point wireless cooperative observation system according to claim 1, characterized in that, In step four, when the seabed observation node is deployed to the bottom at the deployment point, if the seabed observation node is an integral structure: the entire seabed observation node is directly lifted by a ship-borne crane, slowly lowered into the water, and released after it stabilizes and floats or establishes a sinking posture. If the seabed observation node is a split structure, the floating frame part is first hoisted and lowered into the water downstream of the deployment point; after the floating frame is deployed and in place on the water surface, the seabed platform part is then hoisted and lowered into the water at the deployment point. The seabed observation node is equipped with a second acoustic release device, which is used for the recovery of the observation node and simultaneously receives and responds to surface acoustic ranging signals to determine the actual seabed coordinates of the seabed observation node.
6. The deployment method of the deep-sea fixed-point wireless cooperative observation system according to claim 5, characterized in that, At the moment the node is detached from the hook and enters the water, the latitude and longitude coordinates of the sea surface at that location are recorded using the shipborne positioning instrument and recorded as the water surface drop point W2. When multiple seabed observation nodes are included, steps three to five are executed cyclically, and the surface deployment point W2 of all seabed observation nodes is positioned and planned using the coordinates of the same actual anchor point W1′ determined in step two as the center reference.
7. The deployment method of the deep-sea fixed-point wireless cooperative observation system according to claim 6, characterized in that, When deploying the second and subsequent seabed observation nodes, the navigation direction of the planned surface deployment route in step three is selected as any one of the same, opposite, or perpendicular directions along the deployment route of the anchored buoy, so as to ensure that each observation node is spatially discretely distributed within the coverage area of underwater acoustic communication.
8. A deep-sea fixed-point wireless cooperative observation system, characterized in that, Deploying according to the deployment method described in any one of claims 1-7 includes: Anchoring buoys are deployed at predetermined locations, including: surface buoys equipped with satellite communication terminals and mooring components connecting the surface buoys to seabed anchor blocks, wherein the length of the mooring components is configured to be equal to the water depth H of the deployment area; The first acoustic release device, installed on the mooring assembly and located near the seabed, is used to anchor the buoy for retrieval, and simultaneously receives and responds to surface acoustic ranging signals to determine the coordinates of the actual anchor point W1′ of the anchor block on the seabed. At least one seabed observation node is deployed on the seabed, including: observation sensors for collecting seabed environmental data; An acoustic communication device is used to establish an underwater acoustic data link with the surface buoy. The second acoustic release device is installed on the seabed observation node for the recovery of the observation node. It also receives and responds to the surface acoustic ranging signal to determine the actual seabed coordinates W2′ of the seabed observation node. Acoustic release deck unit, including: An acoustic transducer is used to send an interrogation pulse to the first acoustic releaser or the second acoustic releaser and to receive a response signal; The signal control and processing module is used to calculate the distance between the shipborne ranging point and the corresponding acoustic release device based on the round-trip time of the response signal. The verification module, configured on a shipboard terminal or shore-based control center, is used to calculate the actual anchor point coordinates of the anchored buoy and / or the actual bottom coordinates of the observation node based on the coordinates and distance values of at least three ranging points, calculate the horizontal distance between the actual anchor point and the actual bottom, and determine whether the horizontal distance falls within a pre-set safe and effective deployment ring area to confirm the deployment status of the system and the effectiveness of the underwater acoustic communication link.
9. The deep-sea fixed-point wireless cooperative observation system according to claim 8, characterized in that, The anchoring buoy's mooring assembly is an elastic tension type mooring system, and its maximum length L is set based on the elastic elongation rate under normal sea conditions as L=(1+k)*H, where k is the elastic elongation rate coefficient and k≤15%.