CN109088674B - Underwater networking method and device and communication equipment - Google Patents
Underwater networking method and device and communication equipment Download PDFInfo
- Publication number
- CN109088674B CN109088674B CN201811266087.1A CN201811266087A CN109088674B CN 109088674 B CN109088674 B CN 109088674B CN 201811266087 A CN201811266087 A CN 201811266087A CN 109088674 B CN109088674 B CN 109088674B
- Authority
- CN
- China
- Prior art keywords
- gateway node
- node
- relative distance
- current
- underwater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/12—Shortest path evaluation
- H04L45/122—Shortest path evaluation by minimising distances, e.g. by selecting a route with minimum of number of hops
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
Abstract
The embodiment of the invention provides an underwater networking method, an underwater networking device and communication equipment, wherein the method is applied to the underwater communication equipment and comprises the following steps: receiving acoustic signals in water to obtain the relative distance between the current equipment and at least one external equipment; screening out external equipment with a reduced and/or unchanged relative distance value according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected; determining a gateway node from the nodes to be selected, wherein the node to be selected with the minimum relative distance value at the current moment is used as the gateway node; and establishing network connection with the gateway node through blue-green laser. By the method, the underwater communication network can be established based on the relative motion information, the dynamically changing underwater environment can be met, and the real-time performance is high.
Description
Technical Field
The invention relates to the field of underwater detection, in particular to an underwater networking method, an underwater networking device and communication equipment.
Background
With the high-speed development of underwater detection technology, underwater operation equipment such as submarines, underwater unmanned vehicles and the like become important components for performing complex tasks underwater. In an underwater environment, reliable network connection needs to be established between devices to ensure accurate and timely communication between the devices. If a large number of base stations are built in a wide sea area and used as infrastructure, it is expensive and difficult to implement.
The current underwater deployment method is a flight insertion method for performing high-speed telecommunication by launching an unmanned underwater vehicle with an optical cable, but has the disadvantage of poor real-time performance.
Disclosure of Invention
In order to overcome technical problems in the prior art, embodiments of the present invention provide an underwater networking method, an underwater networking device, and a communication device.
In a first aspect, an embodiment of the present invention provides an underwater networking method, which is applied to an underwater communication device, and the method includes:
receiving acoustic signals in water to obtain the relative distance between the current equipment and at least one external equipment;
screening out external equipment with a reduced and/or unchanged relative distance value according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected;
determining a gateway node from the nodes to be selected, wherein the node to be selected with the minimum relative distance value at the current moment is used as the gateway node;
and establishing network connection with the gateway node through blue-green laser.
In a second aspect, an embodiment of the present invention further provides an underwater networking device, where the device includes:
the receiving module is used for receiving acoustic signals in water;
the distance calculation module is used for calculating the relative distance between the current equipment and the external equipment;
the first screening module is used for screening out external equipment with reduced and/or unchanged relative distance values according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected;
the second screening module is used for determining gateway nodes from the nodes to be selected, wherein the node to be selected with the smallest relative distance value at the current moment is used as the gateway node;
and the communication module is used for establishing network connection with the gateway node through blue-green laser.
In a third aspect, an embodiment of the present invention further provides a communication device, including: a processor, a memory storing machine-readable instructions executable by the processor, the machine-readable instructions, when executed by the processor, performing the steps of the method as provided in the first aspect above.
Compared with the prior art, the underwater networking method, the device and the communication equipment of the embodiment of the invention have the advantages that the relative distance between the external equipment and the current equipment at a plurality of moments is obtained, the external equipment with smaller and smaller relative distance value is used as the node to be selected, and then the node with the minimum current relative distance value is selected from the nodes to be selected as the gateway node. And then, a network connection relation is established with the gateway node, so that the real-time dynamically-changed underwater environment can be met, an underwater communication network can be established based on the relative motion information even if the current equipment continuously moves, and the real-time problem caused by the dynamically-changed underwater environment to the existing networking mode can be avoided.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a block diagram schematically illustrating an underwater operation device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a hydrophone array in an example provided by an embodiment of the invention.
Fig. 3 is a flowchart of an underwater networking method according to an embodiment of the present invention.
Fig. 4 is a detailed flowchart of step S240 in the underwater networking method according to the embodiment of the present invention.
Fig. 5 is a schematic functional module diagram of an underwater networking device according to an embodiment of the present invention.
Fig. 6 is a block diagram of a communication device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The description is made in view of the concept of long-range ultra-short baseline positioning adopted in the present invention. A long-range ultrashort baseline positioning system is a system for positioning, tracking and transmitting data of an underwater target at the depth of 4 kilometers by using an underwater sound positioning technology. Such as locating objects such as AUVs (Autonomous Underwater vehicles), UUVs (Unmanned Underwater vehicles), etc. Compared with a long-range ultrashort-baseline positioning system and a short-baseline underwater sound positioning system, the long-range ultrashort-baseline positioning system works in a response working mode, and is more convenient to install, relatively lower in design cost and more convenient to use flexibly due to the fact that the array size is small. Compared with the ultra-short baseline positioning method, the method has higher positioning precision. Therefore, the invention adopts the method for positioning the long-range ultrashort baseline to position any equipment and further form an underwater communication network. It will be appreciated that this method of long range ultra short baseline positioning is an integral part of the present invention.
First embodiment
The present embodiment provides a subsea operation device 10. Referring to fig. 1, a block diagram of an underwater operation device 10 according to the present invention is shown. The underwater operation device 10 may be an underwater vehicle, an underwater robot, a submarine, or the like. Any of the subsea equipment 10 may become a network node in a subsea communication network. Therefore, in the present invention, the underwater working device 10 may also be referred to as a node. The node can be judged to be a common node to be selected or a gateway node through sound approaching or departing so as to achieve the purpose that equipment to be networked is connected to a network, the network connection state is updated in real time, and the plurality of nodes form an underwater communication network.
A long-range and ultra-short baseline positioning unit 110 and a communication network unit 120 are fixedly installed on any node (underwater operation equipment 10) to realize bidirectional network connection between the equipment.
The long-range and ultra-short baseline positioning unit 110 includes an underwater acoustic transmitter and a hydrophone array, the underwater acoustic transmitter is configured to convert an electrical signal into an acoustic signal that can be propagated in water, and the hydrophone array is configured to receive the acoustic signal in water and convert the received acoustic signal into an electrical signal. Specifically, the hydrophone array on any node can receive acoustic signals sent by the underwater acoustic transmitters of other nodes. Of course, after receiving the acoustic signal, signal identification or signal processing is required to filter out the interference signal, so as to obtain a valid signal sent by the external node. A person skilled in the art can select a signal processing or signal recognition mode according to actual needs, and the present embodiment is not limited as long as the received acoustic signal can be converted into an effective analog signal or a digital signal.
The hydrophone array can determine the position of the target device according to the received acoustic signals sent by the underwater acoustic transmitter. The target device is a device which carries the underwater sound emitter and sends out sound signals to be received. The gateway node can be found through the cooperation of the hydrophone array and the underwater sound emitter.
The communication network unit 120 includes a blue-green laser transmitter and an optical receiver. The blue-green laser transmitter is used for converting original information to be transmitted into an electric signal and transmitting the signal carrying the original information in a blue-green laser mode after the signal is modulated. The optical receiver is used for receiving the blue-green laser from other equipment and restoring the received blue-green laser into original information.
Network connection between the devices can be realized through the matching of the blue-green laser transmitter and the optical receiver.
In this embodiment, the hydrophone array includes 4N +1 (N is a positive integer) hydrophones, one of the hydrophones is located at the center of a circle, and the remaining 4N hydrophones are distributed on a plurality of diameters at equal intervals. Therefore, the number of hydrophones can be reduced as much as possible under the condition of meeting the requirement of a receiving angle, and the equipment structure is simplified.
In one embodiment, the 4N hydrophones are equally spaced on two mutually perpendicular diameters. In one example, referring to fig. 2, a hydrophone array consists of 9 (N-2) hydrophones. Wherein "R" in fig. 2 represents the radius of the circle in which the hydrophones in fig. 2 are distributed, it can be seen that the hydrophones on two diameters are equidistantly distributed (the distance between the hydrophones on the same diameter is 80 cm), in other examples, the hydrophones can be distributed on more diameters, even the diameters can be in a non-perpendicular relationship, but considering factors such as simplicity and power consumption, 4N +1 hydrophones are selected to form a hydrophone array to serve as a base array, and the hardware requirement of long-range ultrashort baseline positioning is met.
The distributed hydrophone array can receive sound signals from a plurality of angles, and the sound detection performance and sensitivity are improved.
Second embodiment
The present embodiment provides an underwater networking method, which is applied to an underwater communication device, where the underwater communication device may be the underwater operation device 10 (see fig. 1) described in the foregoing embodiment.
Fig. 3 is a flowchart of an underwater networking method according to an embodiment of the present invention. The method can be divided into two stages: a search stage of the gateway node (steps S210-S230) and a network connection stage with the searched gateway node (step S240). The specific flow shown in fig. 3 will be described in detail below.
Step S210, receiving the acoustic signal in the water to obtain the relative distance between the current equipment and at least one external equipment.
Wherein the acoustic signal may be emitted by a hydroacoustic emitter of the external device. The equipment A to be added actively receives the acoustic signals in the water through the hydrophone on the equipment A at intervals in the scanning time by actively scanning the external equipment. It can be understood that, only after the distance between the external device and the device a to be added reaches a threshold, the device a can receive the acoustic signal sent by the external device, so that the device a can sense the peripheral external devices.
And step S220, screening out external equipment with a reduced and/or unchanged relative distance value according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected.
The relative distance at multiple times may be a relative distance obtained by receiving the acoustic signal once every 0.5 second and calculating, and may also be a relative distance obtained by receiving the acoustic signal once every 1 second, and the setting of the interval between the times herein should not be construed as a limitation to the present invention, as long as the external device can be scanned and the relative distance between the external device and the current device can be calculated at different times.
The candidate node may be an external device that is closer to the current device a or an external device that remains relatively stationary with the current device a. Whether the external device is approaching the current device a can be determined by the relative distance at a plurality of times. According to the change of the relative distance between each external communication device and the device a, it can be known which devices in the surrounding devices are approaching the device a, which devices are kept relatively stationary with the device a, which devices are far away from the device a, the devices which are increasingly approaching the device a are used as the candidate nodes, and the devices which are kept relatively stationary with the device a can also be used as the candidate nodes. In fact, because the underwater communication distance is limited, the device approaching the device a is used as a candidate node and a gateway node is selected from the candidate node for network connection, so that better communication quality can be achieved, and the communication quality in the next period of time can be guaranteed.
Step S230, determining a gateway node from the nodes to be selected, where the node to be selected with the smallest relative distance value at the current time is used as the gateway node.
In the plurality of nodes to be selected, the node with the smallest relative distance value can be selected as the gateway node, so that the gateway node can be found. This indicates that, from the nodes to be selected that are approaching to the device a, the node closest to the device a is selected as the optimal network access node, and certainly, in some cases, if the node closest to the device a cannot meet the network access requirement of the device a due to insufficient resources, the node may be searched again according to the above principle to further screen the gateway node.
It should be noted that the device a only needs to be connected to the gateway node, and the network access of the device to be communicated can be realized. The connected node (gateway node) can be used as a terminal and also can be used as a relay for forwarding messages, so that communication with a remote (distance incapable of communicating) node can be realized.
And step S240, establishing network connection with the gateway node through the blue-green laser.
And after the gateway node is confirmed, carrying out signal transmission between the devices by adopting blue-green laser. The blue-green laser can carry a request command, a feedback command and a response command. Certainly, these commands can be recovered in the signal processing process of the blue-green laser, the signal processing process includes a process of converting a laser signal into an electrical signal such as an analog signal or a digital signal, and the implementation manner is many, and this embodiment does not limit the signal conversion process.
The steps S210 to S230 are a searching stage of the gateway node, and the step S240 is a network connection stage.
In this embodiment, when connection with the gateway node needs to be established, a request command may be sent to the gateway node, and a response command sent by the gateway node is received, so as to implement a network connection process with the gateway node. Of course, the gateway node searched in the above steps may have enough resources and insufficient resources. Under the condition that the gateway node resources are insufficient, the gateway node needs to be searched again and network connection is established with the gateway node with sufficient resources, and network saturation is avoided.
By the method, the relative position and distance between the current equipment A and the external equipment can be obtained, the equipment with the minimum relative distance value is selected from the external equipment which is closer to the equipment A as the gateway node, the current equipment A is used as the current node, and then the network connection relation is established with the gateway node, so that the problem of poor network stability caused by the movement of the current equipment A can be solved, and the formed communication network topological structure is dynamic and cannot be limited by the position of the current equipment A. Therefore, the underwater environment with real-time dynamic change can be met, even if the current equipment continuously moves, an underwater communication network can be established based on the relative movement information, and the real-time problem caused by the existing networking mode due to the dynamically changed underwater environment can be avoided.
In addition, compared with a mode of establishing a communication link by using underwater sound, due to the transmission characteristics of sound in all directions, when the communication link is established by using the underwater sound, the communication link is easy to intercept and is easy to be attacked by networks such as monitoring and hijacking, and the like, and the requirement of underwater high confidentiality is difficult to meet, so that the problem is solved by establishing the communication link by using blue-green laser after the gateway node is determined, and the network security is improved.
In this embodiment, regarding step S210, the following steps may be implemented: during a first scanning period t1The hydrophones in the inner and long-range ultra-short baseline positioning units (please refer to FIG. 1) are 0.5t at certain time intervals1Receiving acoustic signals in the water; a processor in the long-range ultra-short baseline positioning system identifies the received acoustic signal to determine whether an external device is present; and if so, obtaining the external device by adopting a long-range ultrashort baseline positioning systemThe location of the devices. If the external equipment (communication equipment) does not exist, the steps are continuously executed to find the external equipment and determine the position of the external equipment. The long-range ultrashort baseline positioning system can be fixed on equipment in the form of an integrated module, a chip, a circuit and the like.
And for any external device, obtaining the relative distance between the current device and the external device according to the position of the external device and the position of the current device.
Specifically, if there are a plurality of external devices emitting sound signals, the relative distances between the ith device and the device a at each time are sequentially obtained by using a long-range ultrashort baseline positioning method
It is searched that n devices exist around the device a. Wherein the content of the first and second substances,
indicating the relative distance between the ith device and device a at the current time,
the last obtained relative distance between the ith device and device a is indicated.
In this embodiment, step S220 may be implemented as follows: for any external device, acquiring the current relative distance and the historical relative distance between the external device and the current device; and the external equipment with the current relative distance value smaller than the last relative distance value is used as a node to be selected.
Corresponding to the ith device and the current device A, the average speed v of the surrounding devices in the time period can be obtained according to the distance change of the two received acoustic signalsi. Of course, the number of times may be greater and the time intervals may be closer together to make the results more real-time.
Wherein the content of the first and second substances,
0.5t1represents twoThe time interval during which the acoustic signal is received next,
respectively, the relative distance between the i-th device and the current device a determined by receiving the acoustic signal twice.
All scanned external devices can be calculated by changing the value of i, and the calculation of different external devices can be realized by adopting a counter. In one embodiment, the counter is set to 0, i is continuously superimposed, and the relative distances and the average speed v between all the searched peripheral external devices (n) and the current device a can be calculatediAnd (6) judging. Wherein, v isi<0 device as candidate node, vi<0 indicates that the ith device is approaching the current device a.
And judging whether i is equal to n, if so, not performing superposition, and after calculating the ith equipment, finishing the division of the area to be selected, otherwise, continuing to perform superposition, calculation and judgment until a traversal condition of i being equal to n is met.
It should be noted that the manner of determining whether the device a is approaching or departing is not limited to vi<0, for example, in other embodiments,
at this time, v should be considerediWhile devices > 0 are approaching the current device a, in other embodiments the magnitude or acceleration of the relative distance value may also be used to determine whether an external device is approaching the current device a.
In this embodiment, regarding step S230, the following steps may be implemented: according to the determined relative distance between the node to be selected and the current node (equipment A), selecting the node closest to the current node at the end of scanning as a gateway node, namely the node to be selected
The node with the minimum value is used as the gateway node, so far, the search process of the gateway node is completed.
Referring to fig. 4, step S240 in the present embodiment may specifically include steps S241-S244.
And step S241, transmitting a network access request command to the determined gateway node through the blue-green laser.
Step S242, receiving the acknowledgement frame fed back by the gateway node.
Step S243, during the first waiting time period, determining whether the connection response command sent by the gateway node is received.
Step S244, establishing a connection relationship with the gateway node.
After step S243, if the determination result is that the connection response command sent by the gateway node is not received in the first waiting time period, the gateway node is determined again.
In one example, device a sends an access request command REQ to the gateway node via a blue-green laser. After the device a receives the acknowledgement frame of the network access request fed back by the gateway node, the device a waits for a period of time t2To accept the connection response of the gateway node. At the waiting time t2If the resources of the gateway node are sufficient, the gateway node will assign an address to device a and generate a connection response command containing the new address ID and the connection success status SUC-CON, and upon receiving the connection response command, device a successfully establishes a network connection with the gateway node and can start communication. Wherein the gateway node is a node determined based on the lookup procedure. The waiting time t2I.e. the first waiting period.
If it is at the waiting time t2If the device a does not receive the connection response command of the gateway node, it indicates that the resources of the gateway node are not enough to establish a connection with the device a. The device a to be joined repeats the step of searching for the gateway node to find the network access connection device meeting the requirement as a new gateway node again, and then sends request information to the new gateway node to request network access until network access is successful. The conditions that the new gateway node needs to satisfy still include: approach device a during the seek (scan); and isThe distance between the new gateway node and the device a is closest to other devices close to the device a; and the new gateway node should have sufficient resources to successfully network device a.
In view of the dynamic change of the underwater environment, which may cause the communication between the device a and the gateway node to be blocked and cause the abnormal disconnection of the network, it is necessary to handle the abnormal disconnection condition. Therefore, after step S240 in the present embodiment, the method further includes steps S245 to S247.
Step S245, performing network connection detection at preset time intervals, and determining whether to disconnect the network connection with the gateway node.
Step S246, if yes, sending a reconnection request to the gateway node.
Step S247, determining whether a reconfirmation response command of the gateway node is received within a second waiting period, and if so, reestablishing network connection with the gateway node.
After establishing network connection with the gateway node, the device a starts network connection detection. Wherein, a person skilled in the art can arbitrarily set a time interval for network connection detection according to actual needs to determine whether to disconnect the network connection with the gateway node. For example, the detection may be performed once every 1 second, once every 3 seconds, or once every 5 seconds, and the time interval for performing the network connection detection should not be construed as a limitation of the present invention.
The network disconnection condition may be an abnormal network disconnection, or may be that the device a actively initiates a network disconnection request. For the abnormal network disconnection condition, the device a may send a reconnection request command RES-REQ to the gateway node again and wait for a reconfirmation response command RES-ACK of the gateway node, and reestablish network connection with the gateway node again to recover communication. If the device a does not receive the re-acknowledgement response command RES-ACK of the gateway node within the second waiting period, the device a is considered to be disconnected from the gateway node, and the device a re-searches and searches for surrounding communication devices to find a new gateway node.
For other details of step S246 and step S247, reference may be made to the foregoing related description of step S241 to step S244 in the process of establishing a network connection, and for specific details of re-finding a new gateway node, reference may be made to the related description of step S210 to step S230, which is not described herein again.
After step S240, the present embodiment further provides a manner of unilaterally requesting to interrupt the connection, including step S251 to step S253.
Step S251, obtaining the position of the gateway node by a long-range ultrashort baseline positioning method according to a preset second scanning time period, so as to determine a current relative distance between the gateway node and the current node.
Step S252, determining whether the current relative distance is greater than the historical relative distance between the mesh node and the current node.
Step S253, sending a request for connection interruption to the gateway node to disconnect the network connection relationship with the gateway node.
After the device A and the gateway node successfully establish the network connection, a period of time t is set3The current position of the gateway node is obtained by a long-range ultrashort baseline positioning method, and the relative distance between the device a and the gateway node at the current time is further obtained. By comparing the current relative distance at the current time with the relative distance (historical relative distance) obtained last time, the movement relationship between the device a and the gateway node can be known. If the relative distance is known to be reduced after the two relative distances are compared, the fact that the equipment A is continuously close to the gateway node is indicated; if the relative distance is not changed, indicating that the equipment A and the gateway node keep relatively static, or indicating that the equipment A/the gateway node performs approximate circular motion by taking the gateway node/the equipment A as the circle center; if the relative distance increases, it indicates that the gateway node is far away from the device a, which may be caused by the device a moving away from the gateway node, may be caused by the gateway node moving away from the device a, or may be caused by both moving away from the device a.
If the relative distance is reduced or unchanged, the device a continues to be connected with the gateway node, and the emission angle of the laser emitter (blue-green laser emitter) is adjusted according to the relative position between the device a and the gateway node at the current moment. If the relative distance is increasing or the device a actively wants to disconnect, the device a sends a request for disconnecting to the gateway node, and disconnects the network connection with the gateway node. Similarly, if the gateway node actively wants to disconnect, the gateway node sends a connection interruption request to the device a, and disconnects the network connection with the device a.
Note that for any time interval or period in the above method (e.g., t above)1、t2、t3) Those skilled in the art can make modifications according to actual needs, e.g., t1Can be 1 second, can also be 2 seconds, can also be 3 seconds; in the same way, t22 seconds, 3 seconds or 4 seconds; t is t3The time may be 1 second, 3 seconds, or 5 seconds. . The manner in which the time intervals or time periods are set is not to be construed as a limitation of the present invention.
By the method, the following beneficial effects are achieved:
first, it has strong real-time performance. The accessed network nodes are searched through sound and distance, the mobility of the underwater network nodes and the limitation of underwater positioning are fully considered, the dynamic relation between communication devices is judged by the sound to select the optimal network access node, and the method can be applied to an underwater mobile network and form a dynamic communication network topological structure.
Secondly, the energy consumption is low and the network life is long. The equipment to be added is connected with the nodes when the equipment needs to be accessed into the network, and is distributed according to needs reasonably, so that the method is more suitable for large-scale underwater mobile networks. The energy consumption is reduced, the network connection can be released in time, the network saturation is avoided, and the service life of the network is prolonged. In addition, because the network is added according to the requirement, more devices can be given the opportunity of adding the network, and the network capacity is improved.
Third, it has higher security and confidentiality. On one hand, because the gateway node is dynamically selected based on relative movement, the problem that fixed nodes are adopted to cause locking or monitoring by illegal equipment can be avoided, and on the other hand, because blue-green laser is adopted for communication in the process of establishing network connection, the method has higher confidentiality compared with a mode of establishing a communication link by using underwater sound (sound is spread to all directions and is easy to monitor).
Fourthly, the cost is low and the reliability is high. By adopting the underwater operation equipment 10 of the embodiment, the underwater networking method can be realized, a large number of underwater base stations do not need to be constructed in a wide sea area, the cost is reduced, and the underwater networking method is easy to realize.
Third embodiment
The embodiment provides an underwater networking method which is applied to underwater communication equipment. Specifically, the method is a complete example based on the method described in the foregoing second embodiment, and there are two examples. In this embodiment, the underwater communication devices are all fixedly installed with an underwater sound transmitter, a hydrophone array, a blue-green laser transmitter, and an optical receiver to implement bidirectional network connection between the devices, that is, the underwater communication devices may be the underwater operation device 10 in the first embodiment.
In the first example, first, the device a to join the network actively searches for surrounding communication devices at the scanning time t1Within 1 second, the hydrophone on the device a actively receives the acoustic signal in the water every 0.5 second, performs signal processing on the received acoustic signal, and finds that there are 3 communication devices around. The relative distances between the 3 communication devices and the device A at 0.5 second and 1 second obtained by long-range ultrashort baseline positioning are respectively as follows:
wherein the content of the first and second substances,
respectively representing the relative distance between the 1 st device in the 3 devices and the device A at 0.5 second and 1 second;
respectively representing the relative distances between the 2 nd device in the 3 devices and the device A at 0.5 second and 1 second;
which respectively represent the relative distances between the 3 rd device of the 3 rd devices and the device a at 0.5 second and 1 second.
The distance change at the scanning time can result in the average speeds of the 3 devices being:
v1＝0.01m/s，v2＝5.24m/s，v3＝-5.26m/s。
wherein v is1、v2、v3Respectively, the average speed of the 3 devices over the scan time, with a negative sign indicating approaching device a.
It can be known from the above 3 speeds that the device approaching the device a is the 3 rd device of the 3 devices, and since other devices approaching the device a are not found, the 3 rd device is used as a gateway node for the device a to access the network.
The device A sends the network access request command REQ to the gateway node through the blue-green laser, and the gateway node immediately replies an acknowledgement frame ACK after receiving the REQ. After receiving the acknowledgement frame ACK, the device a waits for a period of time t2For 3 seconds to accept the connection response of the gateway node. During the waiting time the resources of the gateway node are sufficient, whereupon device a is assigned an address and generates a connection response command comprising the new address (ID) and the connection success status (SUC-CON), device a will successfully establish a connection with the gateway node and can start communication. To this end, the network is establishedAnd (4) working.
After the network connection is successful, a period of time t is set3And obtaining the coordinates of the gateway node by long-range ultrashort baseline positioning for 4s, and comparing the distance between the device A and the gateway node with the distance obtained last time. If the distance is reduced or unchanged, the device A continues to be connected with the gateway node, and the emission angle of the laser machine is adjusted according to the relative position of the device A and the gateway node at the moment. If the distance is increased or the device A actively wants to disconnect, the device A sends a request for disconnecting to the gateway node and disconnects the network connection with the gateway node.
In the second example, the device a finds that there are 5 communication devices around, and the distances between the 5 communication devices and the device a at 0.5s and 1s obtained through long-range ultra-short baseline positioning are respectively:
the speed of the 5 devices can be obtained from the distance change in the scanning time as follows:
v1＝0.18m/s，v2＝-6.10m/s，v3＝3.52m/s，v4＝3.52m/s，v5＝-5.84m/s。
according to the 5 speeds, it is known that the 2 nd and 5 th devices in the 5 devices all move in the direction close to the device a, so that the 2 nd and 5 th devices are used as nodes to be selected of the device a, and since the relative distance between the 5 th device and the device a is smaller than the relative distance between the 2 nd device and the device a when the scanning is finished, the 5 th device is used as a gateway node for accessing the device a to the network.
After the gateway node is determined, the network connection is established with the gateway node by adopting the method for establishing the network connection. Similarly, after the network connection is successful, the coordinates of the gateway node are acquired at intervals, and the relative distance between the device a and the gateway node is compared with the relative distance acquired last time to determine whether to continue to maintain the connection between the device a and the gateway node or to prepare to disconnect the network connection. If the relative distance is increased or the device a actively wants to disconnect, a request for disconnecting the connection is sent to the gateway node to disconnect the connection relationship with the gateway node.
Wherein, at 34 seconds after the device a establishes the network connection with the gateway node, the network is abnormally disconnected due to the communication between the device a and the gateway node being blocked, the device a re-transmits a re-connection command (RES-REQ) to the gateway node, and waits for a re-acknowledgement response command (RES-ACK) of the gateway node. If the device a does not receive the response, it is considered that the device a is disconnected from the gateway node, and the surrounding devices need to be searched again to find a new gateway node.
For other details in this embodiment, reference is further made to the related description in the foregoing embodiment, which is not repeated herein.
Fourth embodiment
Fig. 5 is a schematic diagram of functional modules of an underwater networking device 300. The underwater networking device 300 comprises a receiving module 310, a distance calculating module 320, a first screening module 330, a second screening module 340 and a communication module 350.
The receiving module 310 is configured to receive an acoustic signal in water.
A distance calculating module 320 for calculating a relative distance between the current device and the external device.
The first screening module 330 is configured to screen out, according to the relative distances at multiple times, an external device whose relative distance value is decreasing and/or unchanged, and use the external device as a node to be selected.
A second screening module 340, configured to determine a gateway node from the nodes to be selected, where the node to be selected with the smallest relative distance value at the current time is used as the gateway node.
And a communication module 350, configured to establish a network connection with the gateway node through the blue-green laser.
The implementation of the modules included in the underwater networking device 300 may refer to the relevant steps of the second embodiment and the third embodiment, and the device may further include other modules for implementing the steps executed by any one of the devices in the second embodiment and the third embodiment.
The distance calculation module 320 is further configured to obtain a current relative distance and a historical relative distance between the external device and the current device. The first screening module 330 is further specifically configured to use the external device whose current relative distance value is smaller than the last relative distance value as a candidate node.
The communication module 350 further includes a network access request module, a feedback module, a connection determination module, and a connection establishment module.
And the network access request module is used for sending a network access request command to the determined gateway node through the blue-green laser.
And the feedback module is used for receiving the confirmation frame fed back by the gateway node.
And the connection judging module is used for judging whether a connection response command sent by the gateway node is received in a first waiting time period.
And the connection establishing module is used for establishing a connection relation with the gateway node.
In this embodiment, the apparatus further includes: the device comprises a connection detection module, a reconnection request module, a reconnection judgment module and a reconnection establishment module.
And the connection detection module is used for carrying out network connection detection according to a preset time interval so as to judge whether the network connection with the gateway node is disconnected.
And the reconnection request module is used for sending a reconnection request to the gateway node.
And the reconnection judgment module is used for judging whether a reconfirmation response command of the gateway node is received in a second waiting time period.
And the reconnection establishing module is used for reestablishing network connection with the gateway node.
For other details of the apparatus in this embodiment, reference is further made to the related description of the method in the foregoing embodiment, which is not repeated herein.
The device can find the optimal network access node, equipment to be added loaded with the device is not limited by self positioning of the equipment when the equipment is accessed to the network, and whether the equipment is accessed to the network is determined based on relative motion information between the equipment and an external node, so that the problems of high consumption and low reliability of establishing a network underwater are solved, and the device has strong advantages in the aspects of cost, power consumption, network capacity and safety.
In addition to the above embodiments, an embodiment of the present invention further provides a communication device 100 (see fig. 6), where the communication device 100 may be any one of the above embodiments, for example, the underwater work device 10 such as a submarine, an underwater vehicle, and the like in the first embodiment, or may be a device or a node in the second embodiment and the third embodiment.
The communication device includes: a memory 101, a processor 102 and a bus, wherein the memory 101 stores machine-readable instructions executable by the processor 102, the processor 102 communicates with the memory 101 via the bus when the electronic device is running, and the machine-readable instructions are executed by the processor 102 to perform the method of any of the foregoing embodiments.
Further, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor 102, the computer program performs the method in the implementation manner in any of the above-mentioned embodiments.
In summary, the present invention provides an underwater networking method, an apparatus and a communication device, in which a gateway node is determined based on relative motion information between a device to be added and an external device node, and a blue-green laser is used as a carrier for establishing a communication link to establish a network connection with the gateway node. In the process of establishing network connection, on-demand connection is adopted, after network connection is successfully established, the relative distance between the current equipment and the gateway node and the network connection state are continuously detected, so as to determine whether connection needs to be established again with the gateway node, whether the gateway node needs to be determined again, or whether network connection needs to be interrupted unilaterally. The method has strong advantages in the aspects of instantaneity, power consumption, network service life, safety and confidentiality, cost and the like, can meet the dynamically-changed underwater environment, and establishes a mobile network underwater.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. "/" indicates or relationships.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. An underwater networking method applied to underwater communication equipment, the method comprising:
receiving acoustic signals in water to obtain the relative distance between the current equipment and at least one external equipment;
screening out external equipment with a reduced and/or unchanged relative distance value according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected;
determining a gateway node from the nodes to be selected, wherein the node to be selected with the minimum relative distance value at the current moment is used as the gateway node;
establishing network connection with the gateway node through blue-green laser;
obtaining the position of the gateway node through a long-range ultra-short baseline positioning system according to a preset second scanning time period so as to determine the current relative distance between the gateway node and the current node;
judging whether the current relative distance is greater than the historical relative distance between the gateway node and the current node;
and sending a request for interrupting the connection to the gateway node so as to disconnect the network connection relation with the gateway node.
2. The method of claim 1, wherein screening out external devices with decreasing and/or unchanged relative distance values according to the relative distances at a plurality of time instants as candidate nodes comprises:
for any external device, acquiring the current relative distance and the historical relative distance between the external device and the current device;
and taking the external equipment with the current relative distance value smaller than the last relative distance value as a node to be selected.
3. The method of claim 1, wherein said establishing a network connection with said gateway node via a blue-green laser comprises:
sending a network access request command to the determined gateway node through blue-green laser;
receiving an acknowledgement frame fed back by the gateway node;
judging whether a connection response command sent by the gateway node is received or not within a first waiting time period; and
and if so, establishing a connection relation with the gateway node.
4. The method of claim 3, wherein after the step of determining whether the connection response command sent by the gateway node is received, the method further comprises:
and if the connection response command sent by the gateway node is not received in the first waiting time period, the gateway node is determined again.
5. The method of claim 1, wherein after establishing the network connection with the gateway node via the blue-green laser, the method further comprises:
performing network connection detection according to a preset time interval, and judging whether to disconnect the network connection with the gateway node;
if yes, sending a reconnection request to the gateway node;
and judging whether a reconfirmation response command of the gateway node is received in a second waiting time period or not, and if so, reestablishing network connection with the gateway node.
6. The method of claim 1, wherein the underwater communication device is fixedly provided with a long-range and ultra-short-base line positioning unit, and the receiving of the acoustic signal in the water to obtain the relative distance between the current device and at least one external device comprises:
in a first scanning time period, the long-range ultrashort baseline positioning unit receives acoustic signals in water according to a certain time interval;
identifying the received acoustic signal to determine whether an external device is present; and
if so, obtaining the position of the external equipment by adopting a long-range ultrashort baseline positioning method;
and for any external device, obtaining the relative distance between the current device and the external device according to the position of the external device and the position of the current device.
7. An underwater networking device, the device comprising:
the receiving module is used for receiving acoustic signals in water;
the distance calculation module is used for calculating the relative distance between the current equipment and the external equipment;
the first screening module is used for screening out external equipment with reduced and/or unchanged relative distance values according to the relative distances at a plurality of moments, and taking the external equipment as a node to be selected;
the second screening module is used for determining gateway nodes from the nodes to be selected, wherein the node to be selected with the smallest relative distance value at the current moment is used as the gateway node;
the communication module is used for establishing network connection with the gateway node through blue-green laser;
the connection detection module is used for carrying out network connection detection according to a preset time interval so as to judge whether the network connection with the gateway node is disconnected;
a reconnection request module for sending a reconnection request to the gateway node;
the reconnection judgment module is used for judging whether a reconfirmation response command of the gateway node is received in a second waiting time period or not;
and the reconnection establishing module is used for reestablishing network connection with the gateway node.
8. The apparatus of claim 7, wherein the communication module further comprises:
the network access request module is used for sending a network access request command to the determined gateway node through the blue-green laser;
a feedback module, configured to receive an acknowledgement frame fed back by the gateway node;
the connection judging module is used for judging whether a connection response command sent by the gateway node is received in a first waiting time period;
and the connection establishing module is used for establishing a connection relation with the gateway node.
9. A communication device, comprising: a processor, a memory storing machine-readable instructions executable by the processor, the machine-readable instructions when executed by the processor performing the steps of the method of any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811266087.1A CN109088674B (en) | 2018-10-29 | 2018-10-29 | Underwater networking method and device and communication equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811266087.1A CN109088674B (en) | 2018-10-29 | 2018-10-29 | Underwater networking method and device and communication equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109088674A CN109088674A (en) | 2018-12-25 |
| CN109088674B true CN109088674B (en) | 2021-07-13 |
Family
ID=64844472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811266087.1A Active CN109088674B (en) | 2018-10-29 | 2018-10-29 | Underwater networking method and device and communication equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109088674B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110768909B (en) * | 2019-11-07 | 2021-02-26 | 吉林大学 | Routing method and device in underwater acoustic communication network |
| CN111416669B (en) * | 2020-03-11 | 2022-03-29 | 华南理工大学 | Underwater acoustic sensor network multi-buoy opportunistic routing method based on distance vector |
| CN112350776B (en) * | 2020-10-23 | 2021-10-08 | 军事科学院系统工程研究院网络信息研究所 | Acousto-optic hybrid underwater communication method based on optical fiber zooming |
| CN117200902B (en) * | 2023-11-07 | 2024-02-02 | 中国人民解放军总医院第一医学中心 | Underwater communication method and device based on intelligent mouthpiece and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101013926A (en) * | 2007-02-05 | 2007-08-08 | 华中科技大学 | Method and system for network communication of wireless sensor |
| CN101567728A (en) * | 2009-05-06 | 2009-10-28 | 华南理工大学 | Data transmission system and data transmission method for underwater acoustic network |
| CN106937348A (en) * | 2017-02-21 | 2017-07-07 | 青岛科技大学 | Underwater wireless Sensor Network network-building method and underwater wireless sensing net node device |
| CN107276684A (en) * | 2017-07-19 | 2017-10-20 | 河海大学常州校区 | Method of data capture based on AUV position predictions in underwater sensor network |
| CN107919918A (en) * | 2017-11-20 | 2018-04-17 | 中国人民解放军陆军工程大学 | The reliable acquisition method of Internet of Things data under a kind of mobile node auxiliary water |
| CN107994948A (en) * | 2017-12-30 | 2018-05-04 | 山东省科学院海洋仪器仪表研究所 | A kind of mobile Sink paths planning methods for underwater heterogeneous sensor network |
| CN108011981A (en) * | 2018-01-11 | 2018-05-08 | 河海大学常州校区 | High Availabitity method of data capture based on more AUV in underwater sensor network |
| CN108696926A (en) * | 2018-05-09 | 2018-10-23 | 河海大学常州校区 | A kind of underwater wireless sensor network cross-layer reliable data transmission method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9490911B2 (en) * | 2013-03-15 | 2016-11-08 | Fairfield Industries Incorporated | High-bandwidth underwater data communication system |
-
2018
- 2018-10-29 CN CN201811266087.1A patent/CN109088674B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101013926A (en) * | 2007-02-05 | 2007-08-08 | 华中科技大学 | Method and system for network communication of wireless sensor |
| CN101567728A (en) * | 2009-05-06 | 2009-10-28 | 华南理工大学 | Data transmission system and data transmission method for underwater acoustic network |
| CN106937348A (en) * | 2017-02-21 | 2017-07-07 | 青岛科技大学 | Underwater wireless Sensor Network network-building method and underwater wireless sensing net node device |
| CN107276684A (en) * | 2017-07-19 | 2017-10-20 | 河海大学常州校区 | Method of data capture based on AUV position predictions in underwater sensor network |
| CN107919918A (en) * | 2017-11-20 | 2018-04-17 | 中国人民解放军陆军工程大学 | The reliable acquisition method of Internet of Things data under a kind of mobile node auxiliary water |
| CN107994948A (en) * | 2017-12-30 | 2018-05-04 | 山东省科学院海洋仪器仪表研究所 | A kind of mobile Sink paths planning methods for underwater heterogeneous sensor network |
| CN108011981A (en) * | 2018-01-11 | 2018-05-08 | 河海大学常州校区 | High Availabitity method of data capture based on more AUV in underwater sensor network |
| CN108696926A (en) * | 2018-05-09 | 2018-10-23 | 河海大学常州校区 | A kind of underwater wireless sensor network cross-layer reliable data transmission method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109088674A (en) | 2018-12-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109088674B (en) | Underwater networking method and device and communication equipment | |
| US8099513B2 (en) | Streaming content from one or more production nodes or media player systems | |
| US20190053303A1 (en) | Cloud phone notifications | |
| CN105409187B (en) | Support the device and method that wireless docking operation is executed in the communication system of general plug-and-play protocol | |
| CN112235733B (en) | Multi-mobile robot cooperation method, device, system and medium | |
| JP5705030B2 (en) | Communications system | |
| US20130148645A1 (en) | Uplink synchronization method between terminal and base station | |
| US9350606B2 (en) | System and method for assigning server to terminal and efficiently delivering messages to the terminal | |
| JP6379629B2 (en) | Communication control device, wireless communication device, communication control method, and wireless communication method | |
| CN108684021B (en) | Bluetooth low-power-consumption communication method and device | |
| CN112566076B (en) | Robot request assistance method, device, robot and storage medium | |
| JP6136984B2 (en) | In-vehicle wireless communication device, wireless communication method, and program | |
| JP2018098637A (en) | Radio terminal and base station switching method | |
| CN106912042A (en) | A kind of robot network's connection method, system and robot | |
| KR20190062920A (en) | Hybrid underwater wireless communication apparatus and method thereof | |
| EP3082376B1 (en) | Network device discovery method and network device discovery system | |
| CN113059569A (en) | Multi-terminal interaction method, device and system | |
| JP2009303130A (en) | Wireless communication system | |
| CN111818458A (en) | Vehicle control method, vehicle control device, storage medium, electronic device, and activation device | |
| JP2005094157A (en) | Wireless communication method, wireless communication terminal accommodating apparatus, and wireless communication terminal | |
| CN115834641B (en) | Survey communication system and method | |
| CN112799010A (en) | Indoor positioning system and method | |
| CN111787640A (en) | Communication method and related product | |
| CN117032313A (en) | Unmanned aerial vehicle cluster formation control method, control device and unmanned aerial vehicle | |
| US20230103530A1 (en) | Intelligent remote control positioning and alert system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |