CN109714728B - Integrative target monitoring system in sky sea - Google Patents
Integrative target monitoring system in sky sea Download PDFInfo
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- CN109714728B CN109714728B CN201910067125.9A CN201910067125A CN109714728B CN 109714728 B CN109714728 B CN 109714728B CN 201910067125 A CN201910067125 A CN 201910067125A CN 109714728 B CN109714728 B CN 109714728B
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Abstract
The invention provides a sky-sea integrated target monitoring system, which comprises: the system comprises an aerial monitoring network, a sea surface monitoring network and a seabed monitoring network, wherein the seabed monitoring network comprises seabed anchor nodes and AUV nodes distributed on the seabed, the sea surface monitoring network comprises a water surface buoy node and an unmanned ship node which are arranged on the sea surface, and the aerial monitoring network is an unmanned aerial vehicle ad hoc network; the air monitoring network, the sea surface monitoring network and the seabed monitoring network can be directly interacted with the onshore base station, and the air monitoring network and the seabed monitoring network can be interacted with each other through the sea surface monitoring network and the onshore base station through the sea surface monitoring network. The invention adopts a monitoring structure combining three networks of an air monitoring network, a sea surface monitoring network and a seabed monitoring network, can simultaneously acquire environmental data of the air, the sea surface and the seabed, and in addition, a plurality of transmission paths are constructed based on the three network interaction of the air monitoring network, the sea surface monitoring network and the seabed monitoring network, thereby enhancing the reliability of monitoring data transmission.
Description
Technical Field
The invention relates to the field of environmental monitoring, in particular to a sky-sea integrated target monitoring system.
Background
The current environment monitoring system is single and mainly comprises a sky environment monitoring system, a sea surface environment monitoring system and a seabed environment monitoring system, but the systems are independent of each other and lack data interaction, and the execution of the environment monitoring task by each system can only be realized by issuing a control instruction by a remote control module.
Each system is generally divided into a static monitoring network and a dynamic monitoring network, the static monitoring network needs to be provided with a large number of sensor units, and the monitoring area is extremely limited. The dynamic ad hoc network has high flexibility, but the data links lack stability, and the transmission reliability of the monitoring data is poor.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the technical problem, the invention provides a sky-sea integrated target monitoring system.
The technical scheme is as follows: the technical scheme for solving the technical problem is as follows:
a sea-sky integrated target monitoring system, comprising: an aerial monitoring network, a sea surface monitoring network and a seabed monitoring network; wherein the content of the first and second substances,
the seabed monitoring network comprises seabed anchor nodes and AUV nodes distributed on the seabed; the method comprises the following steps that a seabed anchor node is fixed in position and used for collecting seabed environment information in a communication range of the seabed anchor node, an AUV node runs in a working area according to a preset path, the AUV node serves as a routing node in the working area, networking information is broadcasted to surrounding seabed anchor nodes through underwater acoustic communication in the running process, the seabed anchor node creates a communication link to the AUV after receiving the networking information, and the collected seabed environment information is sent to the AUV node through the created communication link;
the sea surface monitoring network comprises a water surface buoy node and an unmanned ship node which are arranged on the sea surface; the water surface buoy nodes are distributed on the sea surface and move along with the wave fluctuation of the sea waves; the water surface buoy node has an underwater acoustic communication function and an LTE wireless communication function; after the information acquisition of the work area is finished, the AUV node floats to a shallow water area and interacts data with the water surface buoy node in the communication range through underwater acoustic communication; unmanned ship nodes are distributed on the sea surface and used as sea surface sensor nodes for collecting surrounding sea surface environment information; meanwhile, the unmanned ship node is used as a sea surface routing node, the unmanned ship node runs according to a preset path, the unmanned ship node continuously broadcasts networking information during running, after the water surface buoy node receives the networking information, a communication link to the unmanned ship node is established, and the collected seabed environment information is sent to the unmanned ship node; the unmanned ship node establishes a data communication link with the monitoring center through the onshore base station, uploads the acquired and collected data to the monitoring center, and receives task information issued by the monitoring center;
the aerial monitoring network is an unmanned aerial vehicle ad hoc network, each unmanned aerial vehicle node has a routing function, and a communication link can be established with other unmanned aerial vehicle nodes outside the communication range of the unmanned aerial vehicle node through a store-and-forward technology; the unmanned aerial vehicle node communicates with the shore base station through a satellite, transmits the acquired aerial data to the monitoring center through the shore base station, and receives a task instruction issued by the monitoring center; the unmanned aerial vehicle node is also used as a routing node of the air monitoring network and the sea surface monitoring network, and the unmanned aerial vehicle node establishes a data communication link with the unmanned ship node through electromagnetic wave communication, so that data interaction between the air monitoring network and the sea surface monitoring network is realized.
Furthermore, data are interacted between the AUV node and the unmanned ship node through underwater acoustic communication.
Furthermore, unmanned ship node carries wireless device of charging for it can to charge for AUV node and unmanned aerial vehicle node.
Furthermore, an ad hoc network is formed between the unmanned ship and the unmanned ship through a ZigBee technology, one or more main nodes which are parked on the sea surface are arranged in the ad hoc network of the unmanned ship, and the main nodes exchange data with a base station on the shore.
Further, the unmanned ship comprises a wireless ad hoc network module and a data protocol conversion module; the wireless ad hoc network module is used for realizing networking between the unmanned ship and networking between the unmanned ship and a water surface buoy node; the data protocol conversion module is used for converting the received cross-network data packet according to the protocol rule of the target network.
Has the advantages that: compared with the prior art, the invention has the following advantages:
1. the invention adopts a monitoring structure combining an air monitoring network, a sea surface monitoring network and a seabed monitoring network, and can simultaneously acquire air, sea surface and seabed environmental data;
2. the air monitoring network, the sea surface monitoring network and the seabed monitoring network can be directly interacted with the onshore base station, and meanwhile, the air monitoring network and the seabed monitoring network can be interacted with each other through the sea surface monitoring network and the onshore base station through the sea surface monitoring network, so that the reliability of monitoring data transmission is enhanced.
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Fig. 1 is a structural diagram of the sea-sky integrated target monitoring system.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a system architecture diagram of the present invention, and the system for monitoring a sky-sea integrated target according to the present invention includes:
an aerial monitoring network, a sea surface monitoring network and a seabed monitoring network; wherein, the first and the second end of the pipe are connected with each other,
the seabed monitoring network comprises seabed anchor nodes and AUV nodes distributed on the seabed; the method comprises the following steps that a seabed anchor node is fixed in position and used for collecting seabed environment information in a communication range of the seabed anchor node, an AUV node runs in a working area according to a preset path, the AUV node serves as a routing node in the working area, networking information is broadcasted to surrounding seabed anchor nodes through underwater acoustic communication in the running process, the seabed anchor node creates a communication link to the AUV after receiving the networking information, and the collected seabed environment information is sent to the AUV node through the created communication link;
the sea surface monitoring network comprises a water surface buoy node and an unmanned ship node which are arranged on the sea surface; the water surface buoy nodes are distributed on the sea surface and move along with the wave fluctuation of the sea waves; the water surface buoy node has an underwater acoustic communication function and an LTE wireless communication function; after the information acquisition of the work area is finished, the AUV node floats to a shallow water area and interacts data with the water surface buoy node in the communication range through underwater acoustic communication; unmanned ship nodes are distributed on the sea surface and used as sea surface sensor nodes for collecting surrounding sea surface environment information; meanwhile, the unmanned ship node is used as a sea surface routing node, the unmanned ship node runs according to a preset path, the unmanned ship node continuously broadcasts networking information during running, after the water surface buoy node receives the networking information, a communication link to the unmanned ship node is established, and the collected seabed environment information is sent to the unmanned ship node; the unmanned ship node establishes a data communication link with the monitoring center through the onshore base station, uploads the acquired and collected data to the monitoring center, and receives task information issued by the monitoring center;
the aerial monitoring network is an unmanned aerial vehicle ad hoc network, each unmanned aerial vehicle node has a routing function, and a communication link can be established with other unmanned aerial vehicle nodes outside the communication range of the unmanned aerial vehicle node through a store-and-forward technology; the unmanned aerial vehicle node communicates with the onshore base station through a satellite, transmits the acquired aerial data to the monitoring center through the onshore base station, and receives a task instruction issued by the monitoring center; the unmanned aerial vehicle node is also used as a routing node of the air monitoring network and the sea surface monitoring network, and the unmanned aerial vehicle node establishes a data communication link with the unmanned ship node through electromagnetic wave communication, so that data interaction between the air monitoring network and the sea surface monitoring network is realized.
The networking mode is flexible, the AUV nodes and the unmanned ship nodes are all nodes capable of conducting energy supplement, and compared with a static monitoring network, energy maintenance of all the nodes is more stable.
The above scheme has the following communication links:
1. in a communication link between the aerial monitoring network and the ground, the unmanned aerial vehicle node can directly interact with the ground base station through a satellite, and also can interact with the ground base station through other unmanned aerial vehicle nodes serving as routing nodes;
2. the unmanned ship node can be directly communicated with a shore base station or form an ad hoc network with other unmanned ship nodes, and the unmanned ship node close to the shore base station in the ad hoc network is communicated with the ground;
3. the seabed monitoring network passes through the communication link between sea surface monitoring network and the ground, and the composition of this link is: the system comprises a seabed anchor node, an AUV node, a water surface buoy node, an unmanned ship node and a shore base station; or a seabed anchor node-AUV node-water surface buoy node-unmanned ship node-other routing node-bank base station in the unmanned ship node ad hoc network;
4. the air monitoring network passes through the communication link between sea surface monitoring network and the ground, and the link constitution is: unmanned aerial vehicle node-unmanned ship node-shore base station, or unmanned aerial vehicle node-unmanned ship node-other routing node-shore base station in unmanned ship node ad hoc network;
5. the air monitoring network passes through the communication link between sea surface monitoring network and seabed monitoring network, and the link constitution is: unmanned aerial vehicle node-unmanned ship node-AUV node-seabed anchor node; or unmanned aerial vehicle node-unmanned ship node-surface buoy node-AUV node-seabed anchor node.
Furthermore, data are interacted between the AUV node and the unmanned ship node through underwater acoustic communication.
Furthermore, the unmanned ship node carries a wireless energy charging device for charging the AUV node and the unmanned plane node; the AUV node acquires the position of the unmanned ship through data interaction with the unmanned ship node, and navigates to the unmanned ship node through a navigation module of the AUV node for charging; and the unmanned aerial vehicle node acquires the position of the unmanned ship through data interaction with the unmanned ship node, and descends to the unmanned ship node for charging.
Furthermore, an ad hoc network is formed between the unmanned ship and the unmanned ship through a ZigBee technology, one or more main nodes which are parked on the sea surface are arranged in the ad hoc network of the unmanned ship, and the main nodes exchange data with a base station on the shore.
Further, the unmanned ship comprises a wireless ad hoc network module and a data protocol conversion module; the wireless ad hoc network module is used for realizing networking between the unmanned ship and networking between the unmanned ship and a water surface buoy node; the data protocol conversion module is used for converting the received cross-network data packet according to the protocol rule of the target network.
The invention adopts a monitoring structure combining an air monitoring network, a sea surface monitoring network and a seabed monitoring network, and can simultaneously acquire air, sea surface and seabed environmental data; the air monitoring network, the sea surface monitoring network and the seabed monitoring network can be directly interacted with the onshore base station, and meanwhile, the air monitoring network and the seabed monitoring network can be interacted with each other through the sea surface monitoring network and the onshore base station through the sea surface monitoring network, so that the reliability of monitoring data transmission is enhanced.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (3)
1. A sky-sea integrated target monitoring system, comprising: an aerial monitoring network, a sea surface monitoring network and a seabed monitoring network; wherein the content of the first and second substances,
the seabed monitoring network comprises seabed anchor nodes and AUV nodes distributed on the seabed; the method comprises the following steps that a seabed anchor node is fixed in position and used for collecting seabed environment information in a communication range of the seabed anchor node, an AUV node runs in a working area according to a preset path, the AUV node serves as a routing node in the working area, networking information is broadcasted to surrounding seabed anchor nodes through underwater acoustic communication in the running process, the seabed anchor node creates a communication link to the AUV after receiving the networking information, and the collected seabed environment information is sent to the AUV node through the created communication link;
the sea surface monitoring network comprises a water surface buoy node and an unmanned ship node which are arranged on the sea surface; the water surface buoy nodes are distributed on the sea surface and move along with the wave fluctuation of the sea waves; the water surface buoy node has an underwater acoustic communication function and an LTE wireless communication function;
after the information acquisition of the work area is finished, the AUV node floats to a shallow water area and interacts data with the water surface buoy node in the communication range through underwater acoustic communication; unmanned ship nodes are distributed on the sea surface and used as sea surface sensor nodes for collecting surrounding sea surface environment information; meanwhile, the unmanned ship node is used as a sea surface routing node, the unmanned ship node runs according to a preset path, the unmanned ship node continuously broadcasts networking information during running, after the water surface buoy node receives the networking information, a communication link to the unmanned ship node is established, and the collected seabed environment information is sent to the unmanned ship node; the unmanned ship node establishes a data communication link with the monitoring center through the onshore base station, uploads the acquired and collected data to the monitoring center, and receives task information issued by the monitoring center; the unmanned ship node also carries a wireless energy charging device for charging the AUV node and the unmanned plane node;
the aerial monitoring network is an unmanned aerial vehicle ad hoc network, each unmanned aerial vehicle node has a routing function, and a communication link can be established with other unmanned aerial vehicle nodes outside the communication range of the aerial monitoring network through a store-and-forward technology; the unmanned aerial vehicle node communicates with the onshore base station through a satellite, transmits the acquired aerial data to the monitoring center through the onshore base station, and receives a task instruction issued by the monitoring center; the unmanned aerial vehicle node is also used as a routing node of the air monitoring network and the sea surface monitoring network, and the unmanned aerial vehicle node establishes a data communication link with the unmanned ship node through electromagnetic wave communication to realize data interaction between the air monitoring network and the sea surface monitoring network;
the unmanned ship is provided with a wireless ad hoc network module and a data protocol conversion module; the wireless ad hoc network module is used for realizing networking between the unmanned ship and networking between the unmanned ship and a water surface buoy node; the data protocol conversion module is used for converting the received cross-network data packet according to the protocol rule of the target network.
2. The system for monitoring the heaven-sea integrated target according to claim 1, wherein data are interacted between the AUV node and the unmanned ship node through underwater acoustic communication.
3. The system for monitoring the heaven-sea integrated target according to claim 1, wherein the unmanned ship and the unmanned ship form an ad hoc network through a ZigBee technology, one or more main nodes which are parked on the sea surface are arranged in the ad hoc network of the unmanned ship, and the main nodes exchange data with an onshore base station.
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| CN111194024B (en) * | 2020-01-08 | 2021-12-21 | 中国电子科技集团公司电子科学研究院 | Maritime emergency communication system |
| CN111245920A (en) * | 2020-01-08 | 2020-06-05 | 中国电子科技集团公司电子科学研究院 | Marine ranching monitoring system |
| CN111181627A (en) * | 2020-01-08 | 2020-05-19 | 中国电子科技集团公司电子科学研究院 | Target detection system |
| CN111245945A (en) * | 2020-01-15 | 2020-06-05 | 北京工业大学 | Marine oil spilling supervisory systems based on buoy and unmanned aerial vehicle control |
| CN111426810B (en) * | 2020-05-11 | 2021-02-09 | 河海大学 | Air-space-ground-integration-oriented water environment monitoring system deployment method |
| CN112053591B (en) * | 2020-08-24 | 2022-07-29 | 大连海事大学 | Offshore three-dimensional linkage networking system of unmanned aerial vehicle group cooperative intelligent navigation mark |
| CN112556574A (en) * | 2020-11-26 | 2021-03-26 | 河北工程大学 | Water-air cooperative aqueduct crack detection and positioning method |
| CN112612212B (en) * | 2020-12-30 | 2021-11-23 | 上海大学 | Heterogeneous multi-unmanned system formation and cooperative target driving-away method |
| CN113347642B (en) * | 2021-04-30 | 2022-11-04 | 深圳智造谷工业互联网创新中心有限公司 | Deployment method of wireless communication network, electronic device and computer storage medium |
| CN114143915A (en) * | 2021-10-20 | 2022-03-04 | 深圳航天智慧城市系统技术研究院有限公司 | Sky-sea integrated communication system based on broadband satellite and implementation method |
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