CN102571902A - Wireless and underwater sound communication buoy - Google Patents
Wireless and underwater sound communication buoy Download PDFInfo
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- CN102571902A CN102571902A CN2011102246017A CN201110224601A CN102571902A CN 102571902 A CN102571902 A CN 102571902A CN 2011102246017 A CN2011102246017 A CN 2011102246017A CN 201110224601 A CN201110224601 A CN 201110224601A CN 102571902 A CN102571902 A CN 102571902A
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Abstract
The invention provides a wireless and underwater sound communication buoy, which is of a cordwood-type structure and comprises a VHF (Very High Frequency) antenna, a GPS (Global Positioning System) antenna, an antenna watertight base, a navigation light, a wireless support rod upper section, a hard polyurethane foam body, an antenna support rod lower section, a watertight electronic instrument cabin, a water-resistance load-bearing cable, a receiving/transmitting combined transducer and lead fish in sequence from top to bottom. The wireless and underwater sound communication buoy is characterized by further comprising a wireless communication module, an underwater sound communication module, a comprehensive controlling/processing module and a battery/power supply management and control module; the wireless communication module is used for realizing functions of a wireless communication data link layer and a physical layer; the water sound communication module is used for realizing the functions of an underwater sound communication data link layer and the physical layer; the comprehensive controlling/processing module is used for realizing the functions of a wireless and underwater sound communication network layer and an application layer and simultaneously realizes whole control on the buoy; and the battery/power supply management and control module is used for controlling, maintaining and managing a power supply.
Description
Technical field
The present invention relates to underwater sound communication, wireless network communication technique field, particularly a kind of wireless and underwater sound communication buoy.
Background technology
Since the nineties in last century, increasingly mature water sound communication technique has promoted the underwater sensing networks development.Because underwater sensor network (underwater sensor network) is in the important value in fields such as marine environmental monitoring, marine resources exploration, military surveillance and anti-terrorism be antisubmarine, each state all drops into strength and researches and develops relevant technology energetically.
The development of underwater sensor network presses for the control director of setting up water surface communication controller node such as boat-carrying, airborne or bank base) with underwater information node such as sensor array, unmanned ROV automatically, the bidirectional communication link of manned ROV etc. under water under water.Use advantages such as flexible, with low cost, that this bulk noise is little when receiving underwater sound signal owing to lay; Wireless/underwater sound communication (racom) buoy is to realize water surface conventional communication networks and the two-way communication of underwater information node solution preferably, is the key that water surface communication network and underwater sensing communication network interconnect.The SeaWeb project of the U.S. been has since nineteen ninety-six has been researched and developed wireless underwater sound communication of 4 generations (radio/acoustic communication:racom) gateway buoyage multiple radio communication equipments such as (equipment communication sonar and GPS receiver, line-of-sight transmission radio) communicating by letter with iridium satellite in succession, is used for the underwater sensing network is passed through communication and other network interconnection intercommunication.Wireless underwater sound communication buoy also is one of solution of USN's primary study in exploring the novel communication technology process of upgrading submarine.Can not find out relevant buoy structure in the existing document.
Domestic because Study of UWA Communication Technology lags behind abroad, does not have the underwater sound Modem of maturation, and the research of underwater sound communication sensing network also is in the starting stage, do not have as yet applicable wireless/the underwater sound communication buoy.External existing wireless/the underwater sound communication buoy can not use with other water surface website combined group nets that possesses radio communication function, can't adapt to the application scenario of networking; Its underwater sound communication operating distance nearly (less than 8km), the underwater sound communication reliability is low, traffic rate is single.
Summary of the invention
The objective of the invention is to,, a kind of dependable performance, simple to operate, the intelligent degree height of maintenance management are provided, can be used for the wireless and underwater sound communication buoy of the gateway node of underwater sound communication/sensing network for addressing the above problem.
For realizing above-mentioned purpose; A kind of wireless and underwater sound communication buoy provided by the invention; This buoy adopts modular construction; It is characterized in that said buoy comprises: VHF antenna, gps antenna, receipts/send out to close and put transducer, fish lead, wireless communication module, underwater sound communication module, Comprehensive Control/processing module and battery/power source management and control module;
Said wireless communication module is in order to realize wireless communication data link layer and physical layer function;
Said underwater sound communication module is in order to realize underwater sound communication data link layer and physical layer function;
Said Comprehensive Control/processing module in order to realize wireless and underwater sound communication network layer and application level function, realizes the integral body control to buoy simultaneously;
Said battery/power source management and control module are in order to realize power supply control, the maintenance and management to buoy.
In the technique scheme, said gps antenna and receipts/send out to close to put between the transducer also comprise from top to bottom successively: antenna watertight pedestal, navigation light, Module of aerial epimere, hard polyurethane foam buoyancy aid, Module of aerial hypomere, watertight electronics bay and the load-bearing cable that blocks water.
Said wireless communication module further comprises: wireless communication data link layer protocol submodule; Be used to accomplish the wireless communication data link layer functionality; Accomplish medium Access Layer and logical links sublayer function that data link layer comprises; Be implemented in the multi-hop peer-to-peer network and share the wireless channel access-in management under the single channel condition, accomplish frame synchronization and flow control; The wireless data modem submodule is accomplished buoy radio communication physical layer function; Wherein, said medium Access Layer layer function adopts the shared single channel of initiating based on making a start of MACAW agreement to share agreement, supports shared channel multi-hop peer-to-peer network; The frame synchronization function of said logical links sublayer is accomplished according to " frame head label detection " and " frame information CRC check ", and frame synchronization and frame information CRC check are accomplished simultaneously.
Said MACAW agreement is: increased data transmission frames corresponding to link layer data transmission frames acknowledgement frame (ACK) answer affirmation mechanism and denied frame (NACK); The received frame that can not discern to being disturbed is handled, and sets up the carrier wave detected state; The network congestion state is monitored according to the hardware/virtual carrier of adjacent node and is detected.
Said underwater sound communication module further comprises:
Underwater sound communication data link layer protocol submodule is used to accomplish the underwater sound communication data link layer functions, accomplishes medium Access Layer function, is implemented in the multi-hop peer-to-peer network and shares the underwater acoustic channel access-in management under the single channel condition.
Underwater sound communication physical layer process submodule; Be used to accomplish underwater sound communication physical layer process function, said physical layer process function specifically comprises: the modulation and demodulation function of underwater sound communication physical layer synchronization, the generation of underwater sound communication physical layer frame structure and parsing and underwater sound communication data.
Wherein, said medium Access Layer adopts the shared agreement of shared single channel of making a start and initiating based on the agreement of MACAW, supports shared channel multi-hop peer-to-peer network;
Said underwater sound communication physical layer frame structure comprises: a piece synchronous head and a grand frame; Said grand frame further comprises again: a grand frame head and several subframes; And said each subframe further comprises again: subframe head and sub-frame data.
Said synchronous head is the Direct-Spread symbol based on 9 rank Gold sequences of 4 QPSK modulation; Described grand frame head is the Direct-Spread symbol of 9 rank Gold sequences, and the data content of this grand frame head comprises 8 CRC checks of address information, frame type, messaging parameter and frame head information; Said subframe head adopts the Direct-Spread symbol of 9 rank Gold sequences, and the data content of this subframe head is a sub-frame data length.
Said underwater sound communication physical layer synchronization adopts comprehensive method for synchronous, and this comprehensive method for synchronous comprises:
Piece synchronous head search step gets into next step if detect the piece synchronous head, otherwise carries out the search of piece synchronous head again.
Grand frame head search step, spread spectrum demodulation is also realized synchronously when extracting the data of grand frame head.
Grand frame head data CRC check step is if check errors is got back to piece synchronous head search step, if verification correctly gets into next step.
The synchronous tracking step of subframe head, this step are used to accomplish the spread spectrum demodulation of subframe head and tracking synchronously.
The subframe processed steps, receive and the demodulation subframe in data, and whether grand frame finishes under judging, if also have untreated subframe then return a step, finishes until all subframe processing, returns the step that the piece synchronous head is searched for again.
Described underwater sound communication module: to the The data phase modulation technique greater than 1kbps, corresponding receiving terminal adopts the road distortion of the fractional spaced decision-feedback adaptive equalizer antagonism underwater sound; To The data Gold sequence tamed spread spectrum and pseudo random sequence Direct-Spread water sound communication technique less than 1kbps.
It is 63 the tamed spread spectrum water sound communication technique based on the Gold sequence that described underwater sound communication module has spreading ratio to the The data of 36bps.
The invention has the advantages that; Wireless underwater sound communication buoy integrated use water sound communication technique of the present invention, DSP signal processing technology and wireless network communication technique; Can realize water surface wireless communication node and move under water or the two-way many rate communications of static target are replied range finding with the underwater sound, can satisfy several data and transmit needs.Underwater sound communication module in the wireless underwater sound communication buoy corn module of the present invention and wireless underwater sound communication network layer and data link layer protocol are all realized with software mode; Upgrading, maintenance, test and use can be accomplished through software with the wireless remotecontrol mode at control station, intelligent degree height.Buoy of the present invention possesses fault self-checking and warning function, lays and reclaims conveniently.Buoy of the present invention can have very big popularizing application prospect as wireless underwater sound communication (racom) gateway node in underwater sound communication and the sensing network.
Description of drawings
Fig. 1 is wireless underwater sound communication buoy overall structure figure;
Fig. 2 is wireless underwater sound communication buoy functional module composition frame chart;
Fig. 3 is the underwater sound communication physical layer frame structure;
Fig. 4 is a piece synchronous head time-frequency process chart;
Fig. 5 is " comprehensive method for synchronous " process chart in the underwater sound communication physical layer process submodule;
Fig. 6 is 2kbps and 1kbps underwater sound communication data sending processing block diagram for speed;
Fig. 7 is 2kbps and 1kbps underwater sound communication Data Receiving Base-Band Processing block diagram for speed;
Fig. 8 is 36bps and 80bps underwater sound communication data sending processing block diagram for speed;
Fig. 9 is that 36bps and 80bps underwater sound communication Data Receiving are handled block diagram for speed;
Figure 10 is a 300bps underwater sound communication data sending processing block diagram for speed;
Figure 11 is that 300bps underwater sound communication Data Receiving is handled block diagram for speed;
Figure 12 is a underwater sound communication data link layer mac-layer protocol state transition diagram;
Figure 13 is the radio communication frame format;
Figure 14 is the frame synchronization process flow process of LLC layer in the wireless communication data link layer protocol submodule;
Figure 15 is a wireless communication data link layer mac-layer protocol state transition diagram;
Figure 16 is buoy signal processing/control circuit block diagram;
Figure 17 is the buoy mode of operation;
Figure 18 is the buoy block diagram for software modules.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is carried out detailed explanation.
A kind of wireless and underwater sound communication buoy provided by the invention; Can be used for the gateway node in wireless/underwater sound sensing/communication network; It is characterized in that; Described buoy also comprises: wireless communication module, this module mainly comprise wireless data modulator/demodulator and wireless communication data link layer protocol submodule, are used to support share single channel multi-hop equity cordless communication network; Underwater sound communication module, this module mainly comprise underwater sound communication physical layer process and underwater sound communication data link layer protocol submodule, are used to accomplish underwater sound communication physical layer and data link layer functions; Comprehensive Control and processing module, this module comprise underwater sound communication network layer protocol, cordless communication network layer protocol and data processing/system's control submodule, are used to realize the control and the processing capacity on buoy communication network layer and other upper stratas; Wireless/underwater sound communication the function of this buoy can realize two-way many rate communications between water surface wireless communication node and mobile or the stationary node under water; This buoy can realize two move under water or stationary node between communication.
Fig. 1 is wireless underwater sound communication buoy overall structure figure.The present invention adopts " cordwood system type " structure, mainly by VHF antenna 1, gps antenna 2, antenna watertight pedestal 3, navigation light 4, Module of aerial epimere 5, Module of aerial hypomere 8, hard polyurethane foam buoyancy aid 6, watertight electronics bay 11, the load-bearing cable 14 that blocks water, receive/send out and close several parts such as putting transducer 16 and fish lead 18 and form.
Whole buoy adopts the low-density resistant material to make; The watertight electronics bay is a watertight drum; Be the main body of this buoy, built-in instrument stan is used to install signal processing/control board and cabinet 19 thereof, VHF data radio station 20, lithium battery 21, power amplifier 22.The upper end of watertight electronics bay 11 connects Module of aerial epimere 5 and Module of aerial hypomere 8, also has test/self check/charging/mains switch/watertight interface 9, conveniently watertight electronic instrument below deck equipment charged and to test.4 meters of Module of aerial length are divided into two sections, connect watertight flange 7 through lower support bar on the antenna each other and connect.Module of aerial hypomere 8 is connected with watertight electronics bay watertight interface 10 through the Module of aerial hypomere with watertight electronics bay upper end.Module of aerial epimere 5 is equipped with antenna watertight pedestal 3, is used to install VHF antenna 1, gps antenna 2 and navigation light 4.Hard polyurethane foam buoyancy aid 6 is installed so that enough buoyancy to be provided in the Module of aerial appropriate location, is reduced ocean current, make whole buoy on the water surface, be vertical attitude the influence that buoy rocks.Watertight electronics bay lower end and electronics bay watertight chassis 12 are connected through the ring flange watertight.According to the hydrology and service condition, can select for use load-bearing cable 14 connections that block water of different length to receive/to send out to close and put transducer 16, to guarantee the underwater sound communication effect.Connect fish lead 18 through fish lead lifting rope 17 and reduce the whole center of gravity of buoy, stablize its attitude.
Present embodiment buoy integral material adopts low-density, anticorrosion aluminium to make.Watertight electronics bay 11 is a watertight drum, diameter 400mm, high 50mm, weight 32kg.Module of aerial epimere 5 and respectively 2 meters of Module of aerial hypomeres 8.
The receipts of present embodiment/send out to close and put 3 layers of assembly edge of underwater acoustic transducer 16 employings ring piezoelectric ceramic transducers, centre frequency 6kHz, working band 2k-10kHz, the interior transmitting voltage response of band is all more than 144dB.The transducer receiving sensitivity is greater than-185dB, and horizontal non-directive, the vertical angle of release of 3dB are 40 ° of 6kHz.Power amplifier and transducer system emission maximum sound source level can reach 196dB.
The receipts of present embodiment/send out to close and put the load-bearing cable 14 that blocks water that underwater acoustic transducer can cooperate 15 meters, 25 meters, 35 meters, 50 meters different lengths of different hydrological conditions use; The load-bearing cable 14 that blocks water connects watertight electronics bay 11 through electronics bay transducer cable watertight interface 13, transducer cable watertight interface 15, to guarantee communication efficiency.
Power amplifier/the matching network of present embodiment is PSW3500 type power amplifier/matching network, overall dimensions 315mm (D) * 154mm (H), frequency band 3kHz-9kHz; Rated output power is 1200W, weight 18kg, and stand-by power consumption is less than 0.1W; Working power 48V, electrical efficiency is greater than 85%.
The VHF data radio station 20 of present embodiment adopts the MDS-2710A data radio station of U.S. MDS company.This radio station volume 5.08 * 14.29 * 18.4cm, weight 1kg, receiving sensitivity is high by 10
-6-110dBm, transmitting power can reach 5W, working frequency range 220-240MHz, transmission rate can reach 9600bps, is convenient on buoy, install and use.The radio station fading margin can reach 45dB at least under the operational environment of system requirements, satisfy desired radio communication range of system and the requirement of transmission rate design objective.
The F200A-3 type antenna that VHF antenna 1 employing Beijing China news communication Co., Ltd of present embodiment provides is suitable on buoy, installing and using.
The low-power consumption Jupiter31 type GPS receiver that the GPS dash receiver of installing on the signal processing/control board of present embodiment adopts Beijing SDi Tech. Development Co., Ltd. to provide.This type GPS receiver, volume is little, and is low in energy consumption, collection radio frequency, base band and navigation calculation integrated design, positioning accuracy higher primary school is in 5m, and reliability is high, can adapt to abominable operational environment, can satisfy the requirement of buoy positioning index.
The gps antenna 2 of present embodiment is the outdoor gps antenna of NS-T11 of east couple stars Science and Technology Ltd..The antenna receiving gain is high, and physical size is little, is suitable on buoy, installing and using.
The lithium battery 21 of present embodiment is made up of the lithium battery of two different sizes: specification is that the lithium battery of 48V1600WH provides the power amplifier electricity consumption, and specification is that the lithium battery of 12V400WH is other power electronic equipment in the watertight electronics bay.Lithium battery 21 can guarantee that buoy can launch underwater sound signal 3 hours continuously, and total system can standby on duty 30 days.
Fig. 2 is that wireless underwater sound communication buoy function is formed module frame chart.The present invention totally adopts modularized design, and most of module all is to realize with software mode.
Present embodiment underwater sound communication module is supported 36bps, 80bps, and 300bps, 2kbps and 1kbps be totally 5 kinds of speed, and underwater sound communication operating distance can reach 15km farthest.
Underwater sound communication module of the present invention is for satisfying traffic rate and reliability requirement; For higher rate (＞1kbps) data; Adopt the higher phase modulation technique (PSK) of band efficiency, receiving terminal adopts the distortion of fractional spaced decision-feedback (FSE-DFE) adaptive equalization antagonism underwater acoustic channel; For (＜1kbps) data adopt pseudo random sequence Direct-Spread (DSSS) and based on the tamed spread spectrum water sound communication technique of Gold sequence than low rate.
Underwater sound communication module of the present invention adopts sane, quick " the comprehensive method for synchronous " based on spread spectrum; Can accomplish the physical layer Time and Frequency Synchronization simultaneously and upper layer frame synchronous; Reduced the system synchronization expense, can be implemented in than the function that channel estimating, equalizing training, channel real-time tracking can also be provided reliable synchronization the time under the low signal-to-noise ratio condition.
The underwater sound communication physical layer process submodule of present embodiment underwater sound communication module adopts " comprehensive method for synchronous "; Utilize direct sequence spread spectrum skill; With physical layer synchronously as zero-time synchronously, the frame synchronization on Frequency Synchronization and upper strata is designed for uniformity and handles, with net synchronization capability, the reduction overhead that improves system.
Fig. 3 is underwater sound communication physical layer frame structure figure.A physical frame is made up of a piece synchronous head and a grand frame, and a grand frame is made up of several subframes, and each subframe is made up of subframe head and sub-frame data.The piece synchronous head is responsible for accomplishing zero-time synchronously and Frequency Synchronization, and grand frame head is used to accomplish the frame synchronization on upper strata, and the subframe head is used for thin synchronous on the synchronous basic enterprising line time of piece synchronous head and frequency.The piece synchronous head is the Direct-Spread symbol based on 9 rank Gold sequences of 4 specific QPSK modulation, and receiving terminal judges that through detecting predefined spread symbol zero-time is synchronous; The skew of the Doppler frequency of picked up signal is estimated when spread symbol is carried out demodulation process.Fig. 4 is a piece synchronous head time-frequency process chart.Grand frame head has comprised very important information, and as above layer address information, frame type (voice, message data, link layer management data etc.) also adopt the mode of 9 rank Gold sequence Direct-Spreads to transmit these important information.In order to guarantee reliable frame synchronization, also added 8 CRC check bytes at each grand frame head end, its generator polynomial is x
8+ x
2+ x+1 is the 0 further reliability of data in the grand frame head of checking through judging residue that whether all data in the grand frame head are removed with this multinomial length, reaches the synchronous purpose of reliable frame.The subframe head is mainly used in data length in the indication subframe, and it also is a Gold sign indicating number Direct-Spread symbol.Because spread symbol has a very big processing gain (spreading gain is 18.05dB), its reliability is higher than the data of subsequent transmission far away.A subframe symbol that therefore, can spread spectrum demodulation be gone out as known data to the equalizer training.Fig. 5 is " comprehensive method for synchronous " process chart in the underwater sound communication physical layer process submodule.
(2kbps, speech data underwater sound communication module 1kbps) adopts coherent phase modulation communication technology to present embodiment for higher rate.Fig. 6 is the data underwater sound communication transmission processing block diagram of 2kbps and 1kbps for speed.The core of its underwater sound communication receiver is the fractional spaced sampling DFF (FSE-DFE) of embedded second-order PLL, and Fig. 7 is the data underwater sound communication reception Base-Band Processing block diagram of 2kbps and 1kbps for speed.Estimation to channel draws the initial parameter of equalizer according to grand frame head.Grand frame head data adopts " correlation method " can obtain channel estimating owing to be the spread symbol that adopts the Gold sign indicating number.If the channel response vector that channel estimating obtains:
In the formula
Be the most powerful path amplitude, the channel response coefficient satisfies the power normalization condition
The length of supposing feedforward and feedback filter is respectively N and M, then chooses N=2 * K+1, M=K-1, wherein K=max (K
1, K
2)+1.Feed-forward filter coefficients vector WF initialization value is:
Feedback filter coefficient vector WB initialization value is through obtaining WF with
convolution.In order to reduce the influence that channel estimation errors brings, improve system robustness, the training of the frame head data of equalizer after also verification will being passed through after the initialization.Below be that equalizer weight coefficient iterative algorithm is described:
The feedforward filter exponent number of supposing equalizer is 2N
1, feedback filter exponent number N
2, and make N=2N
1+ N
2The feedforward filter input signal is the sampling after the code element Waveform Matching, and sample rate is 2/T.The feedback filter input signal is a former bit decision signal, and sample rate is 1/T.T is a symbol period.Equalizer input signal is:
The output signal is before the equalizer judgement:
d(k)＝W
N(k)
HX
N(k)
Error signal does
The criterion of least mean-square error is to select optimum w
N(k), make cost function J (W) minimum:
Wherein, d (k) is a k transmission sign indicating number constantly, and λ is a forgetting factor.
Make that cost function J (W) is 0 with respect to the gradient of W, obtain the regular equation of least square method,
Φ
N(k)W
N(k)＝Λ
N(k)
Φ in the formula
N(k) be that the certainty correlation function N * N of filter input signal ties up matrix, Λ
N(k) be the certainty cross-correlation function that sends signal and filter input signal.So at k constantly, optimum filter coefficient vector is:
Tradition RLS algorithm with correlation function more new formula write as following formula
According to matrix inversion lemma, obtain:
For ease, incite somebody to action in the following formula
Count P
NAnd introduced kalman gain vector (k),
And
W
N(k)＝W
N(k-1)+K(k)(d(k)-W
N(k)
HR
N(k))
*
More than three formulas just constituted the RLS algorithm iteration equation that the equalizer weight coefficient upgrades.
Present embodiment adopts based on coherent phase modulation DSSS (DSSS) water sound communication technique transmission low-rate data for the low rate underwater sound communication; Make full use of the characteristics of the anti-frequency selective fading of spread spectrum; In order to overcome the interference of complicated multipath in the underwater acoustic channel, utilize the spread processing gain to improve the antijamming capability of transfer of data:
Present embodiment is for the data communication of 36bps and 80bps, and adopting spreading ratio respectively is 63 and 21 the tamed spread spectrum technology based on the Gold sequence, and wherein 36bps speed is mainly used in highly reliable measuring and control data communication and subaqueous sound ranging is replied in transmitting-receiving.At this moment; Because the single spread symbol time is much larger than the multipath expansion time; And the single spread symbol time is also much smaller than channel coherence time (being that channel is slow fading); Intersymbol interference can ignore (pseudo random sequence periodic auto-correlation function secondary lobe is approximately 0); Receiving terminal can use RAKE receiver to merge the energy (revising equal gain combining again according to each different time delay, amplitude and phase relation in footpath) of a plurality of RX paths, thereby realizes the time diversity of " implicit expression ", improves the reliability of receiver.Fig. 8 speed is that 36bps and 80bps underwater sound communication send the processing block diagram.Fig. 9 is that 36bps and 80bps underwater sound communication receive the processing block diagram for speed.Through dividing the way of a plurality of Doppler's passages,, select the maximum passage of correlation for the Doppler effect correction that receives signal as best Doppler effect correction passage at the frequency domain parallel search.
Present embodiment is for the message data communication of 300bps, and the employing spreading ratio is 7 m sequence Direct-Spread.Because single spread symbol time and channel multi-path temporal extension are suitable on the order of magnitude; At this moment; Intersymbol interference can not be ignored, and is not suitable for adopting RAKE receiver, but the single spread symbol time is still much smaller than channel coherence time; Receiver can be handled in despreading and obtain DFF of spread processing gain back cascade to offset intersymbol interference, and this algorithm computation amount is adapted at using in the buoy for a short time.Figure 10 handles block diagram for speed for the 300bps underwater sound communication sends.Figure 11 handles block diagram for speed for the 300bps underwater sound communication receives.
The underwater sound communication data link layer mac-layer protocol of present embodiment adopts based on the improved agreement of MACAW, and Figure 12 is a underwater sound communication data link layer mac-layer protocol state transition diagram, and its explanation sees the explanation of back Figure 15 for details.
The underwater sound of present embodiment is replied range finding and is adopted the low rate spread-spectrum underwater sound communication technology of 36bps to pass the range finding message.Range measurement principle is following:
Submarine sends " range finding message " with the spread-spectrum underwater sound communication mode to buoy, boat-carrying station or boat-carrying relay station; Pick up counting before sending message; in a single day buoy or boat-carrying station or boat-carrying relay station receive that the range finding message sends " range finding message answer to submarine at once ", submarine receives that " range finding message reply " then end timing.If submarine and buoy or boat-carrying station or boat-carrying relay station underwater sound signal propagation delay are T, " range finding message " and " the range finding message is replied " transmitting time all is t, and the system handles time-delay is ignored, and the submarine timer record time difference is Δ T, and the velocity of sound is c in the water, then:
ΔT＝(T+t)×2
Distance B is between Submarine Target and buoy or boat-carrying station or the boat-carrying relay station:
D＝(ΔT/2-t)/c 。
Wireless communication module of the present invention adopts very high frequency(VHF) (VHF) data radio station; The wireless communication data link layer adopts the mac-layer protocol based on MACAW; Support shared channel multi-hop peer-to-peer network, can form zonal radio communication multi-hop peer-to-peer network with other water surface node.
Wireless communication module in the present embodiment is mainly accomplished the multiplexing and demultiplexing to the frame of wirelessly transmitting data.Except that voice and message data, also have other configuration and the management information of system through wireless transmission data, these data flow multiplexings transmit in certain frame format, and receiving terminal parses various data according to this frame format.The wirelessly transmitting data frame structure is seen Figure 13, the region frame data that connects behind the frame head be this frame the actual payload data that will carry.Frame head is designated 1 byte data: 01111110, be used to identify the beginning of frame data.Address information is used for the forwarding of these frame data and handles totally 4 bytes.Frame type is designated 1 byte data, is used to identify the type of these frame data.Frame length indication: decide the length (unit is a byte) of the data that identify with two byte representation frame types according to the previous frame type.Frame head information is extremely important for follow-up processing, if mistake has appearred in frame head information in transmission, follow-up processing meeting is not right fully, and therefore, frame head information is made mistakes and can be regarded as OOF.Frame synchornization method is on the basis of frame head label detection, to combine the CRC check of frame head information to accomplish; Frame synchronization and frame head verification are accomplished simultaneously; Need not carry out ' transparence ' to the data after the frame head sign handles; Under the prerequisite that guarantees very low mistake frame synchronization probability (less than 1,000,000/), simplified system design, particular flow sheet is seen Figure 14.
Present embodiment is because the error control of wireless communication data link layer adopts forward error correction coding (FEC) to accomplish at the VHF data radio station; Flow control and data byte wait the LLC layer function to be realized by data radio station mostly synchronously; What therefore, wireless communication data link layer emphasis need design is the agreement of MAC sublayer (MAC) layer.Present embodiment wireless communication module data link layer mac-layer protocol adopts based on the improved agreement of MACAW.Agreement has QUIENT, IDLE, CONTEND, WFCTS, WFCONTEND, WFDS, WFDATA, WFACK and nine states of CD.Adopt RTS, CTS, RRTS, DS, DATA, ACK, seven kinds of Frames of NACK altogether.Wherein DATA, ACK and NACK are respectively that data transmission frames, data transmission frames acknowledgement frame and data transmission frames are denied frame.Figure 15 is the concrete state transition diagram of agreement.A representes that the handshake/setting of receiving non-node evades unaccounted timer expiry among the timer figure among the figure; All transferring to IDLE state "/" preceding from current state is the state transitions condition; " / " back be state transitions action in addition; when outside the WFDATA state, receiving the frame that can't discern, setting is evaded timer and is jumped to the QUIET state.
New Deal has been done following modification to adapt to the characteristics of operational network on former protocols having basis:
A, reply on the affirmation mechanism basis at link layer data transmission frames acknowledgement frame ACK; Increase data transmission frames and denied frame NACK; Can't realize the problem that can't automatically retransmit of data transmission frames DATA when disturbing itself to solve former protocols having, strengthen antijamming capability.
B, on former protocols having basis; Combined with hardware and virtual carrier sense/collision avoidance mechanism; Increased the processing to the unrecognizable received frame that is disturbed, protocol status has increased the hardware Carrier State and has detected (CD), to reduce the possible collision probability of communication between adjacent node.
C, simplified former agreement with backoff counter copy as the basis Network Based congested distributed data packet scheduling algorithm; Do not transmit between each node " index avoidance "; The network congestion state mainly leans on the hardware/virtual carrier of adjacent node to monitor and detects; Reduce complexity, improved the robustness of agreement operation.
For reducing power consumption, all signal processing algorithms of the present invention are all realized in fixed DSP, have realized water sound communication signal Processing Algorithm and the stable operation of wireless communication data link layer protocol software on fixed DSP.
The signal processing of present embodiment/control board adopts two DSP patterns, realizes that the communication system upper-layer protocol separates with the physical layer function of lower floor with control and treatment, is convenient to systems soft ware hierarchical-development, management.Most of core control treatment module of buoy such as underwater sound communication modulating/demodulating, data link layer and network layer protocol that wireless/underwater sound communication is relevant realize with software mode that all modification and upgrade maintenance are convenient, flexible.Setting and management to buoy can be accomplished through wireless remotecontrol or self check/test port, and can monitor critical piece information such as battery capacity in the buoy, power amplifier working condition in real time.Buoy possesses data logging (Datalogging) function, can the storage system work state information and the underwater sound/radio communication number or the original underwater sound collection/data that transmit in order to subsequent analysis.
The signal processing of present embodiment/control board block diagram is shown in figure 16.For reducing system handles computing power consumption; The core of signal processing/control circuit is selected 2 DSP:ADSP-BF548 and the ADSP-BF561 of the low-power consumption 16bit fixed DSP Blackfin series of ADI company for use; Work clock 600MHz, wherein ADSP-BF561 is double-core (dual-core) processor.Adopt two DSP structures both to be convenient to hardware circuit design and debugging, also help Design of software, realize that communication system upper-layer protocol and control and treatment separate with the lower floor physical layer function, be convenient to systems soft ware hierarchical-development, management and later maintenance upgrade.
The ADSP-BF548 peripheral data interface of the control of present embodiment and signal processing module circuit is numerous; The main control unit (MCU) of taking on system; Wherein mainly realize the function of buoyage management control and the wireless/underwater sound communication except that physical layer; Specifically comprise: wireless communication data link layer protocol, cordless communication network layer protocol, underwater sound communication data link layer protocol, underwater sound communication network layer protocol and data processing/system's control, totally 4 sub-module.3 RS-232 serial ports of ADSP-BF548 are connected with VHF data radio station, GPS receiver and test/self check port respectively, are connected with the SD storage card of 1Gbyte capacity through universal asynchronous receipts/make a start mouthful (UART).ADSP-BF561 has two kernels of handling; The computing ability is strong; Modulation (Modem) unit of taking on the water sound communication signal of system; Be responsible for water sound communication signal and handle, wherein mainly realize the function of underwater sound communication physical layer, specifically comprise: signals collecting/analog to digital conversion, signal generation/digital to analog conversion, underwater sound communication physical layer process 3 sub-module.The relevant link layer of the modulation of water sound communication signal and wireless/underwater sound communication and network layer communication agreement all are that the mode with software realizes, revise and the flexibility of upgrading very big.Because ADSP-BF561 need handle a large amount of signal datas, therefore external 32M SDRAM is as the data processing buffer memory.
The external FLASH ROM of 2 DSP of the signal processing of present embodiment/control board circuit has wherein stored the operation working procedure code of two DSP, is imported in the DSP internal memory by the read-only memory bootstrap among the DSP and moves in the system back that powers on.Link with mutual control and data message through synchronous serial data mouth (SPORT) mouth between 2 DSP, traffic rate reaches 4Mbps.ADSP-BF561 can control it by ADSP-BF548 and get into low-power consumption dormancy or normal operating conditions.
The signal processing of present embodiment/control board circuit does not match for avoiding the inside and outside data/address bus speed of DSP, improves the DSP service efficiency, and circuit A/D and D/A circuit all adopt A/D and the D/A chip with synchronous serial Peripheral Interface (SPI), i.e. AD7688 and DAC8830.Use the DMA passage of SPI port to transmit and receive data, need not intervene and control by DSP.For reducing power consumption, amplifier power supply, A/D and D/A module can be by its opening and closing of software control.
The signal processing of present embodiment/control board circuit receives and does not adopt automatic gain control (AGC) circuit in the signal imitation circuit for reducing circuit power consumption and complexity, and AGC realizes through software mode.Receiving circuit only provides rough 4 grades of amplifications (* 1, * 10, * 100, * 1000) through front end low noise amplifier able to programme, by ADSP-BF548 control, can set to make full use of the dynamic range of A/D module according to concrete communication distance.The opening and closing that receive the analog circuit power supply are also controlled by ADSP-BF548.
The signal processing of present embodiment/control board circuit when preventing high-power forceful electric power equipment work to the interference of weak current part; Two kinds of circuit use separately independently powered battery; Control between them and interactive signal all pass through light lotus root buffer circuit interface, prevent crosstalking between the two.
The SD card that links to each other with ADSP-BF548 in the signal processing/control board of present embodiment provides the function of data logging (Datalogging) to system; Can the storage system work state information and the underwater sound/wireless communication data or the original underwater sound collection/data that transmit in order to subsequent analysis, also can serve as interim metadata cache receiving the underwater sound/wireless data when temporarily can't transmit through the underwater sound/radio communication.
Signal processing/control board has all carried out comprehensive Design with other electronic units at aspects such as chip type selecting, signaling interface, mode of operations in the buoy of present embodiment, and to reduce power consumption as far as possible, the power efficiency when improving work can long-time work on duty.For improving electrical power efficiency; the buoy power amplifier has been used technology such as the processing of pulse area modulation (PSM) digital power, Zero-voltage converting digital Power Processing; in its Power Processing technology, used adaptive algorithm and the algorithm for estimating of handling small-signal in the communication technology, power-efficient reaches 85%-92%.The peak power output of power amplifier can reach 1200W (distortion factor is less than 2%), and stand-by power consumption is less than 0.1W.Signal processing in the buoy/control board circuit adopts low-power consumption fixed DSP signal processing technology, possesses sleep mode, and overall power is less than 2W under full speed mode of operation, and power consumption is less than 0.5W under the standby mode.
The present embodiment buoy is total to be awaited orders, moves and test/3 kinds of mode of operations of self check, and the buoy mode of operation is shown in figure 17.System awaits orders according to wire jumper configuration decision entering in the back that powers on or tests/Auto-Sensing Mode.
Under the present embodiment standby; the data radio station of buoy is in accepting state; have only main control unit (ADSP-BF548) to be in active state in signal processing/control board circuit; water sound communication signal modem module (ADSP-BF561) is in closed condition, corresponding power amplifier and signal acquiring system all are in closed condition, and total system is in low-power consumption (＜1W) holding state.Under standby; buoy can receive from cloth through data radio station and undock or the control of other control station or instruction is set; comprising: buoy address, wireless/the underwater acoustic network converting route is set; power amplifier and battery status information inquiry, read gps coordinate instruction and working mode change instruction.As start buoy by standby mode entering operational mode or test/Auto-Sensing Mode.
Under the present embodiment operational mode; buoy gets into normal operating conditions, and water sound communication signal modem module (ADSP-BF561) is opened, and power amplifier and underwater sound signal collection system open; can receive/launch water sound communication signal; transmit wireless or underwater sound communication data according to route forwarding table, through data radio station to master station transmitting system warning message, like battery power consumption deficiency, power amplifier overvoltage/overcurrent/excess temperature; Simultaneously, also can receive control command from data radio station, as read buoy battery capacity data, read gps coordinate, mode of operation switching etc.; Through data radio station self a few thing status data is reported master station, like power amplifier battery electric quantity, power amplifier work state information etc.
Present embodiment test/Auto-Sensing Mode is mainly used in each system mode of test buoy; As test water acoustical signal transmitting/receiving system, each interface of test signal processing/control circuit and with working condition of external equipment etc., buoy can link to each other with external computer through serial ports also can receive corresponding test/self-checking command through data radio station.
The present embodiment software configuration adopts layer mode to divide the Different software functional module with reference to the traffic model of ISO Open System Interconnection, is convenient to software development and upgrade maintenance, and the buoy block diagram for software modules is shown in figure 18.Buoy software is from be divided into main control unit (MCU) and water sound communication signal modem module (Modem) substantially.The main realization of main control unit (MCU) removed control and the processing more than the underwater sound communication physical layer, and water sound communication signal modem module (Modem) is then mainly accomplished the underwater sound communication physical layer function.Wherein, data-frame sync, data framing/separate the frame function are realized the radio communication physical layer function with data radio station in main completion of " communicating by letter with data radio station " submodule part and the station telecommunication process.For further raising system antijamming capability, prevent program " race flies ", in systems soft ware, be provided with " house dog " (Watch Dog) program.Program running occur any unusual after, with interior " house dog " program program is written at the longest 2s again and starts among the DSP, return to the initial launch state, improve the robustness of whole system running software.
Present embodiment can be applicable to the sea area of the degree of depth at 30m-150m.The maximum underwater sound communication operating distance of present embodiment can reach 15km, and the underwater sound communication data rate is optional, supports 36bps, 80bps, and 300bps, 1kbps and 2kbps, the maximum relative speed of transmit-receive platform is not higher than 12 joints during underwater sound communication; The wireless communication data link layer of buoy is supported shared channel multi-hop peer-to-peer network, can form zonal cordless communication network with other water surface node, and the maritime wireless communication distance is not less than 15km, and the error rate is less than 10
-6
It should be noted last that above embodiment is only unrestricted in order to technical scheme of the present invention to be described.Although the present invention is specified with reference to embodiment; Those of ordinary skill in the art is to be understood that; Technical scheme of the present invention is made amendment or is equal to replacement, do not break away from the spirit and the scope of technical scheme of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (9)
1. wireless and underwater sound communication buoy; This buoy adopts modular construction; It is characterized in that said buoy comprises: VHF antenna, gps antenna, receipts/send out to close and put transducer, fish lead, wireless communication module, underwater sound communication module, Comprehensive Control/processing module and battery/power source management and control module;
Said wireless communication module is in order to realize wireless communication data link layer and physical layer function;
Said underwater sound communication module is in order to realize underwater sound communication data link layer and physical layer function;
Said Comprehensive Control/processing module in order to realize wireless and underwater sound communication network layer and application level function, realizes the integral body control to buoy simultaneously;
Said battery/power source management and control module are in order to realize power supply control, the maintenance and management to buoy.
2. wireless and underwater sound communication buoy according to claim 1; It is characterized in that said gps antenna and receipts/send out to close to put between the transducer also comprise successively: antenna watertight pedestal, navigation light, Module of aerial epimere, hard polyurethane foam buoyancy aid, Module of aerial hypomere, watertight electronics bay and the load-bearing cable that blocks water from top to bottom.
3. wireless and underwater sound communication buoy according to claim 1 is characterized in that said wireless communication module further comprises:
Wireless communication data link layer protocol submodule; Be used to accomplish the wireless communication data link layer functionality; Accomplish medium Access Layer and logical links sublayer function that data link layer comprises; Be implemented in the multi-hop peer-to-peer network and share the wireless channel access-in management under the single channel condition, accomplish frame synchronization and flow control;
The wireless data modem submodule is accomplished buoy radio communication physical layer function;
Wherein, said medium Access Layer layer function adopts the shared single channel of initiating based on making a start of MACAW agreement to share agreement, supports shared channel multi-hop peer-to-peer network; The frame synchronization function of said logical links sublayer is accomplished according to " frame head label detection " and " frame information CRC check ", and frame synchronization and frame information CRC check are accomplished simultaneously.
4. wireless and underwater sound communication buoy according to claim 1 is characterized in that said MACAW agreement is:
Increase data transmission frames corresponding to link layer data transmission frames acknowledgement frame (ACK) answer affirmation mechanism and denied frame (NACK);
The received frame that can not discern to being disturbed is handled, and sets up Carrier State and detects;
The network congestion state is monitored according to the hardware/virtual carrier of adjacent node and is detected.
5. wireless and underwater sound communication buoy according to claim 1 is characterized in that said underwater sound communication module further comprises:
Underwater sound communication data link layer protocol submodule is used to accomplish the underwater sound communication data link layer functions, accomplishes medium Access Layer function, is implemented in the multi-hop peer-to-peer network and shares the underwater acoustic channel access-in management under the single channel condition;
Underwater sound communication physical layer process submodule; Be used to accomplish underwater sound communication physical layer process function, said physical layer process function specifically comprises: the modulation and demodulation function of underwater sound communication physical layer synchronization, the generation of underwater sound communication physical layer frame structure and parsing and underwater sound communication data;
Wherein, said medium Access Layer adopts the shared agreement of shared single channel of making a start and initiating based on the agreement of MACAW, supports shared channel multi-hop peer-to-peer network;
Said underwater sound communication physical layer frame structure comprises: a piece synchronous head and a grand frame;
Said grand frame further comprises again: a grand frame head and several subframes; And said each subframe further comprises again: subframe head and sub-frame data.
6. wireless and underwater sound communication buoy according to claim 5 is characterized in that, said synchronous head is the Direct-Spread symbol based on 9 rank Gold sequences of 4 QPSK modulation;
Described grand frame head is the Direct-Spread symbol of 9 rank Gold sequences, and the data content of this grand frame head comprises 8 CRC checks of address information, frame type, messaging parameter and frame head information;
Said subframe head adopts the Direct-Spread symbol of 9 rank Gold sequences, and the data content of this subframe head is a sub-frame data length.
7. wireless and underwater sound communication buoy according to claim 5 is characterized in that said underwater sound communication physical layer synchronization adopts comprehensive method for synchronous, and this comprehensive method for synchronous comprises:
Piece synchronous head search step gets into next step if detect the piece synchronous head, otherwise carries out the search of piece synchronous head again;
Grand frame head search step, spread spectrum demodulation is also realized synchronously when extracting the data of grand frame head;
Grand frame head data CRC check step is if check errors is got back to piece synchronous head search step, if verification correctly gets into next step;
The synchronous tracking step of subframe head, this step are used to accomplish the spread spectrum demodulation of subframe head and tracking synchronously;
The subframe processed steps, receive and the demodulation subframe in data, and whether grand frame finishes under judging, if also have untreated subframe then return a step, finishes until all subframe processing, returns the step that the piece synchronous head is searched for again.
8. wireless and underwater sound communication buoy according to claim 1 is characterized in that described underwater sound communication module:
To the The data phase modulation technique greater than 1kbps, corresponding receiving terminal adopts the road distortion of the fractional spaced decision-feedback adaptive equalizer antagonism underwater sound;
To The data Gold sequence tamed spread spectrum and pseudo random sequence Direct-Spread water sound communication technique less than 1kbps.
9. wireless and underwater sound communication buoy according to claim 1 is characterized in that, it is 63 the tamed spread spectrum water sound communication technique based on the Gold sequence that described underwater sound communication module has spreading ratio to the The data of 36bps.
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| CN201110224601.7A CN102571902B (en) | 2010-12-14 | 2011-08-05 | Wireless and underwater sound communication buoy |
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