CN102571902B - Wireless and underwater sound communication buoy - Google Patents
Wireless and underwater sound communication buoy Download PDFInfo
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- CN102571902B CN102571902B CN201110224601.7A CN201110224601A CN102571902B CN 102571902 B CN102571902 B CN 102571902B CN 201110224601 A CN201110224601 A CN 201110224601A CN 102571902 B CN102571902 B CN 102571902B
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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 development of underwater sensing network.Because underwater sensor network (underwater sensor network) is in the important value in the field such as marine environmental monitoring, exploration of ocean resources, military surveillance and anti-terrorism be antisubmarine, each state all drops into strength and researches and develops energetically relevant technology.
The development of underwater sensor network is in the urgent need to setting up water surface communication controller node as the control director of boat-carrying, airborne or bank base) with underwater information node as sensor array, unmanned aircraft automatically, the bidirectional communication link of manned aircraft etc. under water under water.Due to lay use flexible, with low cost, receive when underwater sound signal the advantages such as this bulk noise is little, wireless/underwater sound communication (racom) buoy is to realize water surface conventional communication networks and the good solution of underwater information node two-way communication, 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 4 wireless underwater sound communication of generation (radio/acousticcommunication:racom) gateway buoyages multiple radio communication equipments such as () equipment communication sonar and GPS receiver, line-of-sight transmission radio and iridium communications in succession, for by underwater sensing network by communication and other network interconnection intercommunication.One of solution of wireless underwater sound communication buoy Ye Shi USN primary study in exploration upgrading submarine Novel Communication technical process.In existing document, can not find out relevant buoy structure.
Domestic because Study of UWA Communication Technology lags behind abroad, there is no ripe underwater sound Modem, the research of underwater sound communication sensing network is also in the starting stage, not yet have applicable wireless/underwater sound communication buoy.External existing wireless/underwater sound communication buoy can not use with other water surface website network interworkings that possesses radio communication function, cannot adapt to the application scenario of networking; Its underwater sound communication operating distance nearly (being less than 8km), underwater sound communication reliability is low, traffic rate is single.
Summary of the invention
The object of the invention is to, for addressing the above problem, provide a kind of dependable performance, simple to operate, the intelligent degree of maintenance management is high, can be used for the wireless and underwater sound communication buoy of the gateway node of underwater sound communication/sensing network.
For achieving the above object, one provided by the invention is wireless and underwater sound communication buoy, this buoy adopts modular construction, it is characterized in that, described 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;
Described wireless communication module, in order to realize wireless communication data link layer and physical layer function;
Described underwater sound communication module, in order to realize underwater sound communication data link layer and physical layer function;
Described Comprehensive Control/processing module in order to realize wireless and underwater sound communication network layer and application level function, realizes the entirety control to buoy simultaneously;
Described battery/power source management and control module, in order to realize power supply control, the maintenance and management to buoy.
In technique scheme, described gps antenna and receipts/send out and close to put between transducer and also comprise successively from top to bottom: antenna watertight pedestal, navigation light, Module of aerial epimere, hard polyurethane foam buoyancy aid, Module of aerial hypomere, watertight electronics bay and the bearing cable that blocks water.
Described wireless communication module further comprises: wireless communication data link layer protocol submodule, be used for wireless communication data link layer functionality, complete media Access Layer and logical links sublayer function that data link layer comprises, realize at multi-hop peer-to-peer network and share the wireless channel access-in management under single channel condition, complete frame synchronization and flow control; Wireless data modem submodule, completes buoy radio communication physical layer function; Wherein, described media 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 described logical links sublayer completes according to " frame head label detection " and " frame information CRC check ", and frame synchronization and frame information CRC check complete simultaneously.
Described MACAW agreement is: increased data transmission frames corresponding to link layer data transmission frames acknowledgement frame (ACK) reply affirmation mechanism and denied frame (NACK); The disturbed received frame that can not identify is processed, set up carrier detect state; Network congestion state is monitored and is detected according to the hardware/virtual carrier of adjacent node.
Described underwater sound communication module further comprises:
Underwater sound communication data link layer protocol submodule, for completing underwater sound communication data link layer functions, completes media Access Layer function, realizes at multi-hop peer-to-peer network and shares the underwater acoustic channel access-in management under single channel condition.
Underwater sound communication physical layer process submodule, be used for underwater sound communication physical layer process function, described 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, the shared single channel that described media Access Layer adopts the agreement based on MACAW to make a start and initiates is shared agreement, supports shared channel multi-hop peer-to-peer network;
Described underwater sound communication physical layer frame structure comprises: a piece synchronous head and a grand frame; Described grand frame further comprises again: a grand frame head and several subframes; And described each subframe further comprises again: subframe head and sub-frame data.
Described 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, 8 CRC check that the data content of this grand frame head comprises address information, frame type, messaging parameter and frame originating point information; Described subframe head adopts the Direct-Spread symbol of 9 rank Gold sequences, and the data content of this subframe head is sub-frame data length.
Described underwater sound communication physical layer synchronization adopts comprehensive synchronous method, and this comprehensive synchronous method comprises:
Piece synchronous head search step, if detect that piece synchronous head enters next step, otherwise re-starts the search of piece synchronous head.
Grand frame head search step, spread spectrum demodulation is also realized when extracting the data of grand frame head synchronous.
Grand frame head data CRC check step, if check errors is got back to piece synchronous head search step, if verification correctly enters next step.
The synchronous tracking step of subframe head, the spread spectrum demodulation that this step has been used for subframe head with synchronize tracking.
The step of subframe processing, receives and the sub-intraframe data of demodulation, and under judgement, whether grand frame finishes, if also have untreated subframe, returns to previous step, until all subframe processing finish, then returns to the step of piece synchronous head search.
Described underwater sound communication module: to being greater than the data acquisition phase modulation technique of 1kbps, corresponding receiving terminal adopts fractional spaced decision-feedback adaptive equalizer antagonism underwater sound road distortion; To being less than data acquisition Gold sequence tamed spread spectrum and the pseudo random sequence Direct-Spread water sound communication technique of 1kbps.
Described underwater sound communication module is 63 the tamed spread spectrum water sound communication technique based on Gold sequence to the data acquisition of 36bps with having spreading ratio.
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 and the underwater sound are replied range finding, can meet several data transmission needs.Underwater sound communication module in 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 complete by software in wireless remotecontrol mode at control station, and intelligent degree is high.Buoy of the present invention possesses fault self-checking and warning function, lays and reclaims conveniently.Buoy of the present invention can, as wireless underwater sound communication (racom) gateway node in underwater sound communication and sensing network, have very large popularizing application prospect.
Brief description of the 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 underwater sound communication physical layer frame structure;
Fig. 4 is piece synchronous head time frequency processing flow chart;
Fig. 5 is " comprehensive synchronous method " process chart in underwater sound communication physical layer process submodule;
Fig. 6 is that speed is 2kbps and 1kbps underwater sound communication data sending processing block diagram;
Fig. 7 is that speed is 2kbps and 1kbps underwater sound communication data receiver Base-Band Processing block diagram;
Fig. 8 is that speed is 36bps and 80bps underwater sound communication data sending processing block diagram;
Fig. 9 is that speed is that 36bps and 80bps underwater sound communication data receiver are processed block diagram;
Figure 10 is that speed is 300bps underwater sound communication data sending processing block diagram;
Figure 11 is that speed is that 300bps underwater sound communication data receiver is processed block diagram;
Figure 12 is underwater sound communication data link layer mac-layer protocol state transition diagram;
Figure 13 is radio communication frame format;
Figure 14 is the frame synchronization process flow process of LLC layer in wireless communication data link layer protocol submodule;
Figure 15 is wireless communication data link layer mac-layer protocol state transition diagram;
Figure 16 is buoy signal processing/control circuit block diagram;
Figure 17 is buoy mode of operation;
Figure 18 is buoy block diagram for software modules.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail.
One provided by the invention is wireless and underwater sound communication buoy, 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 comprises wireless data modulator/demodulator and wireless communication data link layer protocol submodule, for supporting to share single channel multi-hop equity cordless communication network; Underwater sound communication module, this module mainly comprises underwater sound communication physical layer process and underwater sound communication data link layer protocol submodule, for completing underwater sound communication physical layer and data link layer functions; Comprehensive Control and processing module, this module comprises underwater sound communication network layer protocol, cordless communication network layer protocol and data processing/system control submodule, for realizing control and the processing capacity on buoy communication network layer and other upper stratas; This buoy wireless/underwater sound communication function can realize water surface wireless communication node and move under water or stationary node between two-way many rate communications; 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 bearing cable 14 that blocks water, receive/send out to close and put several parts such as transducer 16 and fish lead 18 and form.
Whole buoy adopts low-density resistant material to make, watertight electronics bay is a watertight drum, be the main body of this buoy, built-in instrument stan, for installing 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 with test/self-inspection/charging/mains switch/watertight interface 9, to facilitate, watertight electronic instrument below deck equipment is charged and is tested.4 meters of antenna mounting pole lengths, are divided into two sections, connect watertight flange 7 each other connect by lower support bar on antenna.Module of aerial hypomere 8 is connected with watertight electronics bay watertight interface 10 by Module of aerial hypomere with watertight electronics bay upper end.Module of aerial epimere 5 is provided with antenna watertight pedestal 3, for VHF antenna 1, gps antenna 2 and navigation light 4 are installed.Hard polyurethane foam buoyancy aid 6 is installed so that enough buoyancy to be provided in Module of aerial appropriate location, is reduced the impact that ocean current rocks buoy, make whole buoy on the water surface, be vertical attitude.Watertight electronics bay lower end is connected by ring flange watertight with electronics bay watertight chassis 12.According to the hydrology and service condition, can select the bearing cable 14 of blocking water of different length to connect to receive/send out to close and put transducer 16, to ensure underwater sound communication effect.Connect fish lead 18 by fish lead lifting rope 17 and reduce buoy entirety center of gravity, stablize its attitude.
The 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.Each 2 meters of Module of aerial epimere 5 and Module of aerial hypomere 8.
The receipts of the present embodiment/send out are closed and are put underwater acoustic transducer 16 and adopt 3 layers to spell edge ring piezoelectric ceramic transducers, centre frequency 6kHz, and working band 2k-10kHz, in band, transmitting voltage response is all more than 144dB.Be greater than-185dB of transducer receiving sensitivity, horizontal non-directive, the vertical angle of release of 3dB is 40 ° of@6kHz.Power amplifier and transducer system emission maximum sound source level can reach 196dB.
The receipts of the present embodiment/send out are closed and are put underwater acoustic transducer and can coordinate different hydrological conditions to use the bearing cable 14 that blocks water of 15 meters, 25 meters, 35 meters, 50 meters different lengths, the bearing cable 14 that blocks water connects watertight electronics bay 11 by electronics bay transducer cable watertight interface 13, transducer cable watertight interface 15, to ensure communication efficiency.
Power amplifier/the matching network of the 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, stand-by power consumption is less than 0.1W, working power 48V, and electrical efficiency is greater than 85%.
The VHF data radio station 20 of the present embodiment adopts the MDS-2710A data radio station of MDS company of the U.S..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 to install and use on buoy.Radio station fading margin can reach at least 45dB under the operational environment of system requirements, meets the desired radio communication range of system and the requirement of transmission rate design objective.
The F200A-3 type antenna that the VHF antenna 1 of the present embodiment adopts news communication Co., Ltd of Beijing China to provide, 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 the present embodiment adopts Beijing SDi Tech. Development Co., Ltd. to provide.This type GPS receiver, volume is little, low in energy consumption, collection radio frequency, base band and navigation calculation integrated design, positioning precision higher primary school is in 5m, and reliability is high, can adapt to severe operational environment, can meet the requirement of buoy location index.
The gps antenna 2 of the present embodiment is the outdoor gps antenna of NS-T11 of east couple stars Science and Technology Ltd..Antenna reception gain is high, and physical size is little, is suitable on buoy, installing and using.
The lithium battery 21 of the present embodiment is made up of the lithium battery of two different sizes: the lithium battery that specification is 48V1600WH provides power amplifier electricity consumption, and the lithium battery that specification is 12V400WH is other electronic equipment power supply in watertight electronics bay.Lithium battery 21 can ensure that buoy can launch underwater sound signal 3 hours continuously, and total system can standby on duty 30 days.
Fig. 2 is wireless underwater sound communication buoy function composition module frame chart.The present invention totally adopts modularized design, and most of module is all to realize with software mode.
The 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 meeting traffic rate and reliability requirement, for the data of higher rate (> 1kbps), 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 compared with the data of low rate (< 1kbps), adopt pseudo random sequence Direct-Spread (DSSS) and the tamed spread spectrum water sound communication technique based on Gold sequence.
Underwater sound communication module of the present invention adopts sane, quick " the comprehensive synchronous method " based on spread spectrum, can complete physical layer Time and Frequency Synchronization simultaneously and upper layer frame synchronous, reduce system synchronization expense, can realize the function that channel estimating, equalizing training, channel real-time tracking can also be provided in compared with reliable synchronization under Low SNR.
The underwater sound communication physical layer process submodule of the present embodiment underwater sound communication module adopts " comprehensive synchronous method ", utilize direct sequence spread spectrum skill, the frame synchronization on synchronous synchronous the as initial time of physical layer, Frequency Synchronization and upper strata is designed for uniformity and is processed, to improve net synchronization capability, the reduction overhead of 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.Piece synchronous head has been responsible for the synchronous and Frequency Synchronization of initial time, and grand frame head be used for the frame synchronization on upper strata, synchronously thin in the enterprising line time in the synchronous basis of piece synchronous head and frequency of subframe head.Piece synchronous head is the Direct-Spread symbol based on 9 rank Gold sequences of 4 specific QPSK modulation, and receiving terminal judges that by detecting predefined spread symbol initial time is synchronous; When spread symbol is carried out to demodulation process, the Doppler shift of picked up signal is estimated.Fig. 4 is piece synchronous head time frequency processing flow 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 ensure reliable frame synchronization, also add 8 CRC check bytes at each grand frame head end, its generator polynomial is x
8+ x
2+ x+1, by judging that residue that whether all data in grand frame head are removed with this multinomial length is 0 further to verify the reliability of data in grand frame head, reaches the synchronous object of reliable frame.Subframe head is mainly used in indicating data length in subframe, and it is also Gold code Direct-Spread symbol.Due to spread symbol have a very large processing gain (spreading gain is 18.05dB), its reliability is far away higher than the data of subsequent transmission.The subframe that therefore, spread spectrum demodulation can a be gone out symbol as known data to equalizer training.Fig. 5 is " comprehensive synchronous method " process chart in underwater sound communication physical layer process submodule.
The present embodiment adopts the coherent phase modulation communication technology for the speech data underwater sound communication module of higher rate (2kbps, 1kbps).Fig. 6 is that speed is the data underwater sound communication transmission processing block diagram of 2kbps and 1kbps.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 that speed is the data underwater sound communication reception Base-Band Processing block diagram of 2kbps and 1kbps.The initial parameter of equalizer draws the estimation of channel according to grand frame head.Grand frame head data, owing to being the spread symbol that adopts Gold code, adopts " correlation method " can obtain channel estimating.If the channel response vector that channel estimating obtains:
In formula
for most powerful path amplitude, channel response coefficient meets power normalization condition
the length of supposing feedforward and feedback filter is respectively N and M, 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 by by WF with
convolution obtains.The impact bringing in order to reduce channel estimation errors, improves system robustness, the training of the frame head data that equalizer also will be after verification after initialization.Below 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
2.Feedforward filter input signal is the sampling after code element Waveform Matching, and sample rate is 2/T.Feedback filter input signal is former bit decision signal, and sample rate is 1/T.T is symbol period.Equalizer input signal is:
Before equalizer judgement, output signal is:
d(k)＝W
N(k)
HX
N(k)
Error signal is
the criterion of least mean-square error is to select optimum w
n(k), make cost function J (W) minimum:
Wherein, d (k) is the transmission code in k moment, and λ is forgetting factor.
Making cost function J (W) is 0 with respect to the gradient of W, obtains the regular equation of least square method,
Φ
N(k)W
N(k)＝Λ
N(k)
Φ in 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 of transmitted signal and filter input signal.So in the k moment, optimum filter coefficient vector is:
Tradition RLS algorithm by correlation function more new formula write as following formula
According to matrix inversion lemma, obtain:
In above formula, for convenience, incite somebody to action
count P
n, and introduced kalman gain vector (k)
And
W
N(k)＝W
N(k-1)+K(k)(d(k)-W
N(k)
HR
N(k))
*
Above three formulas have just formed the RLS algorithm iteration equation that equalizer weight coefficient upgrades.
The present embodiment adopts based on coherent phase modulation direct sequence spread spectrum (DSSS) water sound communication technique transmission low-rate data for low rate underwater sound communication, make full use of the feature of the anti-frequency selective fading of spread spectrum, in order to overcome the interference of complicated multipath in underwater acoustic channel, utilize spread processing gain to improve the antijamming capability of transfer of data:
The present embodiment is for the data communication of 36bps and 80bps, and adopting respectively spreading ratio is 63 and 21 the tamed spread spectrum technology based on 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.Now, because the single spread symbol time is much larger than 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 negligible (pseudo random sequence periodic auto-correlation function secondary lobe is approximately 0), receiving terminal can use RAKE receiver to merge the energy (being revised equal gain combining again according to the different time delay in each footpath, amplitude and phase relation) of multiple RX path, thereby realize the time diversity of " implicit expression ", improve the reliability of receiver.Fig. 8 speed is 36bps and 80bps underwater sound communication transmission processing block diagram.Fig. 9 is that speed is 36bps and 80bps underwater sound communication reception & disposal block diagram.By dividing the way of multiple Doppler's passages, at frequency domain parallel search, select the passage of correlation maximum as best Doppler effect correction passage for the Doppler effect correction that receives signal.
The present embodiment, for the message data communication of 300bps, adopts the m sequence Direct-Spread that spreading ratio is 7.Because the single spread symbol time is suitable on the order of magnitude with channel multi-path temporal extension, at this moment, intersymbol interference can not be ignored, be not suitable for adopting RAKE receiver, but single spread symbol time or much smaller than channel coherence time, receiver can be processed and obtain the rear DFF of cascade of spread processing gain to offset intersymbol interference in despreading, and little being adapted at of this algorithm amount of calculation used in buoy.Figure 10 is that speed is 300bps underwater sound communication transmission processing block diagram.Figure 11 is that speed is 300bps underwater sound communication reception & disposal block diagram.
The underwater sound communication data link layer mac-layer protocol of the present embodiment adopts based on the improved agreement of MACAW, and Figure 12 is underwater sound communication data link layer mac-layer protocol state transition diagram, and its explanation refers to the explanation of rear Figure 15.
The underwater sound of the present embodiment is replied range finding and is adopted the low rate spread-spectrum underwater sound communication technology of 36bps to pass range finding message.Range measurement principle is as follows:
Submarine sends " range finding message " in spread-spectrum underwater sound communication mode to buoy, Ship Station or boat-carrying relay station, send the front beginning of message timing; send " range finding message reply to submarine at once once buoy or Ship Station or boat-carrying relay station are received range finding message ", submarine receives that " range finding message reply " end timing.If submarine and buoy or Ship Station or boat-carrying relay station underwater sound signal propagation delay are T, " range finding message " and " range finding message is replied " transmitting time is all t, and system is processed time delay and ignored, and the submarine timer record time difference is Δ T, and in water, the velocity of sound is c:
ΔT＝(T+t)×2
Between Submarine Target and buoy or Ship Station or boat-carrying relay station, distance B is:
D＝(ΔT/2-t)/c 。
Wireless communication module of the present invention adopts very high frequency(VHF) (VHF) data radio station, wireless communication data link layer adopts the mac-layer protocol based on MACAW, support shared channel multi-hop peer-to-peer network, can with the radio communication multi-hop peer-to-peer network of other water surface node compositing area.
Wireless communication module in the present embodiment mainly completes and demultiplexing multiplexing to the frame of wirelessly transmitting data.Data by wireless transmission except voice and message data, also systematic other configuration and management information, these data flow multiplexings transmit in certain frame format, receiving terminal parses various data according to this frame format.Figure 13 is shown in by wirelessly transmitting data frame structure, and the region frame data connecing after frame head is the actual payload data that this frame will carry.Frame head is designated 1 byte data: 01111110, and for identifying the beginning of frame data.Address information is for forward process totally 4 bytes of these frame data.Frame type is designated 1 byte data, for identifying the type of these frame data.Frame length instruction: determine the length (unit is byte) of the data that identify with two byte representation frame types according to previous frame type.Frame originating point information is extremely important for follow-up processing, if mistake has appearred in frame originating point information in transmission, follow-up processing meeting is completely not right, and therefore, frame originating point information is made mistakes and be can be regarded as OOF.Frame synchornization method is that the CRC check in conjunction with frame originating point information completes on the basis of frame head label detection, frame synchronization and frame head verification complete simultaneously, not needing that the data after frame head mark are carried out to ' transparence ' processes, under the prerequisite that ensures very low mistake frame synchronization probability (be less than 1,000,000/), simplified system, particular flow sheet is shown in Figure 14.
The present embodiment is because the error control of wireless communication data link layer adopts forward error correction coding (FEC) to complete at VHF data radio station, flow control and data byte the LLC layer function such as are synchronously realized by data radio station mostly, what therefore, wireless communication data link layer emphasis need to design is the agreement of MAC sublayer (MAC) layer.The 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 altogether RTS, CTS, RRTS, DS, DATA, ACK, seven kinds of Frames of NACK.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 state transition diagram that agreement is concrete.In figure, A represents that the handshake/setting of receiving non-node evades unaccounted timer expiry in timer figure, from current state is transferred to IDLE state "/", be all state transitions condition; " / " after be state transitions action in addition; in the time that WFDATA state is received the frame of None-identified outward, setting is evaded timer and is jumped to QUIET state.
New Deal has been done following amendment to adapt to the feature of operational network on original protocol basis:
A, reply on affirmation mechanism basis at link layer data transmission frames acknowledgement frame ACK, increase data transmission frames and denied frame NACK, with solve former protocols having cannot realize data transmission frames DATA itself when disturbed cannot autonomous retransmission problem, strengthened antijamming capability.
B, on original protocol basis, combined with hardware and virtual carrier sense/collision avoidance mechanism, increased the processing to disturbed unrecognizable received frame, protocol status has increased hardware Carrier State and has detected (CD), to reduce the possible collision probability of communicating by letter between adjacent node.
C, simplified former agreement with backoff counter copy as basis Network Based congested distributed data packet scheduling algorithm, between each node, do not transmit " index avoidance ", network congestion state is mainly monitored to detect by the hardware/virtual carrier of adjacent node, 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.
Signal processing/the control board of the present embodiment adopts two DSP patterns, realizes communication system upper-layer protocol and separates with the physical layer function of lower floor with controlling to process, and is convenient to systems soft ware hierarchical-development, management.The most of core control of buoy processing module all realizes with software mode as underwater sound communication modulating/demodulating, data link layer and network layer protocol that wireless/underwater sound communication is relevant, and amendment and upgrade maintenance are convenient, flexible.Setting to buoy and management can complete by wireless remotecontrol or self-inspection/test port, and the critical piece information such as battery capacity, power amplifier working condition in can Real-Time Monitoring buoy.Buoy possesses data logging (Datalogging) function, can 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.
Signal processing/control board block diagram of the present embodiment as shown in figure 16.For reduction system is processed 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, work clock 600MHz, wherein ADSP-BF561 is double-core (dual-core) processor.Adopt two DSP structures to be both convenient to hardware circuit design and debugging, be also conducive to the design of systems soft ware, realize communication system upper-layer protocol and control processing separating with 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 the present embodiment and signal processing module circuit is numerous, take on the main control unit (MCU) of system, wherein mainly realize that buoyage management is controlled and except physical layer wireless/function of underwater sound communication, 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 the control of data processing/system, totally 4 submodules.3 RS-232 serial ports of ADSP-BF548 are connected with VHF data radio station, GPS receiver and test/self-inspection port respectively, are connected with the SD storage card of 1Gbyte capacity by universal asynchronous receipts/make a start mouthful (UART).ADSP-BF561 has two kernels of processing, computing ability is strong, take on modulation /demodulation (Modem) unit of the water sound communication signal of system, be responsible for water sound communication signal processing, the function that wherein mainly realizes underwater sound communication physical layer, specifically comprises: signals collecting/analog to digital conversion, signal generation/digital to analog conversion, 3 submodules of underwater sound communication physical layer process.The link layer that the modulation /demodulation of water sound communication signal and wireless/underwater sound communication are relevant and network layer communication agreement are all to realize in the mode of software, and the flexibility of amendment and upgrading is very large.Because ADSP-BF561 need to process a large amount of signal datas, a therefore external 32M SDRAM is as data processing buffer memory.
External FLASH ROM of 2 DSP of signal processing/control board circuit of the present embodiment, have wherein stored the operation working procedure code of two DSP, after system powers on, are imported in DSP internal memory and are moved by the read-only memory bootstrap in DSP.Between 2 DSP, link to control alternately and data message by synchronous serial data mouth (SPORT) mouthful, traffic rate reaches 4Mbps.ADSP-BF561 can control it by ADSP-BF548 and enter low-power consumption dormancy or normal operating conditions.
Signal processing/control board circuit of the present embodiment is for avoiding the inside and outside data/address bus speed of DSP not mate, improve DSP service efficiency, 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.
Signal processing/control board circuit of the present embodiment, for reducing circuit power consumption and complexity, receives in signal imitation circuit and does not adopt automatic gain control (AGC) circuit, and AGC realizes by software mode.Receiving circuit only provides rough 4 grades of amplifications (× 1, × 10, × 100, × 1000) by front end low noise amplifier able to programme, is controlled by ADSP-BF548, can set to make full use of according to concrete communication distance the dynamic range of A/D module.The opening and closing that receive analog circuit power supply are also controlled by ADSP-BF548.
Signal processing/control board circuit of the present embodiment is the interference to weak current part when preventing the work of high-power forceful electric power equipment, 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 being connected with ADSP-BF548 in the signal processing/control board of the present embodiment provides the function of data logging (Datalogging) to system, can 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, in temporarily cannot forwarding by the underwater sound/radio communication, also can serve as interim data buffer storage receiving the underwater sound/wireless data.
In the buoy of the present embodiment, signal processing/control board and other electronic units have all carried out comprehensive Design at aspects such as chip type selecting, signaling interface, mode of operations, and to reduce power consumption as far as possible, the power efficiency while improving work, can long-time work on duty.For improving electrical power efficiency; buoy power amplifier has been applied the technology such as the processing of pulse area modulation (PSM) digital power, Zero-voltage converting digital Power Processing; used adaptive algorithm and the algorithm for estimating of processing small-signal in the communication technology in its Power Processing 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.In buoy, signal processing/control board circuit adopts low-power consumption fixed DSP signal processing technology, possesses sleep mode, and under full speed mode of operation, overall power is less than 2W, and under standby mode, power consumption is less than 0.5W.
The present embodiment buoy is total to be awaited orders, moves and test/3 kinds of mode of operations of self-inspection, and buoy mode of operation as shown in figure 17.After powering on, according to wire jumper, configuration determines to enter to await orders or test/Auto-Sensing Mode system.
Under the present embodiment standby; the data radio station of buoy is in accepting state; only have main control unit (ADSP-BF548) 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 are all in closed condition, and total system is in low-power consumption (< 1W) holding state.Under standby; buoy can be received from cloth and be undocked or the control of other control station or instruction is set by data radio station; comprising: buoy address, wireless/underwater acoustic network converting route are set; power amplifier and battery status information inquiry, read gps coordinate instruction and working mode change instruction.As start buoy and enter operational mode or test/Auto-Sensing Mode by standby mode.
Under the present embodiment operational mode; buoy enters normal operating conditions; water sound communication signal modem module (ADSP-BF561) is opened; power amplifier and underwater sound signal collection system are opened; can receive/launch water sound communication signal; according to route forwarding table forward wireless or underwater sound communication data, by data radio station to master station transmitting system warning message, as battery power consumption deficiency, power amplifier overvoltage/overcurrent/excess temperature; Meanwhile, also can receive the control command from data radio station, as read buoy battery capacity data, read gps coordinate, mode of operation switching etc.; By data radio station, a few thing status data of self is reported to master station, as power amplifier battery electric quantity, power amplifier work state information etc.
The present embodiment test/Auto-Sensing Mode is mainly used in testing the each system mode of buoy, as test water acoustical signal transmitting/receiving system, the each interface of testing signal process/control circuit and with working condition of external equipment etc., buoy can be connected and also can receive corresponding test/self-checking command by data radio station with external computer by serial ports.
The present embodiment software configuration, with reference to the traffic model of ISO Open System Interconnection, adopts the mode of layering to divide different software function modules, is convenient to software development and upgrade maintenance, and buoy block diagram for software modules as shown in figure 18.Buoy software is from being divided into substantially main control unit (MCU) and water sound communication signal modem module (Modem).Main control unit (MCU) is main to be realized except more than underwater sound communication physical layer control and processing, and water sound communication signal modem module (Modem) mainly completes underwater sound communication physical layer function.Wherein, " communicating by letter with data radio station " submodule part mainly complete with station telecommunication process in data-frame sync, data framing/solution frame function, realize radio communication physical layer function together with data radio station.For further improving system rejection to disturbance ability, prevent program " race flies ", in systems soft ware, be provided with " house dog " (Watch Dog) program.Program operation occur any abnormal after, in the longest 2s, " house dog " program can make program start in being again written into DSP, returns to initial launch state, improves the robustness of whole system running software.
The 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 the present embodiment can reach 15km, and underwater sound communication data rate is optional, supports 36bps, 80bps, and 300bps, 1kbps and 2kbps, when underwater sound communication, the maximum relative speed of transmit-receive platform is not higher than 12 joints; The wireless communication data link layer of buoy is supported shared channel multi-hop peer-to-peer network, can with the cordless communication network of other water surface node compositing area, maritime wireless communication distance is not less than 15km, 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 had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is modified or is equal to replacement, do not depart from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (6)
1. a wireless and underwater sound communication buoy, this buoy adopts modular construction, it is characterized in that, described 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;
Described wireless communication module, in order to realize wireless communication data link layer and physical layer function;
Described underwater sound communication module, in order to realize underwater sound communication data link layer and physical layer function;
Described Comprehensive Control/processing module in order to realize wireless and underwater sound communication network layer and application level function, realizes the entirety control to buoy simultaneously;
Described battery/power source management and control module, in order to realize power supply control, the maintenance and management to buoy;
Described wireless communication module further comprises:
Wireless communication data link layer protocol submodule, be used for wireless communication data link layer functionality, complete media Access Layer and logical links sublayer function that data link layer comprises, realize at multi-hop peer-to-peer network and share the wireless channel access-in management under single channel condition, complete frame synchronization and flow control;
Wireless data modem submodule, completes buoy radio communication physical layer function;
Wherein, described media 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 described logical links sublayer completes according to " frame head label detection " and " frame information CRC check ", and frame synchronization and frame information CRC check complete simultaneously;
Described underwater sound communication module further comprises:
Underwater sound communication data link layer protocol submodule, for completing underwater sound communication data link layer functions, completes media Access Layer function, realizes at multi-hop peer-to-peer network and shares the underwater acoustic channel access-in management under single channel condition;
Underwater sound communication physical layer process submodule, be used for underwater sound communication physical layer process function, described 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, the shared single channel that described media Access Layer adopts the agreement based on MACAW to make a start and initiates is shared agreement, supports shared channel multi-hop peer-to-peer network;
Described underwater sound communication physical layer frame structure comprises: a piece synchronous head and a grand frame;
Described grand frame further comprises again: a grand frame head and several subframes; And described each subframe further comprises again: subframe head and sub-frame data;
Described underwater sound communication module:
To being greater than the data acquisition phase modulation technique of 1kbps, corresponding receiving terminal adopts fractional spaced decision-feedback adaptive equalizer antagonism underwater sound road distortion;
To being less than data acquisition Gold sequence tamed spread spectrum and the pseudo random sequence Direct-Spread water sound communication technique of 1kbps.
2. wireless and underwater sound communication buoy according to claim 1, it is characterized in that, described gps antenna and receipts/send out and close to put between transducer and also comprise successively from top to bottom: antenna watertight pedestal, navigation light, Module of aerial epimere, hard polyurethane foam buoyancy aid, Module of aerial hypomere, watertight electronics bay and the bearing cable that blocks water.
3. wireless and underwater sound communication buoy according to claim 1, is characterized in that, described MACAW agreement is:
Increase data transmission frames corresponding to link layer data transmission frames acknowledgement frame (ACK) reply affirmation mechanism and denied frame (NACK);
The disturbed received frame that can not identify is processed, set up Carrier State and detect;
Network congestion state is monitored and is detected according to the hardware/virtual carrier of adjacent node.
4. wireless and underwater sound communication buoy according to claim 1, is characterized in that, described 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, 8 CRC check that the data content of this grand frame head comprises address information, frame type, messaging parameter and frame originating point information;
Described subframe head adopts the Direct-Spread symbol of 9 rank Gold sequences, and the data content of this subframe head is sub-frame data length.
5. wireless and underwater sound communication buoy according to claim 1, is characterized in that, described underwater sound communication physical layer synchronization adopts comprehensive synchronous method, and this comprehensive synchronous method comprises:
Piece synchronous head search step, if detect that piece synchronous head enters next step, otherwise re-starts the search of piece synchronous head;
Grand frame head search step, spread spectrum demodulation is also realized when extracting the data of grand frame head synchronous;
Grand frame head data CRC check step, if check errors is got back to piece synchronous head search step, if verification correctly enters next step;
The synchronous tracking step of subframe head, the spread spectrum demodulation that this step has been used for subframe head with synchronize tracking;
The step of subframe processing, receives and the sub-intraframe data of demodulation, and under judgement, whether grand frame finishes, if also have untreated subframe, returns to previous step, until all subframe processing finish, then returns to the step of piece synchronous head search.
6. wireless and underwater sound communication buoy according to claim 1, is characterized in that, described underwater sound communication module is 63 the tamed spread spectrum water sound communication technique based on Gold sequence to the data acquisition of 36bps with having spreading ratio.
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| CN201110224601.7A CN102571902B (en) | 2010-12-14 | 2011-08-05 | Wireless and underwater sound communication buoy |
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| CN201110224601.7A CN102571902B (en) | 2010-12-14 | 2011-08-05 | Wireless and underwater sound communication buoy |
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