CN103700240A - Hydrographic measuring information wireless transmission system applicable to turbid shallow water and hydrographic measuring information wireless transmission method applicable to turbid shallow water - Google Patents
Hydrographic measuring information wireless transmission system applicable to turbid shallow water and hydrographic measuring information wireless transmission method applicable to turbid shallow water Download PDFInfo
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Abstract
The invention provides a hydrographic measuring information wireless transmission system applicable to turbid shallow water and a hydrographic measuring information wireless transmission method applicable to turbid shallow water. The system mainly comprises a detecting end, a relay end and an information processing center end; a scheme that data transmission is carried out by combining an underwater sound communication mode and a water wireless communication mode is disclosed, wherein measured sensor data is packed by a front data processing and controlling interface of the control end; information coding, modulating, emitting and receiving are completed by a water sound communication MODEM; data exchange is carried out between the measuring end and the relay end; data exchange between the water sound communication MODEM and a radio frequency module is realized at the relay end; finally, the sensor data is transmitted to the information processing center end by radio frequency wireless communication to be analyzed and processed in a unified manner, so that remote monitoring of hydrographic measuring information and remote control of measuring equipment are realized.
Description
Technical field
The invention belongs to underwater acoustic technology and communication technical field, particularly based on underwater sound communication and radio communication, realize the wireless transmitting system that information remote transmits.
Background technology
Along with the development of various underwater survey sensor technologies, a difficult problem that realizes the measurement of hydrological environment information solves substantially.But the remote transmission that realizes hydrographic survey information at muddy shallow waters is but very difficult, especially on the more navigation channel of navigating.Traditional employing underwater cable connects the method that realizes underwater information transmission, has safety issue that the underwater complex engineering-environment cable under conditions of high flow rate connects, the Cost Problems in remote transmission process, the damage problem navigated in navigation channel and the flexibility problem of research station point selection etc.Therefore, develop a kind of wireless transmitting system, realize muddy shallow water hydrographic survey information and replace there is cable data transmission under water by wireless transmission, have great importance.
Summary of the invention
The present invention, in order to solve the problems of the technologies described above, has proposed a kind of hydrographic survey information radio transmission system and method that is applicable to muddy shallow water in conjunction with underwater sound communication and wireless communication.
The present invention is achieved through the following technical solutions:
A kind of hydrographic survey information radio transmission system that is applicable to muddy shallow water, comprise end of probe, relay, information processing centre end, wherein, end of probe comprises survey sensor, data pre-process and control interface module and underwater sound communication MODEM-A, relay comprises radio-frequency communication module A and underwater sound communication MODEM-B, and information processing centre end comprises radio-frequency communication module B and shows controls platform, in data uplink process, survey sensor data complete data packing in data pre-process and control interface module, by by underwater acoustic channel, data being passed to the underwater sound communication MODEM-B of relay after underwater sound communication MODEM-A coded modulation, in relay, complete information water outlet and by radio-frequency communication module A, data are passed to the radio-frequency communication module B of information processing centre end, the demonstration control platform that radio-frequency communication module B sends data to information processing centre end completes data processing, storage, demonstration and monitoring, in data downstream process, information processing centre sends instruction, by the radio-frequency communication module B of information processing centre end, transfer data to the radio-frequency communication module A of relay, radio-frequency communication module A sends data to underwater sound communication MODEM-B by RS232 serial ports again, the information of realization enters water, then underwater sound communication MODEM-B by underwater acoustic channel by communication the underwater sound communication MODEM-A to end of probe, underwater sound communication MODEM-A passes to data pre-process and control interface module by RS232 serial ports by data and completes data and pack, data pre-process and control interface module are accessed or control survey sensor by RS485 serial ports.
A hydrographic survey information wireless transmission method that is applicable to muddy shallow water, specifically comprises system initialization process and hydrographic information measurement, transmission, procedure for displaying, and wherein initialization procedure comprises the following steps:
Step 1: parameter adaptive configuration initialization between the underwater sound communication MODEM-A of end of probe and the underwater sound communication MODEM-B of relay;
Step 2: after completing steps one, the end operating personnel of information processing centre control platform test radio-frequency communication module B by demonstration and show that between control platform, channel communication is normal, normal by radio-frequency communication module A and underwater sound communication MODEM-A and the channel communication between survey sensor normal, last test end of probe of the channel communication between the underwater sound communication MODEM-B of relay of radio-frequency communication module B TSTTRK test trunk end;
After completing above-mentioned initialization procedure, according to the communication protocol of this transmission system, realize measurement, the Wireless Data Transmission of hydrographic information, demonstration and the control of information processing centre end, specific implementation step is as follows:
Step 3: information processing centre end sends order, make a certain survey sensor or a plurality of survey sensor gather hydrographic information simultaneously, end of probe data pre-process and control interface module read survey sensor data and realize data encapsulation, by RS232 serial ports, packaged metrical information are transferred to the underwater sound communication MODEM-A of end of probe;
Step 4: the underwater sound communication MODEM-A of end of probe completes the underwater sound communication MODEM-B that transfers to relay after information coding by underwater acoustic channel, underwater sound communication MODEM-B is the radio-frequency communication module A to relay by the communication receiving, radio-frequency communication module A again by radio-frequency channel by communication the radio-frequency communication module B to information processing centre end;
Step 5: the radio-frequency communication module B of information processing centre end controls platform by communication to showing by RS232 serial ports, completes information processing and demonstration.
Further, the parameter adaptive configuration between the underwater sound communication MODEM-A of described end of probe and the underwater sound communication MODEM-B of relay, its implementation procedure specifically comprises the following steps:
Step 1: the underwater sound communication MODEM-A of end of probe and the underwater sound communication MODEM-B of relay power on;
Step 2: the underwater sound communication MODEM-A of end of probe adds the handshaking information of both sides' agreement according to transmitting cycle 3s, the emissive power 3dB step-length transmitted power gear information of successively decreasing;
Step 3: the underwater sound communication MODEM-B of relay receives and add up the bit error rate of corresponding each power gear, after completing whole gear information receptions, the minimum communication parameter configuration oneself of the bit error rate for the underwater sound communication MODEM-B of relay;
Step 4: the underwater sound communication MODEM-B of relay is sent to optimum communications parameter information the underwater sound communication MODEM-A of end of probe with the form of agreement, underwater sound communication MODEM-A completes self configuration according to the parameter information receiving.
The present invention can bring following beneficial effect:
The present invention is applied to the hydrographic information of shallow draft waterway and surveys, sensing point can be selected flexibly, utilize a pair of underwater sound communication node to realize underwater wireless transmission, relay is chosen to solution space and realizes information water outlet, utilize radio communication that metrical information is transferred to and shows control platform, thereby solved the problem that underwater sensor parameter information has the aspects such as cable transmission security, cost and research station point selection be dumb, Wireless Data Transmission has been realized end of probe and relay Long-distance Control.
Accompanying drawing explanation:
Fig. 1 is wireless transmitting system workflow diagram of the present invention;
Fig. 2 is underwater sound communication MODEM hardware circuit principle block diagram of the present invention;
Fig. 3 is FH-FSK Principle of Communication block diagram of the present invention;
Fig. 4 is that original communication speed of the present invention is the frequency hopping pattern that 240bps, frequency minimum interval are 80Hz;
Fig. 5 is that original communication speed of the present invention is the frequency hopping pattern that 240bps, frequency minimum interval are 480Hz;
Fig. 6 is that original communication speed of the present invention is the frequency hopping pattern that 160bps, frequency minimum interval are 480Hz;
Fig. 7 is underwater sound communication MODEM auto-adaptive parameter configuration effort process flow diagram of the present invention;
Fig. 8 is relay configuration underwater sound communication MODEM parameter instruction figure of the present invention;
Fig. 9 is relay inquiry underwater sound communication MODEM parameter instruction figure of the present invention;
Figure 10 is that relay underwater sound communication MODEM of the present invention uploads parameter instruction figure;
Figure 11 is that instruction figure is correctly replied in underwater sound communication MODEM configuration in relay of the present invention;
Figure 12 is that relay of the present invention underwater sound communication MODEM configuration error is replied instruction figure;
Figure 13 is end of probe configuration far-end underwater sound communication MODEM parameter instruction figure of the present invention;
Figure 14 is end of probe inquiry far-end underwater sound communication MODEM parameter instruction figure of the present invention;
Figure 15 is end of probe configuration/Returning sensor parameter instruction figure of the present invention;
Figure 16 is end of probe inquiry sensor parameters instruction figure of the present invention;
Figure 17 is end of probe access sensors data command figure of the present invention;
Figure 18 is end of probe return data instruction type figure of the present invention;
Description of reference numerals: end of probe (1), relay (2), information processing centre end (3), signal processing unit (4), simulating signal input are closed and put transducer (7), power supply unit (8) with processing unit (5), power amplification unit (6), transmitting-receiving.
Embodiment
Below in conjunction with accompanying drawing and instantiation, the present invention will be described in detail:
Fig. 1 is the wireless transmitting system workflow diagram of hydrographic survey information, and system comprises end of probe 1, relay 2, information processing centre end 3.Tcp data segment waterborne mainly adopts radio channel, and part adopts underwater acoustic channel under water, and more than the water surface, part adopts very high frequency(VHF) radio channel.End of probe 1 comprises survey sensor, data pre-process and control interface module and underwater sound communication MODEM-A, and relay 2 comprises radio-frequency communication module A and underwater sound communication MODEM-B, and information processing centre end 3 comprises radio-frequency communication module B and shows controls platform.In data uplink process, survey sensor data complete data packing in data pre-process and control interface module, by by underwater acoustic channel, data being passed to the underwater sound communication MODEM-B of relay 2 after underwater sound communication MODEM-A coded modulation, in relay, 2 complete information water outlet and by radio-frequency communication module A, data are passed to the radio-frequency communication module B of information processing centre end 3, and the demonstration control platform that radio-frequency communication module B sends data to information processing centre end 3 completes data processing, storage, demonstration and monitoring.In data downstream process, information processing centre sends instruction, by the radio-frequency communication module B of information processing centre end 3, transfer data to the radio-frequency communication module A of relay 2, radio-frequency communication module A sends data to underwater sound communication MODEM-B by RS232 serial ports again, the information of realization enters water, then underwater sound communication MODEM-B by underwater acoustic channel by communication the underwater sound communication MODEM-A to end of probe 1, underwater sound communication MODEM-A passes to data pre-process and control interface module by RS232 serial ports by data and completes data and pack, data pre-process and control interface module are accessed or control survey sensor by RS485 serial ports.
Wireless Data Transmission is realized by radio-frequency communication module, is chosen to be ND250A, Japanese former cartridge chip.
Data transmission realizes by underwater sound communication MODEM under water, and Fig. 2 is underwater sound communication MODEM hardware circuit principle block diagram.Underwater sound communication MODEM is mainly closed with processing unit 5, power amplification unit 6, transmitting-receiving by the input of signal processing unit 4, simulating signal and puts transducer 7,8 five parts of power supply unit form.Signal processing unit 4 is comprised of dsp chip and peripherals, control chip etc., and it is the maincenter of underwater sound communication MODEM, and dsp chip is selected TMS320C5509, and control chip is selected MPS4302618.Simulating signal input is mainly preposition module with processing unit 5, connects to receive and dispatch to close to put transducer 7, and the signal that power amplification unit 6 produces signal processing unit 4 amplifies and launches.
Underwater sound communication MODEM adopts frequency hopping frequency shift keying (FH-FSK) communication means, and Fig. 3 is FH-FSK Principle of Communication figure.In order to realize sane data transmission under water, adopt the FH-FSK communication system associating error-correcting code technique of incoherent processing.Although FSK noncoherent communication technology channel utilization is not as coherent communication, robustness is good, relatively low to hardware requirement, can to meet a lot of application requirement.FSK noncoherent communication technology is combined with frequency hopping and can be realized anti-many ways, anti-Doppler performance preferably.Utilize FFT/IFFT to realize digital modulation /demodulation; realize frequency quantity, the frequency interval of Frequency Hopping Signal, the flexible variation of frequency pulsewidth; can compatible Cyclic Prefix, the kinds of protect interval filling mode such as cyclic suffix, zero prefix; can in base band, realize multi-mode frequency hopping according to channel condition and performance requirement; there is the frequency hopping of raising performance; simplify frequency-hopping system design, reduce the effect of frequency-hopping system complexity.Transmitting terminal: after chnnel coding; according to frequency mapping table, be that frequency hopping pattern is mapped to information on each subcarrier; and insert frequency measurement signal; carry out N point IFFT, become time domain baseband signal, can insert the kinds of protect intervals such as Cyclic Prefix, cyclic suffix, zero prefix; rise sampling Q doubly; low-pass filtering, Digital Modulation, send D/A.Receiving end: after A/D, digital demodulation, doubly, N point FFT, becomes frequency domain baseband signal to down-sampled Q, extracts frequency measurement signal, measures frequency deviation corrected received signal, leaves out Cyclic Prefix or cyclic suffix, then according to the information extraction of frequency pattern, last channel decoding.
For anti-Dopplers different in system use procedure and anti-multipath performance requirement, design the frequency hopping pattern under several different conditions, i.e. frequency mapping sequential chart.Fig. 4, Fig. 5 are the frequency hopping pattern of original communication speed while being 240bps, in the design of two kinds of frequency hopping patterns shown in Fig. 4, Fig. 5, communication bandwidth is 5.12kHz, be divided into A, B, tri-large intervals of C, every large interval bandwidth df1 is 1600Hz, and each large interval is divided into a, b, c, d, five minizones of e, and minizone bandwidth is 320Hz, there are four frequency map points every minizone, and its frequency interval df2 is 80Hz.From the frequency hopping pattern shown in Fig. 4, Fig. 5, can find out, each symbol lengths is 25ms, and the cycle reusing with frequency range is 125ms, therefore can realize the anti-multipath performance of 100ms.From Fig. 4 frequency hopping pattern, can find out that between adjacent-symbol, frequency minimum interval is 80Hz, between Fig. 5 frequency hopping pattern adjacent-symbol, frequency minimum interval is 480Hz, so the frequency hopping pattern of Fig. 5 can be realized better anti-Doppler performance.Fig. 6 is original communication speed frequency hopping pattern while being 160bps.In the design of frequency hopping pattern shown in Fig. 6,5.12kHz communication bandwidth is divided into A, two large intervals of B, every large interval bandwidth df1 is 2240Hz, each large interval is divided into a, b, c, d, e, f, seven minizones of g, every minizone bandwidth is 320Hz, there are four frequency map points every minizone, and its frequency interval df2 is 80Hz.In frequency hopping pattern, each symbol lengths is 25ms, and the cycle reusing with frequency range is 175ms, therefore can realize the anti-multipath performance of 150ms.In Fig. 6, between frequency hopping pattern adjacent-symbol, frequency minimum interval is 480Hz, has good anti-Doppler performance.In addition, can design different frequency hopping patterns according to the characteristic of channel, adjust flexibly the relation between anti-multipath, anti-Doppler performance and traffic rate.
The performance index of Fig. 4, Fig. 5, Fig. 6 frequency hopping pattern are as shown in table 1:
Communication performance comparison under table 1 different carrier sequential
Underwater sound communication MODEM in the present invention has introduced auto-adaptive parameter adjustment modes, and this pattern is mainly in order to reduce the difficulty in user's use procedure.At present this cover underwater sound communication MODEM has mainly introduced the self-adaptation adjustment function of emissive power, two parameters of traffic rate, and Fig. 7 is underwater sound communication MODEM auto-adaptive parameter configuration effort process flow diagram.After system completes and lays, user can be by operation auto-adaptive parameter search button, underwater sound communication MODEM can complete communicating by letter of particular data with the combination of emissive power according to traffic rate, at receiving end, add up communication performance in various parameter combinations situations, after completing all parameter combinations search, choose the ready-made one group of parameter of communication performance and carry out data transmission under water.In addition, user can manually communicate the setting of MODEM parameter, searches out running parameter optimum on a certain communication environment.Manual configuration MODEM process need is artificially revised parameters, can increase operation easier, but advantage is to choose more excellent parameter combinations.
According to the information radio transmission system of hydrographic survey shown in Fig. 1 workflow, user can with PC, at information processing centre end 3, Long-distance Control relay 2, with end of probe 1 each module, realize the radio-frequency communication module B initialization of information processing centre end 3 in information processing centre, the underwater sound communication MODEM-A of the radio-frequency communication module A of relay 2 and underwater sound communication MODEM-B initialization, end of probe 1, survey sensor initialization, hydrographic information is measured and data transfer command is assigned.Information processing centre end 3, relay 2, end of probe 1 groundwork and flow process are as follows:
Information processing centre end 3 is mainly used in sending control command.When there being manual command, by RS232 serial ports, to radio-frequency communication module, send order, design the command menu that between a kind of optional time, the automatic repeating transmission of (10s～half an hour) is fetched data.Order is divided into two kinds: control the order of underwater sound communication MODEM and underwater sensor running parameter; Obtain the order of underwater sensor data.Information processing centre end 3 also receives data for decoding, storage, demonstration.When receiving the data under water that radio-frequency communication module RS232 serial ports transmits, carry out decoding terminals, storage, the demonstration of data under water.
Collection and information coding, modulation, underwater sound transmitting and order that end of probe 1 mainly completes hydrographic survey information receive.Figure 13 is respectively end of probe configuration far-end MODEM parameter instruction, inquiry far-end MODEM parameter instruction, the parameter instruction of configuration/Returning sensor, the instruction of inquiry sensor parameters, access sensors data command, return data organizational form to Figure 18.6 of RS485 serial ports, RS485 serial ports, in automatic regular polling state, initiatively reads connected underwater sensor data by end of probe sensor access interface, if the countless certificates of polled sensor are filled out a batch data.The decoding of RS232 serial port command.RS232 serial ports receives after order, first carries out command decoder, and judgement is the order of control interface block configuration or Modem configuration order, if Modem configuration order sends to underwater sound communication dem by RS232 serial ports.If the order of control interface block configuration, closes RS485 serial ports, carry out configuration order, by RS232 serial ports handshake communication mode, send to underwater sound communication Modem, then open RS485 serial ports.The instruction receiving when control interface module is, while configuring far-end MODEM parameter instruction or inquiry far-end MODEM parameter instruction, the sign 0xAC in instruction or 0xAE to be become respectively to 0xBC or 0xBE.And it is sent from serial ports.When control interface module RS232 serial ports receives MODEM and uploads parameter instruction, it is sent from RS232 serial ports.When the instruction receiving when control interface module is sensors configured parameter instruction, according to sensor ID number, configure corresponding sensor, now poll forbidding.When the instruction receiving when control interface module is access sensors parameter instruction, according to sensor ID number, obtain corresponding sensor parameters, write in Returning sensor parameter instruction, and send from serial ports.If poll, can generate six Returning sensor parameter instructions, and XXXX=sensor ID number, and send under admissible condition and send successively at underwater sound communication MODEM.When the instruction receiving when control interface module is access sensors data command, according to sensor ID number, organize data, write in return data organizational form, and write current frame number.It is sent under the condition of allowing and sent successively at underwater sound MODEM.
In sum, a set of wireless transmitting system that is applicable to muddy shallow water hydrographic survey information of the present invention is to combine to utilize radio communication and equipment that underwater sound communication carries out hydrographic data transmission.This system works is reliable and stable, solved tradition have existing security in cable data transmission, cost high, lay, navigate and destroy and the problem of the aspect such as research station point selection is dumb.
The present invention is not limited to above-mentioned embodiment, no matter its embodiment is done any variation, every employing enforcement structural design provided by the present invention, is all a kind of distortion of the present invention, all should think within the protection domain of invention.
Claims (3)
1. a hydrographic survey information radio transmission system that is applicable to muddy shallow water, it is characterized in that: comprise end of probe, relay, information processing centre end, wherein, end of probe comprises survey sensor, data pre-process and control interface module and underwater sound communication MODEM-A, relay comprises radio-frequency communication module A and underwater sound communication MODEM-B, and information processing centre end comprises radio-frequency communication module B and shows controls platform, in data uplink process, survey sensor data complete data packing in data pre-process and control interface module, by by underwater acoustic channel, data being passed to the underwater sound communication MODEM-B of relay after underwater sound communication MODEM-A coded modulation, in relay, complete information water outlet and by radio-frequency communication module A, data are passed to the radio-frequency communication module B of information processing centre end, the demonstration control platform that radio-frequency communication module B sends data to information processing centre end completes data processing, storage, demonstration and monitoring, in data downstream process, information processing centre sends instruction, by the radio-frequency communication module B of information processing centre end, transfer data to the radio-frequency communication module A of relay, radio-frequency communication module A sends data to underwater sound communication MODEM-B by RS232 serial ports again, the information of realization enters water, then underwater sound communication MODEM-B by underwater acoustic channel by communication the underwater sound communication MODEM-A to end of probe, underwater sound communication MODEM-A passes to data pre-process and control interface module by RS232 serial ports by data and completes data and pack, data pre-process and control interface module are accessed or control survey sensor by RS485 serial ports.
2. a hydrographic survey information wireless transmission method that is applicable to muddy shallow water, is characterized in that: specifically comprise system initialization process and hydrographic information measurement, transmission, procedure for displaying, wherein initialization procedure comprises the following steps:
Step 1: parameter adaptive configuration initialization between the underwater sound communication MODEM-A of end of probe and the underwater sound communication MODEM-B of relay;
Step 2: after completing steps one, the end operating personnel of information processing centre control platform test radio-frequency communication module B by demonstration and show that between control platform, channel communication is normal, normal by radio-frequency communication module A and underwater sound communication MODEM-A and the channel communication between survey sensor normal, last test end of probe of the channel communication between the underwater sound communication MODEM-B of relay of radio-frequency communication module B TSTTRK test trunk end;
After completing above-mentioned initialization procedure, according to the communication protocol of this transmission system, realize measurement, the Wireless Data Transmission of hydrographic information, demonstration and the control of information processing centre end, specific implementation step is as follows:
Step 3: information processing centre end sends order, make a certain survey sensor or a plurality of survey sensor gather hydrographic information simultaneously, end of probe data pre-process and control interface module read survey sensor data and realize data encapsulation, by RS232 serial ports, packaged metrical information are transferred to the underwater sound communication MODEM-A of end of probe;
Step 4: the underwater sound communication MODEM-A of end of probe completes the underwater sound communication MODEM-B that transfers to relay after information coding by underwater acoustic channel, underwater sound communication MODEM-B is the radio-frequency communication module A to relay by the communication receiving, radio-frequency communication module A again by radio-frequency channel by communication the radio-frequency communication module B to information processing centre end;
Step 5: the radio-frequency communication module B of information processing centre end controls platform by communication to showing by RS232 serial ports, completes information processing and demonstration.
3. a kind of hydrographic survey information wireless transmission method that is applicable to muddy shallow water according to claim 2, it is characterized in that: the parameter adaptive configuration between the underwater sound communication MODEM-A of described end of probe and the underwater sound communication MODEM-B of relay, its implementation procedure specifically comprises the following steps:
Step 1: the underwater sound communication MODEM-A of end of probe and the underwater sound communication MODEM-B of relay power on;
Step 2: the underwater sound communication MODEM-A of end of probe adds the handshaking information of both sides' agreement according to transmitting cycle 3s, the emissive power 3dB step-length transmitted power gear information of successively decreasing;
Step 3: the underwater sound communication MODEM-B of relay receives and add up the bit error rate of corresponding each power gear, after completing whole gear information receptions, the minimum communication parameter configuration oneself of the bit error rate for the underwater sound communication MODEM-B of relay;
Step 4: the underwater sound communication MODEM-B of relay is sent to optimum communications parameter information the underwater sound communication MODEM-A of end of probe with the form of agreement, underwater sound communication MODEM-A completes self configuration according to the parameter information receiving.
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| CN109526023A (en) * | 2019-01-02 | 2019-03-26 | 上海第二工业大学 | A kind of encapsulation and method of calibration of data packet |
| CN109526023B (en) * | 2019-01-02 | 2021-09-07 | 上海第二工业大学 | Data packet packaging and checking method |
| CN116980050A (en) * | 2023-08-01 | 2023-10-31 | 烟台海上航天科技有限公司 | Coupling data communication method and system for underwater induction |
| CN116980050B (en) * | 2023-08-01 | 2024-02-20 | 烟台海上航天科技有限公司 | Coupling data communication method and system for underwater induction |
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Application publication date: 20140402 |