CN108631885A - A kind of subsurface buoy is wireless real-time communication system and method - Google Patents
A kind of subsurface buoy is wireless real-time communication system and method Download PDFInfo
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- CN108631885A CN108631885A CN201810436635.4A CN201810436635A CN108631885A CN 108631885 A CN108631885 A CN 108631885A CN 201810436635 A CN201810436635 A CN 201810436635A CN 108631885 A CN108631885 A CN 108631885A
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- underwater acoustic
- subsurface
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- subsurface buoy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18513—Transmission in a satellite or space-based system
Abstract
The invention discloses a kind of wireless real-time communication system of subsurface buoy and methods, and the system comprises multiple underwater subsurface buoys and a water surface float；The underwater subsurface buoy includes multiple oceanographic observation equipment and subsurface buoy underwater acoustic communication set；Observation and record of the oceanographic observation equipment for realizing Marine Sciences data, the subsurface buoy underwater acoustic communication set are sent to water surface float for that will observe data；The water surface float includes buoy ontology and the buoy underwater acoustic communication set and satellite communication module that are arranged on buoy ontology, and the buoy underwater acoustic communication set receives the observation data that underwater subsurface buoy is sent by more primitive underwater acoustic transducer battle arrays；The data are sent back to data acquisition server by satellite communication module again.The system of the present invention is not due to having communication cable connection between subsurface buoy and buoy, the simple, high reliability with the mode that lays；The system elongates maintenance period of subsurface buoy of the present invention, can substantially reduce out the cost that ship safeguards subsurface buoy.
Description
Technical field
The present invention relates to field of underwater acoustic communication, and in particular to a kind of subsurface buoy is wireless real-time communication system and method are applied to
The real-time passback of oceanographic observation subsurface buoy data.
Background technology
Oceanographic observation subsurface buoy be mainly used for deep-sea marine site obtain long period Marine Sciences data, including submarine temperatures,
The information such as salinity, depth, flow rate and direction.Oceanographic observation subsurface buoy is usually laid on underwater hundreds of meters, a few kms even upper myriametres
Depth, the Marine Sciences data for observing different depth.The electromagnetic wave of routine, optic communication are serious due to decaying under water, nothing
Method realizes the information transmission of long range under water, therefore the observation data of subsurface buoy can not use the carry out such as traditional radio real-time
Transmission.Traditional oceanographic observation subsurface buoy data acquisition is mainly obtained by reading the data of observation device record after recycling subsurface buoy,
Going to sea, subsurface buoy is of high cost, heavy workload for recycling, and data acquisition cycle is long, delay is high.
The existing wireless real-time communication system of subsurface buoy mainly by the way of having cable, i.e., is observed subsurface buoy by communication cable
Data upload to water surface float, then data are transferred back to ground experiment room by the satellite communication module by being installed on water surface float.
The subsurface communication cable cost that the program uses is high, lays that process is complex, and long-term work encounters reliability after severe sea condition
It is poor, and when observation subsurface buoy depth reaches several kms even upper myriametre, these disadvantages can highlight more serious so that should
Scheme is more difficult in practical applications.Underwater sound communication is the unique effective hand for the underwater long-distance radio communication being currently known
Section.
Invention content
It is an object of the invention to be directed to existing subsurface buoy have in cable real-time communication system underwater long haul communication cable at
This height lays the shortcomings of difficulty, poor reliability, it is proposed that a kind of wireless real-time communication system of subsurface buoy utilizes water sound communication technique
The wireless communication between underwater subsurface buoy and water surface float is realized, subsurface buoy observation data are first transferred to the water surface by underwater sound communication
Data are transferred back to ground experiment room by buoy, buoy by satellite communication module again.This system between subsurface buoy and buoy due to not having
Communication cable connects, and it is simple to lay mode, and reliability is high, and the oceanographic observation subsurface buoy real time data that can be applied to various depth passes
It is defeated.
To achieve the goals above, the present invention proposes a kind of wireless real-time communication system of subsurface buoy, including multiple underwater latent
Mark and a water surface float；The underwater subsurface buoy includes multiple oceanographic observation equipment and subsurface buoy underwater acoustic communication set；The Oceanic View
Observation and record of the measurement equipment for realizing Marine Sciences data, the subsurface buoy underwater acoustic communication set are sent to for that will observe data
Water surface float；The water surface float includes buoy ontology and the buoy underwater acoustic communication set being arranged on buoy ontology and satellite communication
Module, the buoy underwater acoustic communication set receive the observation data that underwater subsurface buoy is sent by more primitive underwater acoustic transducer battle arrays；Again will
The data are sent back to data acquisition server by satellite communication module.
As a kind of improvement of above system, the oceanographic observation equipment includes acoustic Doppler fluid velocity profile instrument, thermohaline
Deep instrument and single-point current meter, the oceanographic observation equipment are connect by cable with subsurface buoy underwater acoustic communication set；The subsurface buoy underwater sound is logical
Letter machine is powered using the mode of external cell cabin parallel connection, and the battery flat is high-capacity lithium battery, supply voltage 24V.
As a kind of improvement of above system, the water surface float further includes 24V lithium batteries, is supplied for buoy underwater acoustic communication set
Electricity；24V voltages are converted to suitable voltage and powered for satellite communication module by the buoy underwater acoustic communication set, the satellite communication
Module is connect with buoy underwater acoustic communication set by RS232 serial ports, and the satellite communication module passes through coaxial cable and satellite communication
Antenna is connected with GPS antenna.
As a kind of improvement of above system, the subsurface buoy underwater acoustic communication set carries out data transmission with buoy underwater acoustic communication set
When, use MFSK when water surface float and underwater subsurface buoy shake hands the transmission of order；Data are observed when carrying out a large amount of subsurface buoys
Carried out data transmission using MFSK when QPSK can not complete data transmission using QPSK when transmission.
As a kind of improvement of above system, the buoy ontology is wave aerodone, from floatable buoy or autonomous type
Submarine navigation device.
Based on above system, the present invention proposes a kind of wireless real-time communication method of subsurface buoy, the method includes：
Step 1) initially enters work after the subsurface buoy observation data that subsurface buoy underwater acoustic communication set receives the transmission of oceanographic observation equipment
Make state, sends underwater sound wake-up signal and RTS message to buoy underwater acoustic communication set, include subsurface buoy cell voltage shape in this message
State；
After step 2) buoy underwater acoustic communication set receives wake-up signal, rational receiver gain is set according to current signal
With transmitting amplitude, and to subsurface buoy underwater acoustic communication set send CTS responses；After subsurface buoy underwater acoustic communication set receives CTS responses, according to response
The transmitting amplitude size for including in message sends subsurface buoy using QPSK and observes data；
Step 3) buoy underwater acoustic communication set is decoded verification after receiving subsurface buoy observation data, then to subsurface buoy underwater sound communication
If machine sends ACK message, enters step 5) without error code comprising check results in this message, otherwise, enters step 4)；
Step 4) subsurface buoy underwater acoustic communication set retransmits error code frame data with QPSK, and buoy underwater acoustic communication set receives retransmission data
And it is decoded verification, ACK message is sent to subsurface buoy underwater acoustic communication set, if also error code, subsurface buoy underwater acoustic communication set will accidentally
Code frame data are re-modulated with MFSK to be emitted；
Subsurface buoy status information, buoy status information, check results etc. are first passed through satellite by step 5) buoy underwater acoustic communication set
Communication module is sent to data acquisition server, then again sends out the subsurface buoy observation data that this is received by satellite communication module
It send to data acquisition server, is transmitted rear buoy underwater acoustic communication set and enters dormant state.
As a kind of improvement of the above method, the subsurface buoy underwater acoustic communication set is completed to record this work after a data are sent
Make daily record, powered-down to sleep state.
As a kind of improvement of the above method, if subsurface buoy underwater acoustic communication set time-out does not receive buoy underwater acoustic communication set
CTS message or ACK message, then subsurface buoy communication equipment is powered-down, and waiting re-starts after five minutes shakes hands with buoy underwater acoustic communication set
Communication, does not communicate successfully if restarted more than 3 times, abandons this data transmission, subsurface buoy underwater acoustic communication set enters suspend mode shape yet
State；Data are not received if any buoy underwater acoustic communication set time-out, then buoy underwater acoustic communication set is directly entered dormant state, waits for subsurface buoy
Underwater acoustic communication set sends wake-up signal again.
As a kind of improvement of the above method, further include in the step 2)：The buoy underwater acoustic communication set receives wake-up
RTS orders or message mistake are not received after signal, then it is assumed that be false wake-up, buoy reenters dormant state；The step 5)
Further include：If satellite communication module transmission data fails, enter dormant state after preserving the data packet that this sends failure；
After the success of satellite communication module transmission data next time, then the data packet for whether having and sending and failing is read, if there is then passing through
Satellite communication module sends the data packet, and dormant state is directly entered if not.
Further include the steps that test before the step 1) as a kind of improvement of the above method：Test pattern passes through
Deck test cell starts；Underwater sound wake-up signal is sent to subsurface buoy underwater acoustic communication set and start test life with deck test cell
It enables, subsurface buoy underwater acoustic communication set sends wake-up signal and RTS message after receiving test command to buoy underwater acoustic communication set, tests mould
The data that satellite communication module uploads under formula are the test data stored in subsurface buoy underwater acoustic communication set.
Advantage of the invention is that：
1, the wireless real-time communication system of subsurface buoy of the invention can realize the real-time passback of ocean subsurface buoy observation data, will be previous
The oceanographic observation data by can just be got after recycling subsurface buoy are needed to be become by playing back videos in order to play in real time；
2, system of the invention can realize the real-time passback of full subsurface buoy observation device, to scientific research of seas, marine environment
The important in inhibiting such as prediction, Marine Environmental Security guarantee with weather；
3, system of the invention is not due to having communication cable connection between subsurface buoy and buoy, have the mode that lays it is simple, can
The advantages that high by property；The uncontrollability of the factors such as weather and sea situation when due to operation on the sea, simply lays mode in sea
Upper deployment has great significance；
4, system of the invention can be applied to ocean, lake, in river various observation subsurface buoy data real-time passbacks, lay
After can work long hours 1 year to several years unattended, extend the maintenance period of subsurface buoy, can substantially reduce out ship safeguard it is latent
Target cost；
5, system of the invention lays 10 sets in December, 2017 in Western Pacific, observes Western Pacific's subsurface buoy
Net has carried out real time implementation upgrading, and real time data passback is stablized, and reality of the China to Western Pacific hydrologic(al) regime has been obviously improved
When monitoring capability, and it is horizontal to the forecast of the marine site marine environment critical parameter information to effectively improve China.
Description of the drawings
Fig. 1 is the structural schematic diagram of the underwater subsurface buoy of the communication system of the present invention；
Fig. 2 is the structural schematic diagram of the water surface float of the communication system of the present invention；
Fig. 3 is the work flow diagram of the communication system of the present invention；
Fig. 4 is the work flow diagram of the underwater subsurface buoy of the communication system of the present invention；
Fig. 5 is the work flow diagram of the water surface float of the communication system of the present invention.
Specific implementation mode
The present invention will be described in detail below in conjunction with the accompanying drawings.
System global structure
Subsurface buoy is wireless, and real-time communication system includes mainly two parts of underwater subsurface buoy and water surface float.Underwater subsurface buoy mainly by
Underwater acoustic communication set and oceanographic observation equipment composition, wherein oceanographic observation equipment mainly has acoustics doppler flow speed section plotter
(ADCP), conductivity-temperature-depth system (CTD), single-point current meter etc., underwater subsurface buoy mainly realize observation and the record of Marine Sciences data, together
When the underwater acoustic communication set in subsurface buoy sent the data to by cable, underwater acoustic communication set is sent out data by underwater sound communication
Give water surface float.Water surface float is mainly made of underwater acoustic communication set and satellite communication module, is received by underwater acoustic communication set underwater
The underwater sound communication data that subsurface buoy is sent, then the data are sent back to ground experiment room by satellite communication module.
Underwater submerged buoy system
The primary structure of underwater subsurface buoy passes through as shown in Figure 1, underwater acoustic communication set has the independent RS-232 data-interfaces of two-way
Watertight cable connection can receive the data of two Taiwan Straits ocean observation devices, is connected to two ADCP in Fig. 1, is charged certainly inside ADCP
Pond is not necessarily to externally fed.Underwater acoustic communication set is powered using the mode of external cell cabin parallel connection, and high-capacity lithium ion battery is equipped in battery flat
The dormancy power consumption of battery, supply voltage 24V, underwater acoustic communication set is about 10mW, and the underwater sound communication energy consumption ratio under high-speed mode is
0.005J/bit is 0.09J/bit under low-speed mode, can be increased according to application demands such as different data amount, operating times and be added deduct
The configuration of few battery flat.Underwater acoustic communication set can long-term work under water, usually can continuous work 1 year to several years.
Water surface float structure
Water surface float system is as shown in Fig. 2, mainly including underwater acoustic communication set, more primitive underwater acoustic transducer battle arrays (with 4 bases in figure
For member), satellite communication module (include GPS module), satellite communication antena, GPS antenna, 24V lithium batteries.Due to underwater sound communication
A large amount of underwater sound communication data that confidential reception subsurface buoy is sent, so being connect by space diversity to be promoted using more primitive transducer arrays
Receive performance.24V lithium batteries are underwater acoustic communication set power supply, 24V can be switched to suitable voltage output to defending inside underwater acoustic communication set
Star communication module is powered, and satellite communication module is connect with underwater acoustic communication set by RS232 serial ports, and satellite communication module passes through coaxial
Cable is connected with satellite communication antena and GPS antenna.
Workflow
Underwater sound communication agreement
There are two types of underwater sound communication modulation systems, respectively coherent communication QPSK and noncoherent communication MFSK for underwater acoustic communication set.
QPSK traffic rates are higher, and up to 6000bps, but reliability can reduce in underwater acoustic channel inclement condition；MFSK reliabilities compared with
Height, but its traffic rate is relatively low, about 300bps.In conjunction with the advantage and disadvantage of both modulation systems, QPSK is mainly used for largely latent
The transmission of mark observation data, in conjunction with more primitive underwater acoustic transducer battle array receivers on buoy, it can be achieved that preferable data transmission
Energy；MFSK is mainly used for shaking hands between buoy and subsurface buoy the transmission of order, these order data amounts are smaller but wanted to reliability
Ask very high, therefore using the MFSK of high reliability, in addition when underwater acoustic channel inclement condition QPSK can not complete data transmission,
Usable MFSK carries out data transmission.
Subsurface buoy is wireless, and main flow of the real-time communication system per task is as shown in Figure 3.To save electricity, during idle time phase
Subsurface buoy and buoy underwater acoustic communication set are in dormant state, after subsurface buoy underwater acoustic communication set receives subsurface buoy by serial ports observes data
Working condition is initially entered, underwater sound wake-up signal and Request To Send (RTS) message are sent (in this message to buoy
Including the states such as subsurface buoy cell voltage), after buoy receives wake-up signal, rational receiver gain is set according to current signal
With transmitting amplitude, and to subsurface buoy send Clear To Send (CTS) response, after subsurface buoy receives response, wrapped according in response message
The transmitting amplitude size contained, which starts to send subsurface buoy with QPSK, observes data, and buoy receives data and be decoded verification, then to
Subsurface buoy sends Acknowledgement (ACK) message, includes check results in this message, and if any error code, subsurface buoy is by error code frame number
It is retransmitted according to QPSK, buoy receives retransmission data and is decoded verification, and ACK message is sent to subsurface buoy, if still there is error code,
Subsurface buoy re-modulates error code frame data with MFSK again to be emitted, and buoy receives data and be decoded verification, and then subsurface buoy will be into
Enter dormant state, buoy is first by buoy state (including GPS information, cell voltage etc.), subsurface buoy state, check results etc. by defending
Star communication is beamed back, and is then again passed the subsurface buoy observation data that this is received back by satellite communication, is transmitted rear buoy and enters
Dormant state.As certain is verified by no error code, then after directly skipping in the above underwater sound communication subsurface buoy observation data transmission procedure
The retransmission process in face enters satellite data and uploads state.
Subsurface buoy workflow
The main working process of subsurface buoy underwater acoustic communication set is as shown in figure 4, subsurface buoy in a dormant state, is only worth during idle time
Class's circuit work uploads state, subsurface buoy communication equipment is first after receiving subsurface buoy observation data by RS232 serial ports into data
Emit underwater sound wake-up signal and RTS message (including the states such as cell voltage, temperature) to buoy communication equipment, then waits for buoy
CTS is responded, and after receiving buoy response message, is sent subsurface buoy according to the transmitting amplitude specified in message QPSK and is observed data, hair
After the completion of sending, buoy ACK check results message is waited for, if verification, without error code, subsurface buoy communication equipment is powered-down to enter dormant state,
If any error code, then the frame for having error code is modulated with QPSK again and is sent, buoy ACK check results message is waited for after being sent completely,
If verification is without error code, subsurface buoy communication equipment is powered-down then to use the frame weight that MFSK will have error code instead into dormant state if any error code
New modulation is sent, and is sent completely rear subsurface buoy communication equipment minute book task daily record, powered-down to sleep state, this has been communicated
At.
In the above process, buoy CTS or ACK message not being received as once overtime, then subsurface buoy communication equipment is powered-down, etc.
Wait for re-starting handshake communication after five minutes, such as restart and do not communicated yet more than 3 times successfully, then abandon this data transmission, subsurface buoy into
Enter dormant state.
Buoy workflow
The main working process of buoy underwater acoustic communication set as shown in figure 5, in idle state buoy in a dormant state, only
There is attended circuit is in running order to monitor whether to receive underwater sound wake-up signal, after receiving wake-up signal, communication equipment powers on entrance
Rts state is received, does not such as receive RTS orders or message mistake, then it is assumed that be false wake-up, buoy reenters dormant state, such as
RTS message is correct, then rational receiver gain and transmitting amplitude is arranged according to current signal, and send CTS to subsurface buoy and ring
Message is answered, wherein comprising the transmitting amplitude that should currently use, QPSK data is then received and is decoded verification, sent to subsurface buoy
Check results ACK message is directly entered satellite communication status if no error code, then receives what subsurface buoy was retransmitted again if any error code
QPSK data are decoded verification, send check results ACK message to subsurface buoy, satellite communication status are entered if no error code, such as
Fruit still has error code, then receives the MFSK data that subsurface buoy is sent again and be decoded verification, enter back into satellite communication status, first lead to
It crosses satellite communication to beam back subsurface buoy, buoy state (wherein including the information such as cell voltage, temperature, buoy GPS location) message, so
Subsurface buoy observation data packet is beamed back by satellite afterwards.When sea situation is poor, satellite communication may fail, if satellite sends number
According to failure, then enter dormant state after preserving the data packet of this satellite transmission failure.If satellite communication is sent successfully, read
The miss data packet whether haveing been friends in the past is taken, if there is then sending old miss data packet by satellite, if not old failure number
It is directly entered dormant state according to Bao Ze.
It is not received if any certain underwater sound communication data time-out in the above communication process, then buoy is directly entered suspend mode shape
State waits for subsurface buoy to send wake-up signal again, re-starts handshake communication.
Lay test pattern
For convenience of marine deployment, subsurface buoy is wireless real-time communication system, which has, lays rear test pattern, without waiting for latent
Mark observation device completes primary communication and carries out data back to verify the working condition after system is laid.Test pattern can pass through first
Board test unit starting.Underwater sound wake-up signal being sent to subsurface buoy with deck test cell and starting test command, subsurface buoy is receiving
Wake-up signal and RTS message are sent to buoy after test command, then into being spreaded in data identical with normal mode of operation
Journey.The data uploaded under test pattern are the test data stored in subsurface buoy communication equipment in advance.
Buoy state timing returns
If buoy communication equipment in a long time (this duration can be arranged according to application demand) do not receive always it is latent
Target wake-up signal carries out subsurface buoy and observes data transmission, and to monitor system mode, buoy can wake up itself, pass through satellite modules
Return the information such as an oneself state message, including cell voltage, temperature, buoy GPS location.
The wireless real-time Communication for Power of full subsurface buoy
Usual a set of oceanographic observation subsurface buoy includes covering different oceanographic observation equipment more, is connected by hawser, cloth is placed on not
Same depth is anchored on seabed with gravity.By installing subsurface buoy underwater acoustic communication set, every water on the observation device of different depth
Sound communication machine can support two sets of oceanographic observation equipment, more subsurface buoy underwater acoustic communication sets to share a water surface float, will be in full subsurface buoy
Data are transferred to water surface float by the data timesharing of all observation devices by underwater sound communication, and buoy is again led to data by satellite
Letter module is sent back to ground experiment room, realizes the wireless real-time transmission of full subsurface buoy observation data.
Water surface float improves
Water surface float is by underwater acoustic communication set, satellite communication module, GPS, satellite communication antena, battery flat, glass floating ball etc.
Composition, swims on the water surface for a long time after laying, to prevent it from drifting about with subsurface buoy apart from too far with wave, by one with hawser and
Subsurface buoy connects.When ocean current and larger wave, due to the dragging of underwater buoy, water surface float may connected hawser drag down
The water surface causes data back to fail since satellite-signal can not penetrate seawater.In addition water surface float swims in the water surface for a long time,
Concealment is poor, is easy to be found by passing ships, or pulled by fishing net and ship, and buoy is caused to damage or lose.
For disadvantage mentioned above, the improvement project of this system is that water surface float is replaced with wave aerodone, is floated from floatable
The equipment such as mark, Autonomous Underwater Vehicle (AUV), by carrying underwater acoustic communication set and satellite communication module on devices
Deng underwater sound communication and the satellite data passback of realization and underwater subsurface buoy communication equipment.Wave aerodone is by solar energy and wave energy work(
Can, it can for a long time navigate by water on ocean, be connect with subsurface buoy without by hawser, it will not the dragged lower water surface, it is ensured that defend
Star communicates unimpeded.It can float and sink by controlling natural buoyancy and realizing from floatable buoy, when there is satellite data upload
It emerges and carries out satellite communication, free time sinks under the water, it is ensured that concealment prevents from being pulled by ship and fishing net.AUV can
The autonomous navigation in ocean realizes the actions such as sinking of floating, you can ensures concealment, ensures that and needing satellite communication transmission
It emerges when data.In addition wave aerodone and AUV can realize a set of surface facilities to phase by the autonomous navigation in ocean
Adjacent sea domain covers the real-time passback of subsurface buoy data more.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Right in.
Claims (10)
1. a kind of wireless real-time communication system of subsurface buoy, the system comprises multiple underwater subsurface buoys and a water surface float；Its feature
It is, the underwater subsurface buoy includes multiple oceanographic observation equipment and subsurface buoy underwater acoustic communication set；The oceanographic observation equipment is for real
The observation of existing Marine Sciences data and record, the subsurface buoy underwater acoustic communication set are sent to water surface float for that will observe data；Institute
It includes buoy ontology and the buoy underwater acoustic communication set and satellite communication module that are arranged on buoy ontology to state water surface float, described floating
Mark underwater acoustic communication set receives the observation data that underwater subsurface buoy is sent by more primitive underwater acoustic transducer battle arrays；Again by the data by defending
Star communication module is sent back to data acquisition server.
2. the wireless real-time communication system of subsurface buoy according to claim 1, which is characterized in that the oceanographic observation equipment includes
Acoustic Doppler fluid velocity profile instrument, conductivity-temperature-depth system and single-point current meter, the oceanographic observation equipment pass through cable and the subsurface buoy underwater sound
Communication equipment connects；The subsurface buoy underwater acoustic communication set is powered using the mode of external cell cabin parallel connection, and the battery flat is high power capacity
Lithium battery, supply voltage 24V.
3. the wireless real-time communication system of subsurface buoy according to claim 1 or 2, which is characterized in that the water surface float also wraps
24V lithium batteries are included, are powered for buoy underwater acoustic communication set；24V voltages are converted to suitable voltage by the buoy underwater acoustic communication set
It powers for satellite communication module, the satellite communication module is connect with buoy underwater acoustic communication set by RS232 serial ports, the satellite
Communication module is connected by coaxial cable with satellite communication antena and GPS antenna.
4. the wireless real-time communication system of subsurface buoy according to claim 1, which is characterized in that the subsurface buoy underwater acoustic communication set with
When buoy underwater acoustic communication set carries out data transmission, used when water surface float and underwater subsurface buoy shake hands the transmission of order
MFSK；MFSK is used when QPSK can not complete data transmission using QPSK when carrying out a large amount of subsurface buoys and observing the transmission of data
Carry out data transmission.
5. the wireless real-time communication system of subsurface buoy according to claim 1, which is characterized in that the buoy ontology is slided for wave
Xiang machine, from floatable buoy or Autonomous Underwater Vehicle.
6. a kind of wireless real-time communication method of subsurface buoy that the system based on described in one of claim 1-5 is realized, which is characterized in that
The method includes：
Step 1) initially enters work shape after the subsurface buoy observation data that subsurface buoy underwater acoustic communication set receives the transmission of oceanographic observation equipment
State sends underwater sound wake-up signal and RTS message to buoy underwater acoustic communication set, includes subsurface buoy cell voltage state in this message；
After step 2) buoy underwater acoustic communication set receives wake-up signal, rational receiver gain and hair are set according to current signal
Amplitude is penetrated, and CTS responses are sent to subsurface buoy underwater acoustic communication set；After subsurface buoy underwater acoustic communication set receives CTS responses, according to response message
In include transmitting amplitude size using QPSK send subsurface buoy observation data；
Step 3) buoy underwater acoustic communication set is decoded verification after receiving subsurface buoy observation data, is then sent out to subsurface buoy underwater acoustic communication set
If ACK message is sent, enters step 5) without error code comprising check results in this message, otherwise, enters step 4)；
Step 4) subsurface buoy underwater acoustic communication set retransmits error code frame data with QPSK, and buoy underwater acoustic communication set receives retransmission data and goes forward side by side
Row solution code check, sends ACK message, if also error code, subsurface buoy underwater acoustic communication set is by error code frame to subsurface buoy underwater acoustic communication set
Data are re-modulated with MFSK to be emitted；
Subsurface buoy status information, buoy status information, check results etc. are first passed through satellite communication by step 5) buoy underwater acoustic communication set
Module is sent to data acquisition server, is then again sent to the subsurface buoy observation data that this is received by satellite communication module
Data acquisition server is transmitted rear buoy underwater acoustic communication set and enters dormant state.
7. the wireless real-time communication method of subsurface buoy according to claim 6, which is characterized in that the subsurface buoy underwater acoustic communication set is complete
This work log, powered-down to sleep state are recorded after being sent at a data.
8. the wireless real-time communication method of subsurface buoy according to claim 6, which is characterized in that if subsurface buoy underwater acoustic communication set is super
Shi Wei receives the CTS message or ACK message of buoy underwater acoustic communication set, then subsurface buoy communication equipment is powered-down, and waiting re-starts after five minutes
Handshake communication is carried out with buoy underwater acoustic communication set, is not communicated yet successfully more than 3 times if restarted, abandons this data transmission,
Subsurface buoy underwater acoustic communication set enters dormant state；Data are not received if any buoy underwater acoustic communication set time-out, then buoy underwater acoustic communication set
It is directly entered dormant state, subsurface buoy underwater acoustic communication set is waited for send wake-up signal again.
9. the wireless real-time communication method of subsurface buoy according to claim 6, which is characterized in that further include in the step 2)：
The buoy underwater acoustic communication set does not receive RTS orders or message mistake after receiving wake-up signal, then it is assumed that is false wake-up, buoy weight
Newly enter dormant state；The step 5) further includes：If satellite communication module transmission data fails, preserves this and send mistake
Enter dormant state after the data packet lost；Whether after the success of satellite communication module transmission data next time, then reading has transmission
The data packet of failure is directly entered dormant state if there is then sending the data packet by satellite communication module if not.
10. the wireless real-time communication method of subsurface buoy according to claim 6, which is characterized in that before the step 1) also
Include the steps that testing：Test pattern is started by deck test cell；It is sent out to subsurface buoy underwater acoustic communication set with deck test cell
It send underwater sound wake-up signal and starts test command, subsurface buoy underwater acoustic communication set is sent out after receiving test command to buoy underwater acoustic communication set
Send wake-up signal and RTS message, the data that satellite communication module uploads under test pattern are to be stored in subsurface buoy underwater acoustic communication set
Test data.
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| CN201810436635.4A CN108631885B (en) | 2018-05-09 | 2018-05-09 | A kind of subsurface buoy is wireless real-time communication system and method |
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| CN201810436635.4A CN108631885B (en) | 2018-05-09 | 2018-05-09 | A kind of subsurface buoy is wireless real-time communication system and method |
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| CN108631885A true CN108631885A (en) | 2018-10-09 |
| CN108631885B CN108631885B (en) | 2019-09-06 |
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| CN109269481A (en) * | 2018-10-24 | 2019-01-25 | 杭州浅海科技有限责任公司 | A kind of communication module and its data check process applied to Argo observation platform |
| CN109743097A (en) * | 2018-12-24 | 2019-05-10 | 北京长城电子装备有限责任公司 | A kind of portable underwater telephonic communication system and method based on buoy base |
| CN110362019A (en) * | 2019-08-23 | 2019-10-22 | 嘉兴中科声学科技有限公司 | The control system and self-tolerant subsurface buoy of self-tolerant subsurface buoy |
| CN111245524A (en) * | 2020-01-08 | 2020-06-05 | 中国电子科技集团公司电子科学研究院 | Underwater preset communication system |
| CN111800614A (en) * | 2020-07-08 | 2020-10-20 | 浙江大学 | Water quality image acquisition and information transmission system and method based on underwater acoustic communicator networking |
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| CN114442077A (en) * | 2022-01-21 | 2022-05-06 | 中国科学院声学研究所 | Cable type acoustic emission submerged buoy capable of monitoring underwater equipment in real time and monitoring method thereof |
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| CN115426005A (en) * | 2022-05-31 | 2022-12-02 | 杭州瀚陆海洋科技有限公司 | Wireless data transmission control system based on deep sea cable-free autonomous carrier |
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| CN109269481A (en) * | 2018-10-24 | 2019-01-25 | 杭州浅海科技有限责任公司 | A kind of communication module and its data check process applied to Argo observation platform |
| CN109743097A (en) * | 2018-12-24 | 2019-05-10 | 北京长城电子装备有限责任公司 | A kind of portable underwater telephonic communication system and method based on buoy base |
| US11942681B1 (en) * | 2019-07-09 | 2024-03-26 | Hrl Laboratories, Llc | Distributed semi-autonomous phased arrays for subsurface VLF transmission |
| CN110362019A (en) * | 2019-08-23 | 2019-10-22 | 嘉兴中科声学科技有限公司 | The control system and self-tolerant subsurface buoy of self-tolerant subsurface buoy |
| CN111245524A (en) * | 2020-01-08 | 2020-06-05 | 中国电子科技集团公司电子科学研究院 | Underwater preset communication system |
| CN111800614A (en) * | 2020-07-08 | 2020-10-20 | 浙江大学 | Water quality image acquisition and information transmission system and method based on underwater acoustic communicator networking |
| CN112332952A (en) * | 2020-10-09 | 2021-02-05 | 中国科学院沈阳自动化研究所 | Underwater acoustic communication method for underwater glider and submerged buoy |
| CN112332952B (en) * | 2020-10-09 | 2022-03-22 | 中国科学院沈阳自动化研究所 | Underwater acoustic communication method for underwater glider and submerged buoy |
| CN112583494A (en) * | 2020-12-07 | 2021-03-30 | 中国科学院海洋研究所 | Deep sea submerged buoy wireless transmission system and method |
| CN112583494B (en) * | 2020-12-07 | 2021-07-13 | 中国科学院海洋研究所 | Deep sea submerged buoy wireless transmission system and method |
| CN114629568B (en) * | 2020-12-11 | 2023-05-26 | 中国科学院沈阳自动化研究所 | Underwater carrier real-time monitoring system and method based on acoustic communication |
| CN114629568A (en) * | 2020-12-11 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Underwater robot real-time monitoring system and method based on acoustic communication |
| CN113904735A (en) * | 2021-09-30 | 2022-01-07 | 中国电子科技集团公司第五十四研究所 | Cross-medium networking communication equipment |
| CN114442077A (en) * | 2022-01-21 | 2022-05-06 | 中国科学院声学研究所 | Cable type acoustic emission submerged buoy capable of monitoring underwater equipment in real time and monitoring method thereof |
| CN115426005A (en) * | 2022-05-31 | 2022-12-02 | 杭州瀚陆海洋科技有限公司 | Wireless data transmission control system based on deep sea cable-free autonomous carrier |
| CN117022649A (en) * | 2023-10-08 | 2023-11-10 | 成都诸元天成智能装备有限公司 | System using unmanned aerial vehicle throwing awakening device |
| CN117022649B (en) * | 2023-10-08 | 2024-01-19 | 成都诸元天成智能装备有限公司 | System using unmanned aerial vehicle throwing awakening device |
| CN117715137A (en) * | 2024-02-05 | 2024-03-15 | 湖南大学无锡智能控制研究院 | Self-adaptive communication method, device and system for underwater robot |
| CN117715137B (en) * | 2024-02-05 | 2024-04-30 | 湖南大学无锡智能控制研究院 | Self-adaptive communication method, device and system for underwater robot |
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