CN109217967B - Synchronous signal system data transmission method applied to underwater sound transmission system - Google Patents
Synchronous signal system data transmission method applied to underwater sound transmission system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0602—Systems characterised by the synchronising information used
- H04J3/0614—Systems characterised by the synchronising information used the synchronising signal being characterised by the amplitude, duration or polarity
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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
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
Abstract
The invention provides an underwater sound synchronous signal system transmission system, a data transmission method and application, and particularly relates to a synchronous signal system capable of completing information transmission of seawater under complex and severe sea conditions and a data transmission method utilizing the synchronous signal system, which effectively simplify a data transmission method, improve transmission accuracy and high efficiency and reduce cost. The underwater sound synchronous signal system can be applied to submarine transmission technologies such as submarine underwater sound positioning, underwater sound time service, array self-calibration and the like.
Description
Technical Field
The invention relates to an underwater sound transmission technology, belongs to the technical field of underwater sound data transmission, and particularly relates to a synchronous signal system data transmission method applied to an underwater sound transmission system.
Background
In the deep sea detection field, the acquisition disturbance device and the seabed transponder array are in cable-free communication, and the seabed underwater sound propagation speed C is required to be accurately realized, and the water pressure and the seawater temperature of the seabed position where the long baseline underwater sound positioning array is located need to be known from a sound velocity formula, so that the acquisition of water pressure and temperature data can only be completed by adopting an underwater sound data transmission technology. The reading of the underwater sound data is based on the constancy of the transmission time of the equidistant underwater sound direct wave of the underwater sound signal in the sea water, as well as the underwater sound time service technology. When the current seawater environment numerical value needs to transmit data information through a wired cable or a complex ultrasonic algorithm, the cost of equipment is increased invisibly.
For an underwater acoustic positioning system, various positioning matrixes exist at home and abroad at present. The method comprises the following steps of dividing a sitting-bottom type array, a buoy type array and a ship-borne type array according to the installation form of the arrays; the ultra-short base line array, the short base line array and the long base line array are distributed according to the length of the base line. Especially, under the water depth of 6000m and strong background noise, the positioning precision reaches meter-level precision. The ship-borne and buoy-type matrixes have large sound velocity change because sound wave pulses need to pass through the water depth of 6000m, the sound velocity measurement precision becomes very low, and the positioning matrixes have poor real-time performance, so that the requirements of the system on high precision and high real-time performance cannot be met. The bottom-seated short base line array also has mature products of various models, but the positioning precision of the short base line array cannot meet the meter-level requirement and is not suitable for the meter-level. The bottom-seated ultra-short base line array is convenient to construct, but the positioning principle of the ultra-short base line array determines that the positioning can not completely cover the whole acquisition disturbance area, so that the method is not suitable. Therefore, the existing transmission technology of the underwater positioning system has the problems of low precision, low instantaneity, incapability of overcoming error correction and the like.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention aims to provide a synchronous signal system capable of completing information transmission of seawater under complex and severe sea conditions and a data transmission method using the synchronous signal system, so that the data transmission method is effectively simplified, the transmission accuracy and efficiency are improved, and the cost is reduced.
The invention is realized by the following steps: there is provided an underwater acoustic synchronization signal system transmission system, including:
the emitter is used for emitting underwater sound command signals and response signals sent by the transponder to the transponder;
the transponder is used for receiving the underwater sound command signal sent by the transmitter or receiving a response signal sent by another transponder and sending an underwater sound signal to the transmitter or the other transponder;
the system comprises an underwater sound synchronous signal system, a periodic time pulse signal and a time pulse signal, wherein the periodic time pulse signal is written into the emitter and the transponder and is used as an information carrier for underwater sound communication, and the periodic time pulse signal in the emitter and the transponder is in a synchronous state.
Furthermore, a digital temperature sensor and a digital depth sensor are mounted on the transponder, acquire temperature information and depth information, and convert the temperature information and the depth information into corresponding time data after linear expression.
Further, the effective range of the data information can be expanded by setting a time period T, for example, the effective range of the temperature information in a1 second period is-20 ℃ to 60 ℃; the range of the depth information is 0-8000 m, and the range is increased linearly after the period is 1.5 seconds.
Further, each time period of the underwater sound synchronization signal system takes a falling or falling edge of the primary synchronization signal as a starting point.
The system further comprises a receiver, wherein the receiver is arranged on the mother ship for drop operation or integrally arranged with the transmitter, is in communication connection with the transmitter, and is used for responding signals of the responder, processing the data and sending the data to the processor terminal.
In another aspect of the present invention, a method for transmitting data in an underwater acoustic synchronization signal system is provided, which includes the following steps:
s1, the responder obtains the information X to be transmitted and converts the information X into time information DX；
S2, after the falling edge of the synchronous signal of the emitter is effective, emitting a data reading signal instruction code;
s3, the responder passes TxAfter receiving the instruction code of the data reading signal after the time, delaying TΔTransmitting a first underwater acoustic response signal, the transmitter passing through 2Tx+TΔReceiving a first response underwater sound signal after time; the delay TΔIs longer than the response delay time of the transponder itself;
s4, delay D of responder after next synchronous signal falling edgeXAfter a time, a second response underwater acoustic signal is transmitted, and the transmitter passes through Tx+DXReceiving a second response underwater sound signal after the time;
s5, the emitter passes through DXThe transmission information X is converted from the value of (2), and the data transmission is completed.
Further, the information X to be transmitted in step 1 is converted into time information DXThe method comprises the following steps: passing the information X to be transmitted through a conversion constant and the underwater sound transmission delay time DXA linear relationship is established.
Further, the method also comprises the following steps: in the non-polling response mode, response signals adopt a code division or frequency division mode, a plurality of sensors read data at one time synchronously respond, and multi-sensor data reading can be completed simultaneously.
Further, the data information X includes one or more of depth information, water pressure information, temperature information or PH value of seawater in the environment where the sensor is located.
The underwater sound synchronous signal system transmission system is applied to the technologies of positioning of submarine equipment, underwater sound time service of a submarine transponder and self calibration of the submarine transponder.
The working principle of the invention is introduced: obtaining condition information in seabed environment, such as seawater pressure value, seawater temperature value and seawater depth value, by a seabed transponder, and converting the information X to be transmitted into time information D by linearizationXAnd the underwater sound synchronous signal system is a periodic time pulse signal, and is written into the emitter and the transponder to be used as an information carrier for underwater sound communication, and the periodic time pulse signals in the emitter and the transponder are in a synchronous state. Time information D carrying condition information valueXThe time is shorter than that of the transmission in the underwater sound synchronous signal system, and the emitter receives the transmission, thereby completing the time information DXBy underwater acoustic transmission, with time information D from the transmitter or processor terminalXAnd reversely resolving to obtain the value of the condition information and realize the data transmission function.
Compared with the prior art, the invention has the following beneficial effects:
1. the sitting-bottom array is adopted, so that the transmission precision of the system can be improved, and the requirement of long-time underwater duty can be met;
2. the influence of waves, surges and currents can be ignored in the base matrix mode, and the stability of the communication process between matrixes is ensured;
3. and a synchronous response positioning mode is adopted, so that the interference of strong colored background noise can be effectively avoided.
4. And the cable control receiver is used as a receiving means of the underwater acoustic data signal, so that the data propagation delay is reduced to an acceptable range.
5. The synchronous data receiving of a plurality of sensors can be finished by reading data once by adopting frequency division or code division coding signals, so that the time delay caused by polling response is effectively solved, and the efficiency is improved.
6. The synchronous response mode is adopted, the signal system period can be set at will, the positioning period is selected according to the effective range of the data, and the effective range of the data can be set.
7. The adopted synchronous signal system effectively solves the influence of sound velocity errors caused by different temperature gradients on data precision.
8. The adopted synchronous signal system has the data transmission error only related to the linearization parameters, and the smaller the linearization parameters are, the higher the data transmission precision is.
Drawings
FIG. 1 is a schematic diagram of a system for synchronizing signals for reading transponder data by a transmitter (a mining truck S);
FIG. 2 is a flowchart of a data reading method for a matrix A by a mine collection truck in example 2;
FIG. 3 is a flow chart of a submarine underwater acoustic response type positioning method based on a synchronous signal system;
FIG. 4 is a schematic diagram of a synchronous underwater acoustic positioning signal system;
FIG. 5 is a schematic diagram of a synchronous underwater acoustic synchronous time signal system;
FIG. 6 is a schematic diagram of a positioning step of a mine collection truck based on a synchronization signal system;
FIG. 7 is a schematic diagram of an array aperture underwater acoustic self-calibration signal system of a synchronous underwater acoustic transponder;
fig. 8 is a schematic diagram of an implementation step of the transponder array aperture underwater acoustic self-calibration based on a synchronization signal system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example 1: an underwater acoustic synchronization signal system transmission system, comprising: the emitter is used for emitting underwater sound command signals and response signals sent by the transponder to the transponder; the transponder is used for receiving the underwater sound command signal sent by the transmitter or receiving a response signal sent by another transponder and sending an underwater sound signal to the transmitter or the other transponder; the system comprises an underwater sound synchronous signal system, a periodic time pulse signal and a time pulse signal, wherein the periodic time pulse signal is written into the emitter and the transponder and is used as an information carrier for underwater sound communication, and the periodic time pulse signal in the emitter and the transponder is in a synchronous state.
The transponder is provided with a digital temperature sensor and a digital depth sensor, acquires temperature information and depth information, and is used for converting the temperature information and the depth information into corresponding time data after linear expression.
The temperature T of the water and the underwater sound transmission delay time D are required to be compared by transmitting the temperature data through the underwater soundtA linear relation (1) is established.
Dt＝A0×T(ms) (1)
Wherein: a. the0Is a conversion constant;
Dtthe effective range of (1) is 0 to 100 (ms);
the effective range of T is-10 ℃ to 60 ℃.
The depth data is obtained by multiplying the depth data D by a constant A by the linearization formula (2) as well as the temperature data1Equal to the time information.
Dt＝A1×D(ms) (2)
Wherein: a. the1Is a conversion constant;
Dtthe effective range of (1) is 0 to 100 (ms);
the effective range of D is 0-8000 m.
Similarly, the pressure value of the seabed is the same conversion method.
Each time period of the underwater sound synchronous signal system takes a falling edge of the synchronous signal as a starting point.
Taking the collecting and disturbing device as a transmitter and four transponders arranged in a matrix as an example, as shown in fig. 1, a system for reading data signals of the transponders by the collecting and disturbing device is shown, the collecting and disturbing device transmits underwater acoustic data reading function codes (S _ RD _ a, S _ RD _ B, S _ RD _ C, S _ RD _ D, S _ RT _ a, S _ RT _ B, S _ RT _ C, S _ RT _ D), and the transponders respond to underwater acoustic signals (a _ RESP1, B _ RESP1, C _ RESP1, D _ RESP1), and then the collecting and disturbing device and the transponder matrix can determine the transmission delay time T of acoustic pulses from the collecting and disturbing device to the matrix A, B, C, DA、TB、TC、TDWhen the next falling edge of the synchronization signal is active, the transponder matrix delays DtThen, the transponder array transmits response signals (A _ RESP2, B _ RESP2, C _ RESP2 and D _ RESP2), and the collecting disturbance device passes through TA、TB、TC、TDAfter the transmission delay, the received response signals (a _ RESP2, B _ RESP2, C _ RESP2, D _ RESP2) of the transponder matrix can be resolved into a time delay D after the response signals are received by the collecting and disturbing devicetAnd the corresponding depth or temperature value is obtained, so that the data reading function of the transponder array is completed.
The system also comprises a receiver which is positioned above the transponder, is in communication connection with the transmitter, is used for responding signals of the transponder, processes data and sends the data to the processor terminal.
Example 2: a data transmission method of an underwater sound synchronous signal system comprises the following steps:
s1, the responder obtains the information X to be transmitted and converts the information X into time information DX; such as depth information, water pressure information, or temperature information in the environment in which the sensor is located; establishing a linear relation between the information and underwater sound transmission delay time DX through a conversion constant, so that the delay time DX contains the information to be transmitted;
s2, after the falling edge of the synchronous signal of the emitter is effective, the synchronous signal transmits a data reading signal instruction code, and the data reading signal instruction code is transmitted out through a seawater medium and received by the transponder;
s3, the responder receives data reading after Tx timeDelay T after fetching signal instruction codeΔTransmitting a first underwater acoustic response signal, the transmitter passing through 2Tx + TΔReceiving a first response underwater sound signal after time; time delay TΔThe time value of (2) is a preset fixed value and is larger than the response delay time of the transponder itself so as to correct the actual delay time of the transponder, namely, the time difference value between the transponder and the transmitter is obtained by determining the value of Tx;
s4, after the next synchronizing signal falls, the responder transmits a second response underwater sound signal after delaying DX time, and the transmitter receives the second response underwater sound signal after Tx + DX time; the transmitter calculates the value of DX according to the time value Tx + DX at the interval of the received second response underwater sound signal;
and S5, the transmitter converts the transmission information X according to the value of DX to complete the data transmission. The transmitter acquires the transmission information X to realize data transmission.
Further, taking an acquisition and perturbation device as a transmitter and four transponders arranged in a matrix as an example, as shown in fig. 2, the underwater acoustic reading of the matrix data is implemented as follows:
the first step is as follows: after the falling edge of a synchronous signal of a collecting disturbance device (a transmitter and a mine collecting vehicle) is effective, a transponder array A data reading signal (S _ RD _ A) command code is transmitted through a seawater medium;
the second step is that: delay TA(ms) the transponder array A receives the S _ RD _ A signal, the transponder array A delays TΔThereafter, a return response signal (a _ RESP1) is transmitted;
the third step: after the acquisition disturbance device receives the response signal of the array A, the underwater sound transmission time T between the acquisition disturbance device and the transponder array A can be determinedA(ms)；
The fourth step: the acquisition disturbance device delays D after the falling edge of the next synchronous signalt(ms) thereafter, a response signal (a _ RESP2) transmitted by the transponder array a;
the fifth step: collecting A _ RESP2 signal received by the disturbing device, and passing the measured DtThe depth data of the matrix A can be solved by the value;
similarly, the depth or temperature data of the matrix B, C, D is the same as the reading of matrix A.
Example 3: application of underwater sound synchronous signal system data transmission method in seabed positioning
The transmitter and each transponder use a set of identical synchronization signal systems, see fig. 3, the method comprising the steps of:
step 2, each transponder X passes through T respectivelyXAfter receiving the underwater sound positioning signal instruction code S1 after the time, all the time is delayed by TΔThereafter, a first response signal A1 is transmittedX；
Step 3, after the next synchronous signal falling edge, each transponder X immediately transmits a second response signal A2X；
Step 4, the receiver receives the underwater sound positioning signal instruction code S1 and a plurality of groups of first response signals A1XAnd a second response signal A2XThen, obtaining the distance information l from each transponder X to the transmitterX；
Step 5, based on the distance information l from each transponder X to the transmitterXAnd combining the position information of each transponder to calculate to obtain the positioning information or the moving track information of the transmitter.
FIG. 4 shows an underwater acoustic positioning signal system, which is a signal transmission time delay T between a transponder A and a transmitter in a matrixaThe acquisition is taken as an example to explain the underwater sound positioning principle of the long-baseline underwater sound positioning system.
After the falling edge of the synchronous signal arrives, the emitter emits an underwater sound positioning function code (S _ LOC _ C), and after the transponder A in the array receives the underwater sound signal (S _ LOC _ C), the transponder A in the array can determine the underwater sound delay time T from the transponder A to the emitteraDelay time T of responder AΔThen, a response signal A _ RESP1 is transmitted, the response signal A _ RESP2 is transmitted by the responder A when the next falling edge of the synchronizing signal arrives, the underwater sound signal transmitted by the responder A in the matrix is received by the buoyancy point F (receiver), and the matrix A transmits the underwater sound signal between the two signals (A _ RESP1 and A _ RESP2)Time difference T0-Ta-TΔAlso, T can be obtainedafBy combining the existing data, the underwater sound transmission time T from the array A to the emitter can be calculateda(ii) a Similarly, other time differences T can be measured by the same methodb，Tc，Td. After the transmission delay time is known, the position coordinates of the transmitter can be solved according to the long baseline synchronous positioning interaction formula, so that the underwater sound position positioning function of the transmitter is completed.
Establishing a three-dimensional coordinate system by taking one transponder as an origin, determining the value of coordinates of a matrix formed by each transponder by using a coordinate point-to-point distance formula, and calculating the distance between the transponders according to a three-dimensional space coordinate distance formula 1:
wherein: z is a radical of1Is the depth of the subsea transponder 1;
z2the depth of the subsea transponder 2;
z3the depth of the subsea transponder 3;
z4the depth of the subsea transponder 4.
Let z1＝0；(x1,y1,z1) Is ═ 0,0,0), and y2＝0，d21Distance of the subsea transponder 2 to 1, d31Distance of the subsea transponder 3 to 1, d41The distance of the subsea transponder 4 to 1.
According to the distance information lXAnd coordinates (x, y, z) equation 2:
that is, the coordinate value of the device to be positioned can be derived.
Similarly, the distance from the transponder to the cable control receiver can be obtained by obtaining the time Taf of the response signal 2 received by the cable control receiver, and the coordinate information of the cable control receiver can be obtained by resolving to realize the positioning function of the cable control receiver. The non-polling response mode is used, the response signal adopts a code division or frequency division mode, synchronous response is positioned once, and the position determination of the transmitter and the cable control receiver can be completed simultaneously.
Example 4: application of underwater sound synchronous signal system data transmission method in underwater sound synchronous time service
On the basis of the embodiment 1, before the step 1, the method further comprises a step of underwater sound synchronization time service of equipment, wherein the equipment comprises each transponder and each transmitter, and the synchronization time service is synchronous with an atomic clock in each transponder and each transmitter.
The underwater sound synchronous time service step of the equipment comprises the following steps:
s1, immediately sending a first time signal instruction code after the falling edge of the synchronous signal of the emitter is effective;
s2, each transponder X passes through T respectivelyXAfter receiving the first time signal instruction code after the time, all delay TΔThen, respectively transmitting respective first return response signals;
s3, emitting at 2TX+TΔAfter receiving each first return response signal after time, delaying the period of one signal to subtract T after the falling edge of the next synchronous signalXAfter a time of (4) transmitting a transponder synchronization command;
s4, each transponder X passes through T respectivelyXAnd after time, when the synchronous command of the responder is received, the synchronous pulse of each atomic clock is initialized, and the underwater sound synchronous time service among the responders X is completed.
The purpose of synchronous time service is to correct the output of a synchronous signal of a synchronous atomic clock of a large-depth transponder, so that a large-depth transponder array always keeps a synchronous state, whether the transponder array is completely synchronous or not greatly influences the temperature and depth data transmission and array self-calibration of the transponder, and the system cannot accurately complete the underwater sound positioning function. The transmitter is in a synchronous state, the synchronous signal output by the synchronous atomic clock of the transponder A, B, C, D in the array is a random signal, and the transponder in the array can only be synchronously calibrated by using the underwater sound signal in a state of no cable connection.
As shown in fig. 5, a system of array a synchronous time service signals is shown, and the time service synchronization technical principle is derived from that the transmission delay time of constant-distance underwater acoustic signals in seawater is a determined value. After the emitter emits the underwater sound time service function codes (S _ TC _ A, S _ TC _ B, S _ TC _ C and S _ TC _ D) and the responder responds the underwater sound signals (A _ RESP1, B _ RESP1, C _ RESP1 and D _ RESP1), the emitter can determine the transmission delay time T between the sound pulse from the emitter to the matrix A, B, C, DA、TB、TC、TDWhen the next falling edge of the synchronization signal is active, the corresponding delay T0-TA、T0-TB、T0-TC、T0-TDThen, the transmitter transmits synchronous time signals (S _ TC _ a, S _ TC _ B, S _ TC _ C, S _ TC _ D), and the synchronous time signals received by the array A, B, C, D are initial synchronous signals of the array, thereby completing the function of synchronous time service.
The concrete application is in the positioning system of the mine collection vehicle as shown in figure 6: the first step is as follows: after the falling edge of a synchronous signal of an emitter (a mine collecting car) is effective, transmitting an instruction code of an array A responder A time service signal (S _ TC _ A) in an array, and transmitting the instruction code through a seawater medium;
the second step is that: delay TA(ms) Transponder A in the matrix receives the S _ TC _ A signal and delays T Transponder A in the matrixΔThereafter, a return response signal (a _ RESP1) is transmitted;
the third step: after the transmitter receives the response signal of the array A, the underwater sound transmission time T from the transmitter to the transponder A in the array can be determinedA(ms)；
The fourth step: the transmitter delays T after the next falling edge of the synchronizing signal0-TA(ms) then, transmitting a synchronization instruction S _ TC _ A of a transponder A in the matrix, wherein an S _ TC _ A signal received by the matrix A is an initialization signal of a synchronization pulse of the transponder A;
similarly, synchronization of matrix B, C, D repeats the process of matrix a.
The area of the distribution area of the transponder is 1000m multiplied by 1000m, therefore, the farthest distance from the emitter to the transponder is 1414 meters, and the underwater acoustic signals emitted by the signal source can be ensured to be collected by the receiver within 1S synchronous pulse.
Example 5: application of underwater sound synchronous signal system data transmission method in array self-calibration
The array self-calibration comprises the following steps:
s1, immediately sending out an underwater sound self-calibration function instruction code after the falling edge of the synchronous signal of the emitter is effective;
s2, each transponder X passes through T respectivelyXAfter receiving the underwater sound self-calibration function instruction code after time, immediately transmitting a first calibration response signal A after the falling edge of the next synchronous signalx；
S3, each transponder X passes through T respectivelynAfter the time, the first calibration response signal A transmitted by other transponders is receivedxThen, all delay TΔThereafter, a second calibration reply signal A is transmittedx；
S4, the transmitter receives the first calibration reply signal A transmitted by each transponder XxAnd a second calibration reply signal AxReceiving a first calibration reply signal A transmitted by the same transponder XxAnd a second calibration reply signal AxDelay time between and T of another transponder XXThe time is calculated to obtain the time difference T between the two transponders XnA value of (d);
s5, repeating the step S4 to obtain the time difference T between every two transponders XnAnd the distance between every two transponders X is calculated, and the self-calibration of the array is completed.
FIG. 7 shows a transponder array aperture underwater acoustic self-calibration signal system, which is a distance l between an array A (transponder A) and an array B (transponder B)abCalibration is an example, and a self-calibration technology of a long-baseline underwater acoustic positioning system array aperture is explained.
After the falling edge of the synchronous signal arrives, the emitter emits an underwater sound self-calibration function code (S _ SEF _ C), and after the matrixes A and B receive the underwater sound signal (S _ SEF _ C), the matrixes A and B determine the underwater sound delay time T between the matrixes A and the emitteraAnd TbWhen the next signal falls, the matrices A and B transmit responsesSignals A _ RESP1 and B _ RESP1, wherein the A _ RESP1 signal sent by the matrix A is received by the matrix B and is delayed by TΔThe rear array B transmits a response signal B _ RESP 2; the underwater acoustic signals transmitted by the matrixes A and B are received by the transmitter, and the matrix B transmits the time difference T between the two signals (B _ RESP1, B _ RESP2)abThe underwater sound transmission time from the array A to the array B is set; similarly, other time differences T can be measured by the same methodab，Tac，Tad，Tbc，Tcd，TbdAnd so on. Knowing the transmission delay time, the aperture of the array can be determined, thereby completing the underwater sound self-calibration function of the transponder array.
Referring to fig. 8, the underwater acoustic self-calibration implementation steps are as follows:
the first step is as follows: after the falling edge of a synchronous signal of a transmitter (a mine collecting car) is effective, transmitting a transponder array underwater acoustic self-calibration signal (S _ SEF _ C) instruction code, and transmitting the instruction code through a seawater medium;
the second step is that: delay T respectivelya、Tb、Tc、Td(ms) the S _ SEF _ C signal is received by the matrix A, B, C, D and each transponder can determine its range from the transmitter;
the third step: after the next falling edge of the synchronization signal, the transponder A, B, C, D transmits response signals (a _ RESP1, B _ RESP1, C _ RESP1, D _ RESP1), respectively;
the fourth step: if the transponder A receives the D _ RESP1 signal, delay TΔThen, the transponder a returns a signal a _ RESP 2; if the transponder A receives the C _ RESP1 signal, delay TΔThen, the transponder a returns a signal a _ RESP 3; if the transponder B receives the A _ RESP1 signal, delay TΔThen, the transponder B returns a signal B _ RESP 2; if the transponder C receives the B _ RESP1 signal, delay TΔThen, the transponder C returns a signal C _ RESP 2; if the transponder D receives the B _ RESP1 signal, delay TΔThen, the transponder D returns a signal D _ RESP 3; if the transponder D receives the D _ RESP1 signal, delay TΔThen, the transponder D returns a signal D _ RESP 2;
the fifth step: all underwater acoustic signals emitted by the transponder A, B, C, D (a _ RESP1, a _ RESP2, a _ RESP3, B _ RESP1, B _ RESP2, C _ RESP1, C _ RESP2, D _ RESP1, D _ RESP2, D _ RESP 3);
and a sixth step: the processor calculates the distance between the matrixes according to the time difference (according to the corresponding relation of the table 1) of the received underwater sound signals 1 and 2, and therefore the underwater sound self-calibration of the matrixes is completed.
TABLE 1 two underwater acoustic signal determination delay schedules
| Serial number | Underwater |
Underwater acoustic signal 2 | Delay | Array distance | |
| 1 | B_RESP1 | B_RESP2 | Tab | lab | |
| 2 | C_RESP1 | C_RESP2 | Tbc | lbc | |
| 3 | D_RESP1 | D_RESP2 | Tcd | lcd | |
| 4 | A_RESP1 | A_RESP2 | Tad | lad | |
| 5 | D_RESP1 | D_RESP3 | Tbd | lbd | |
| 6 | A_RESP1 | A_RESP3 | Tac | lac |
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (7)
1. The synchronous signal system data transmission method applied to the underwater sound transmission system is characterized by comprising the following steps:
the transmitter is used for transmitting the underwater sound instruction signal to the transponder and receiving a response signal transmitted by the transponder;
the transponder is used for receiving the underwater sound command signal sent by the transmitter or receiving the response signal sent by the other transponder and transmitting the underwater sound signal to the transmitter or the other transponder;
the system comprises an underwater sound synchronous signal system, a periodic time pulse signal and a control system, wherein the periodic time pulse signal is written into the transmitter and the transponder to be used as an information carrier for underwater sound communication, and the periodic time pulse signal in the transmitter and the transponder is in a synchronous state;
the data transmission method comprises the following steps:
s1, the responder obtains the information X to be transmitted and converts the information X into time information DX；
S2, after the falling edge of the synchronous signal of the transmitter is effective, transmitting a data reading signal instruction code;
s3, the responder passes TxTime delay after receiving data reading signal instruction code
Transmitting a first underwater acoustic response signal, the transmitter passing through 2Tx+
Receiving a first response underwater sound signal after time; the time delay
Is longer than the response delay time of the transponder itself;
s4, delay D of responder after next synchronous signal falling edgeXAfter a time, a second response underwater acoustic signal is transmitted, and the transmitter passes through Tx+DXReceiving a second response underwater sound signal after the time;
s5, the transmitter passes DXConverting the value of the data to transmission information X to finish the data transmission;
the transmission information X comprises one or more of depth information, water pressure information, temperature information or seawater PH value in the environment where the sensor is located.
2. The synchronization signal system data transmission method according to claim 1, wherein the transponder is provided with a digital temperature sensor and a digital depth sensor, acquires temperature information and depth information, and is configured to convert the temperature information and the depth information into corresponding time data after linear expression.
3. The method for transmitting data in a synchronous signal system according to claim 2, wherein the effective range of the temperature information and the depth information can be extended by setting a time period T, for example, the effective range of the temperature information in a1 second period is-20 ℃ to 60 ℃; the range of the depth information is 0-8000 m, and the range is increased linearly after the period is 1.5 seconds.
4. The data transmission method of the synchronous signal system according to claim 1, wherein each time period of the underwater acoustic synchronous signal system takes a falling or falling edge of a synchronous signal as a starting point.
5. The data transmission method of the synchronous signal system according to claim 1, further comprising a receiver, wherein the receiver is installed on a mother ship for drop operation or integrally installed with the transmitter, and is in communication connection with the transmitter, and is configured to receive the response signal of the transponder, perform data processing, and send the data to the processor terminal.
6. The method for transmitting data with synchronous signal system according to claim 1, wherein the information X to be transmitted in step S1 is converted into time information DXThe method comprises the following steps: passing the information X to be transmitted through a conversion constant and the underwater sound transmission delay time DXA linear relationship is established.
7. The method for transmitting data in a synchronous signal system according to claim 1, further comprising: in the non-polling response mode, response signals adopt a code division or frequency division mode, a plurality of sensors read data at one time synchronously respond, and multi-sensor data reading can be completed simultaneously.
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