CN110677223A - Cluster UUV system and underwater dual redundant communication information transmission method thereof - Google Patents

Cluster UUV system and underwater dual redundant communication information transmission method thereof Download PDF

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CN110677223A
CN110677223A CN201910988644.9A CN201910988644A CN110677223A CN 110677223 A CN110677223 A CN 110677223A CN 201910988644 A CN201910988644 A CN 201910988644A CN 110677223 A CN110677223 A CN 110677223A
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张伟
曾佳
张建库
魏世琳
孙毅
严浙平
陈涛
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Harbin Engineering University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

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Abstract

The invention relates to a cluster UUV system and an underwater dual redundant communication information transmission method thereof, belonging to the technical field of underwater UUV clusters. Establishing UUV kinematics and a kinetic equation by using a feedback linearization method; obtaining position attitude information and speed information of each UUV through a velocimeter and a gyroscope; respectively establishing a position and speed error state vector of the ith UUV at the time t; respectively establishing a position communication matrix for transmitting position information and a speed communication matrix for transmitting speed information, wherein the position communication matrix and the speed communication matrix are independently transmitted and do not influence each other; judging the stability of the communication matrix according to the Lyapunov matrix stability judging condition; meanwhile, the invention also considers the position and speed dual redundant communication information transmission mode under the conditions of time delay, state loss and ocean current disturbance. The invention not only can lead the communication delay system to be stably converged, but also increases the effectiveness of information transmission, ensures the stability and the autonomy of the cluster UUV system, and has wide application prospect.

Description

Cluster UUV system and underwater dual redundant communication information transmission method thereof
Technical Field
The invention relates to an underwater dual redundant communication information transmission method for a cluster UUV system, and belongs to the technical field of underwater UUV clusters.
Background
With the development of UUVs (Unmanned Underwater vehicles), single UUVs cannot meet the task requirements. Therefore, the UUV collaboratively works in a cluster form to execute the task becomes the inevitable direction for UUV development, and meanwhile, new requirements are provided for key technologies such as UUV task planning, path planning, placement and recovery and the like, and the application of technologies such as cluster intelligence, formation control and the like which are suitable for the cluster development direction is promoted. The UUV has the characteristics of distributivity, dynamics, adaptability, intellectualization, synergy, universalization, layering and the like, and can effectively reduce cost, enlarge capacity and improve efficiency and detection probability.
Due to the factors of complex and variable underwater environment, long communication distance of UUV and the like, influenced by ocean current disturbance, a UUV cluster communication system can be delayed or interrupted, so that the UUV cluster communication system cannot timely receive the spatial position and the motion state of other UUV at the current moment.
Disclosure of Invention
The invention aims to provide a method for transmitting underwater dual redundant communication information of a cluster UUV system in order to solve the problem of system instability caused by lower communication time delay.
The invention aims to realize the method, a cluster UUV system comprises an underwater communication sonar combination unit, a signal processing unit, a data processing unit, a task allocation unit and a task execution unit, wherein each UUV in the cluster UUV is equipped with an underwater communication sonar for transmitting an underwater communication signal, the UUV carries out data interaction through the communication sonar, the UUV receives information transmitted by other UUV through the communication sonar and carries out data processing on the data processing unit, the UUV finishes data processing, and the task allocation unit carries out task allocation; after the task allocation is completed, the UUV executes the allocated task through the task execution unit; the communication problem caused by limited underwater communication bandwidth is solved by adopting a position and speed dual redundant communication information transmission mode, pose state information and speed state information are transmitted among members of the cluster UUV, and information transmission channels are not coherent and independently transmitted.
The invention also includes such structural features:
1. each UUV is provided with a communication sonar sensor, and information can be mutually transmitted among the UUV; the signal processing unit is a processing system for converting acoustic signals into electric signals; the data processing unit is a filtering processing system after converting the acoustic signals into electric signals; the task allocation unit is a computer; the task execution unit is various execution mechanisms carried by the UUV, including a steering engine, a main push and an auxiliary push.
The invention aims to realize the method for transmitting the underwater dual redundant communication information of the cluster UUV system, which specifically comprises the following steps:
step 1, establishing a UUV kinematics and a kinetic equation by using a feedback linearization method;
step 2, obtaining position attitude information and speed information of each UUV through a velocimeter and a gyroscope;
step 3, respectively establishing position and speed error state vectors of the ith UUV at the moment t;
step 4, respectively establishing a position communication matrix for transmitting the position information and a speed communication matrix for transmitting the speed information, wherein the position communication matrix and the speed communication matrix are independently transmitted and do not influence each other;
step 5, judging the stability of the communication matrix according to the Lyapunov matrix stability judging condition;
step 6, judging whether time delay exists in the UUV motion process, and if the time delay exists, carrying out dead reckoning to judge the UUV state;
step 7, analyzing the system stability under the condition that a certain state of position and speed is lost, determining the motion state of the UUV according to the motion states of other members in the cluster at the current moment, judging whether the state is lost or not in the motion process, and if the state is lost, carrying out data calculation to judge the individual state of the UUV;
step 8, analyzing the system stability under the condition of ocean current disturbance, wherein the complex ocean environment of the UUV greatly affects the stability of the UUV cluster system when the UUV executes the ocean task, analyzing the stability of the UUV cluster system according to the unknown ocean current disturbance condition received in the formation task of the UUV cluster formation, judging whether the ocean current disturbance exists, and performing data compensation if the ocean current disturbance exists;
and 9, determining the self motion trend of the UUV according to the current spatial positions and motion states of other members in the cluster, and realizing the stability of the formation system and the task ending when the motion states of all the UUV tend to be consistent under the condition of position and speed dual redundant communication information transmission modes.
The invention also includes such features:
1. the step 3 specifically comprises the following steps:
step 3.1, the state of the ith UUV at the time t is
Figure BDA0002237516860000021
Wherein xi(t) and vi(t) the position and speed of the ith UUV at the moment t respectively;
step 3.2, the position and speed states of the n UUV are
Figure BDA0002237516860000022
Step 3.3, the position and speed error state vectors of the ith UUV are respectively
Figure BDA0002237516860000023
Step 3.4, the position and speed error state vector of the cluster UUV is
Figure BDA0002237516860000025
Figure BDA0002237516860000031
2. The step 5 specifically comprises the following steps:
step 5.1, constructing a stability equation, and solving a characteristic value of the system;
step 5.2, the system state error equation is
Figure BDA0002237516860000032
Wherein, tau is a delay link, lambda (t-tau) is an error state vector of the system at the (t-tau) moment,
Figure BDA0002237516860000033
Hv、Hxis a positive definite matrix, k is the system gain and k satisfies the following condition
Figure BDA0002237516860000034
λxIs a minimum eigenvalue, λMIs a matrixMaximum eigenvalue of (1), where Hv、HxIs a positive definite matrix, λmIs a matrix PvThe minimum eigenvalue of (d);
step 5.3, according to the Newton-Lei-Nenitz formula, the system state error equation is converted intoAnd judging that the system is consistent and gradually stable.
3. For different time-varying delay links, the stability of the UUV cluster system is analyzed and demonstrated, and the boundary condition of the system stability convergence is verified; for a clusterUUV based on feedback linearization coordination control system, with limited underwater communication bandwidth and different time delays tau in different communication information transmission mode layers1(t) and τ2(t) constructing a position and velocity error state vector Δ xiAnd Δ viAnd the error state vector of the system is:the state error equation of the system is:Lxand LvRespectively a position Laplacian matrix and a velocity Laplacian matrix, lambdax(t-τ1) Is systematically in (t-tau)1) Position error state vector of time of day, lambdav(t-τ2) Is systematically in (t-tau)2) The velocity error state vector of the moment is simplified to obtainWherein the content of the first and second substances,
Figure BDA00022375168600000310
Figure BDA00022375168600000311
according to the Newton Lei-Nenitz formula, the following can be obtained:
Figure BDA00022375168600000312
and finally, judging the stability of the system according to the Lyapunov matrix judgment condition.
Compared with the prior art, the invention has the beneficial effects that: in order to solve the problem of unstable data transmission of a UUV control system caused by communication, the invention adopts a position and speed dual redundant communication information transmission mode to solve the communication problem caused by the limited underwater communication bandwidth. The stability and the autonomy of the cluster UUV system can be ensured under the conditions of time delay, state loss and external random ocean current interference.
Drawings
FIG. 1 is a flow chart of an underwater dual redundant communication information transmission method for a clustered UUV system;
FIG. 2 is a schematic diagram of clustered UUV communications;
FIG. 3 is a diagram of wavelet transform denoising method steps.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention provides an underwater information transmission method for a cluster UUV system, which comprises an underwater communication sonar combination unit: each UUV in the cluster UUV is provided with an underwater communication sonar for transmitting an underwater communication signal; a signal processing unit: the UUV carries out data interaction through the communication sonar; a data processing unit: the UUV receives the information transmitted by other UUV through the communication sonar, and data processing is carried out on the unit; a task allocation unit: after the UUV finishes processing the data, task allocation is carried out; a task execution unit: after the task allocation is completed, the UUV executes the allocated task. The biggest problem in underwater communication is the communication delay problem, underwater acoustic communication needs higher environmental requirement, if the communication environment is unstable, the packet loss phenomenon easily occurs to data, and simultaneously, the requirement on communication equipment is higher. In order to solve the problem that data transmission is unstable due to communication delay to a UUV control system, the design adopts a position and speed dual redundant communication information transmission mode to solve the communication problem caused by limited underwater communication bandwidth. Pose state information and speed state information are transmitted among members of the cluster UUV, and information transmission channels are mutually incoherent and independently transmitted.
The cluster UUV system is a system combination consisting of five UUV, each UUV is provided with a communication sonar sensor, and the UUV can mutually transmit information; the signal processing unit is a processing system for converting acoustic signals into electric signals; the data processing unit is a filtering processing system after converting acoustic signals into electric signals; the task allocation unit is a computer; the task execution unit is various execution mechanisms carried by the UUV, such as a steering engine, a main push, an auxiliary push and the like.
As shown in fig. 1, the method is a flow chart of an underwater dual redundant communication information transmission method for a clustered UUV system; the invention provides a method for transmitting underwater dual redundant communication information of a cluster UUV system, which comprises the following steps:
the method comprises the following steps: establishing a UUV kinematics and a kinetic equation by using a feedback linearization method;
step two: obtaining position attitude information and speed information of each UUV through a velocimeter and a gyroscope;
step three: the state of the ith UUV at the time t isWherein xi(t) and vi(t) the position and speed of the ith UUV at the moment t respectively;
step four: the position and speed states of the n UUV are
Figure BDA0002237516860000042
Step five: the position and velocity error state vectors of the ith UUV are
Figure BDA0002237516860000043
Figure BDA0002237516860000044
Step six: the position and velocity error state vector of a clustered UUV is
Figure BDA0002237516860000045
Figure BDA0002237516860000051
Step seven: respectively establishing a position communication matrix for transmitting position information and a speed communication matrix for transmitting speed information, wherein the position communication matrix and the speed communication matrix are independently transmitted and do not influence each other;
step eight: constructing a stability equation and solving a characteristic value of the system;
step nine: the system state error equation is
Figure BDA0002237516860000052
Wherein, tau is a delay link, lambda (t-tau) is an error state vector of the system at the (t-tau) moment,
Figure BDA0002237516860000053
Hv、Hxis a positive definite matrix, k is the system gain and k satisfies the following condition
Figure BDA0002237516860000054
λxIs a minimum eigenvalue, λMIs a matrix
Figure BDA0002237516860000055
Maximum eigenvalue of (1), where Hv、HxIs a positive definite matrix, λmIs a matrix PvThe minimum eigenvalue of (d);
step ten: according to the Newton-Lei-Bluenz formula, the system state error equation is converted into
Figure BDA0002237516860000056
Judging that the system is consistent, gradual and stable;
step eleven: judging whether a time delay exists in the UUV in the motion process, and if the time delay exists, carrying out dead reckoning to judge the UUV state;
step twelve: the UUV determines the motion state of the UUV according to the motion states of other members in the cluster at the current moment, judges whether the state is lost or not in the motion process, and if the state is lost, can calculate and judge the individual state of the UUV by data;
step thirteen: judging whether ocean current disturbance exists in the UUV in the motion process, and if the ocean current disturbance exists, performing data compensation;
fourteen steps: and the UUV determines the motion trend of the UUV according to the space position and the motion state of other members in the cluster at the current moment, and when the motion states of all the UUV tend to be consistent under the condition of a position and speed dual redundant communication information transmission mode, the formation system is stable, and the task is finished.
(1) For different time-varying delay links, UUAnd analyzing and demonstrating the stability of the V cluster system, and verifying the boundary condition of the stable convergence of the system. For a cluster UUV, based on a feedback linearization coordination control system, different time delays tau exist in underwater communication bandwidth limitation and different communication information transmission mode layers1(t) and τ2(t) constructing a position and velocity error state vector Δ xiAnd Δ viAnd the error state vector of the system is:
Figure BDA0002237516860000057
the state error equation of the system is:
Figure BDA0002237516860000058
Lxand LvRespectively a position Laplacian matrix and a velocity Laplacian matrix, lambdax(t-τ1) Is systematically in (t-tau)1) Position error state vector of time of day, lambdav(t-τ2) Is systematically in (t-tau)2) The velocity error state vector of the moment is simplified to obtain
Figure BDA0002237516860000059
Wherein the content of the first and second substances,
Figure BDA00022375168600000510
Figure BDA0002237516860000061
according to the Newton Lei-Nenitz formula, the following can be obtained:and finally, judging the stability of the system according to the Lyapunov matrix judgment condition.
(2) And under the condition that a certain state of position and speed is lost, the system stability is analyzed, the UUV determines the motion state of the UUV according to the motion states of other members in the cluster at the current moment, whether the state is lost or not is judged in the motion process, and if the state is lost, the individual state of the UUV can be judged through data calculation.
(3) The system stability analysis under the condition of ocean current disturbance, and the complex ocean environment has great influence on the stability of the UUV cluster system when the UUV executes the ocean task. And analyzing the stability of the UUV cluster system according to the unknown ocean current disturbance condition in the formation task formed by the UUV clusters, judging whether ocean current disturbance exists or not, and performing data compensation if the ocean current disturbance exists.
As shown in fig. 2, a schematic diagram of communication of a UUV cluster is shown, and in a real marine environment, a weak communication environment is inevitable for the UUV cluster. The UUV cluster mainly depends on underwater acoustic communication, and the accuracy and timeliness of communication of the UUV cluster system are difficult to guarantee due to the fact that the underwater acoustic communication environment and communication equipment are in non-ideal states. Underwater communication time delay, data packet loss and underwater acoustic channel instability can cause great influence on timeliness and accuracy of task allocation information among members in the UUV cluster. When underwater acoustic communication is carried out, the sound wave propagation speed is low, so that UUV cluster communication is delayed, and the stability of a UUV cluster system is influenced by overlong system delay. The cluster UUV carries out networking communication through a communication sonar under water, a data chain can carry out data transmission among the UUV, and information is interacted under water. When the UUV floats out of the water surface, the UUV can be communicated with the GPS for positioning, and the GPS information can be acquired at any time.
As shown in fig. 3, for the UUV, after receiving data, filtering processing is performed, and wavelet transform denoising is applied, which means that a noisy signal is subjected to multi-scale wavelet transform, and is transformed from a real domain to a wavelet domain, and then wavelet coefficients of the signal are extracted as much as possible at each scale, and wavelet coefficients of the noise are removed. Finally, the signal is reconstructed by inverse wavelet transform.
The method is used for analyzing and discussing the communication problem of the cluster system under the action of underwater acoustic communication and marine environment interference in the process of executing tasks by the cluster UUV system. The method is characterized in that the UUV communication system is designed into a dual redundant communication information transmission method mainly based on position and speed information, the stability of a communication matrix is judged according to the Lyapunov matrix stability judgment condition, and a position and speed dual redundant communication information transmission mode is considered under the conditions of time delay, state loss and ocean current disturbance.
In summary, the invention relates to an Underwater dual redundant communication information transmission method for a cluster UUV system, a UUV (Unmanned Underwater Vehicle) cluster cannot meet communication problems inevitably when carrying out information interaction Underwater, the UUV cluster communication system can be delayed or interrupted due to the influence of ocean current disturbance caused by factors such as complex and variable Underwater environment, long UUV communication distance and the like, so that the UUV cluster communication system cannot timely receive the space position and motion state of other UUV at the current moment, the cluster UUV system needs to negotiate with each other under network communication, and the communication bandwidth is restricted in the planning process. The design designs the UUV communication system into a dual redundant communication information transmission method mainly based on position and speed information, judges the stability of a communication matrix according to the Lyapunov matrix stability judgment condition, considers the dual redundant communication information transmission mode of position and speed under the conditions of time delay, state loss and ocean current disturbance, and not only can lead the communication time delay system to be stably converged, but also can increase the effectiveness of information transmission.

Claims (6)

1. A clustered UUV system, characterized by: each UUV in the cluster UUV is provided with an underwater communication sonar for transmitting an underwater communication signal, the UUV performs data interaction through the communication sonar, the UUV receives information transmitted by other UUV through the communication sonar and performs data processing on the data processing unit, the UUV finishes data processing, and the task is distributed through the task distribution unit; after the task allocation is completed, the UUV executes the allocated task through the task execution unit; the communication problem caused by limited underwater communication bandwidth is solved by adopting a position and speed dual redundant communication information transmission mode, pose state information and speed state information are transmitted among members of the cluster UUV, and information transmission channels are not coherent and independently transmitted.
2. The clustered UUV system as claimed in claim 1, wherein: each UUV is provided with a communication sonar sensor, and information can be mutually transmitted among the UUV; the signal processing unit is a processing system for converting acoustic signals into electric signals; the data processing unit is a filtering processing system after converting acoustic signals into electric signals; the task allocation unit is a computer; the task execution unit is various execution mechanisms carried by the UUV, including a steering engine, a main push and an auxiliary push.
3. A cluster UUV system underwater dual redundant communication information transmission method is based on the cluster UUV system and is characterized by comprising the following steps:
step 1, establishing a UUV kinematics and a kinetic equation by using a feedback linearization method;
step 2, obtaining position attitude information and speed information of each UUV through a velocimeter and a gyroscope;
step 3, respectively establishing position and speed error state vectors of the ith UUV at the moment t;
step 4, respectively establishing a position communication matrix for transmitting the position information and a speed communication matrix for transmitting the speed information, wherein the position communication matrix and the speed communication matrix are independently transmitted and do not influence each other;
step 5, judging the stability of the communication matrix according to the Lyapunov matrix stability judging condition;
step 6, judging whether time delay exists in the UUV motion process, and if the time delay exists, carrying out dead reckoning to judge the UUV state;
step 7, analyzing the system stability under the condition that a certain state of position and speed is lost, determining the motion state of the UUV according to the motion states of other members in the cluster at the current moment, judging whether the state is lost or not in the motion process, and if the state is lost, carrying out data calculation to judge the individual state of the UUV;
step 8, analyzing the system stability under the condition of ocean current disturbance, wherein the complex ocean environment of the UUV greatly affects the stability of the UUV cluster system when the UUV executes the ocean task, analyzing the stability of the UUV cluster system according to the unknown ocean current disturbance condition received in the formation task of the UUV cluster formation, judging whether the ocean current disturbance exists, and performing data compensation if the ocean current disturbance exists;
and 9, determining the self motion trend of the UUV according to the current spatial positions and motion states of other members in the cluster, and realizing the stability of the formation system and the task ending when the motion states of all the UUV tend to be consistent under the condition of position and speed dual redundant communication information transmission modes.
4. The underwater dual redundant communication information transmission method for the clustered UUV system as claimed in claim 3, wherein the step 3 specifically comprises the following steps:
step 3.1, the state of the ith UUV at the time t is
Figure FDA0002237516850000021
Wherein xi(t) and vi(t) the position and speed of the ith UUV at the moment t respectively;
step 3.2, the position and speed states of the n UUV are
Figure FDA0002237516850000022
Step 3.3, the position and speed error state vectors of the ith UUV are respectively
Figure FDA0002237516850000024
Step 3.4, the position and speed error state vector of the cluster UUV is
Figure FDA0002237516850000026
5. The underwater dual redundant communication information transmission method for the clustered UUV system as claimed in claim 4, wherein the step 5 specifically comprises the following steps:
step 5.1, constructing a stability equation, and solving a characteristic value of the system;
step 5.2, the system state error equation is
Figure FDA0002237516850000027
Wherein, tau is a delay link, lambda (t-tau) is an error state vector of the system at the (t-tau) moment,Hv、Hxis a positive definite matrix, k is the system gain and k satisfies the following condition
Figure FDA0002237516850000029
λxIs a minimum eigenvalue, λMIs a matrix
Figure FDA00022375168500000210
Maximum eigenvalue of (1), where Hv、HxIs a positive definite matrix, λmIs a matrix PvThe minimum eigenvalue of (d);
step 5.3, according to the Newton-Lei-Nenitz formula, the system state error equation is converted into
Figure FDA00022375168500000211
And judging that the system is consistent and gradually stable.
6. The underwater dual redundant communication information transmission method for the clustered UUV system as claimed in claim 5, wherein: in the time delay link, for different time-varying time delay links, the stability of the UUV cluster system is analyzed and demonstrated, and the boundary condition of the system stable convergence is verified; for a cluster UUV, based on a feedback linearization coordination control system, different time delays tau exist in underwater communication bandwidth limitation and different communication information transmission mode layers1(t) and τ2(t) conditions ofConstructing a position and velocity error state vector Δ xiAnd Δ viAnd the error state vector of the system is:
Figure FDA00022375168500000212
the state error equation of the system is:
Figure FDA00022375168500000213
Lxand LvRespectively a position Laplacian matrix and a velocity Laplacian matrix, lambdax(t-τ1) Is systematically in (t-tau)1) Position error state vector of time of day, lambdav(t-τ2) Is systematically in (t-tau)2) A velocity error state vector of time to obtain
Figure FDA0002237516850000031
Wherein the content of the first and second substances,
Figure FDA0002237516850000032
Figure FDA0002237516850000033
according to the Newton Lapanictz formula, dao is obtained:
Figure FDA0002237516850000034
and finally, judging the stability of the system according to the Lyapunov matrix judgment condition.
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CN111669228A (en) * 2020-05-29 2020-09-15 中国科学院声学研究所东海研究站 UUV cluster ad hoc network method and system based on underwater acoustic communication
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CN114475989A (en) * 2022-04-15 2022-05-13 山东科技大学 Ocean cluster observation method
CN114475989B (en) * 2022-04-15 2022-07-12 山东科技大学 Ocean cluster observation method
CN116261115A (en) * 2023-03-08 2023-06-13 杭州瀚陆信息技术有限公司 Internet of things equipment regulation and control system of ocean platform
CN116261115B (en) * 2023-03-08 2023-12-29 宁波瀚陆海洋科技有限公司 Internet of things equipment regulation and control system of ocean platform

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