CN110912618A - Multi-user diving communication positioning system based on underwater acoustic communication base station - Google Patents
Multi-user diving communication positioning system based on underwater acoustic communication base station Download PDFInfo
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- CN110912618A CN110912618A CN201911126741.3A CN201911126741A CN110912618A CN 110912618 A CN110912618 A CN 110912618A CN 201911126741 A CN201911126741 A CN 201911126741A CN 110912618 A CN110912618 A CN 110912618A
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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
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The invention belongs to the field of underwater acoustic communication, and relates to a multi-user diving communication positioning system based on an underwater acoustic communication base station, which comprises: mobile PC controls management terminal, underwater acoustic communication base station, portable underwater acoustic communication terminal and high in the clouds data processing center, wherein: the mobile PC control management terminal is used for remotely connecting and controlling the underwater sound communication base station and uploading the received data to the cloud end data processing center in time; the underwater acoustic communication base station is used for communicating and positioning with the portable underwater communication terminal and transmitting the data of the portable underwater communication terminal to the mobile PC control management terminal in real time; the portable underwater sound communication terminal is used for communicating with the underwater sound communication base station; the cloud data processing center is used for timely and quickly calculating, storing and responding data sent by the mobile PC control management terminal. The invention can realize the communication between divers and commanders on board, can position the underwater position of divers, and better ensures the efficiency and safety of the underwater operation process of divers.
Description
Technical Field
The invention belongs to the field of underwater acoustic communication, and relates to a multi-user diving communication positioning system based on an underwater acoustic communication base station.
Background
Ocean engineering has become a hot spot of scientific and technical research at present, underwater acoustic communication is one of key technologies in the development of ocean resources and ocean military, and research and development of an underwater acoustic communication system have very important scientific research significance and application value. The sea engineering exploration process often has diver's shadow, has many potential dangers in the dive operation process, still lacks the communication and the safety of function perfect dive communication system guarantee diver at present.
Divers working under water have inconvenience of communication caused by instability of the underwater interphone during operation, gesture conversation can be smoothly carried out only when other divers pay attention to the divers, but the situation that the divers pay attention to the divers at the water bottom is a trouble, so that the divers are difficult to give an alarm in time when the underwater operation is dangerous, and the divers can help other divers or people on a ship and on the land.
Because radio wave attenuates very seriously in aqueous, some current underwater communication tools all adopt the sound wave as communication media, but current underwater acoustic communication system scheme has only realized underwater diver and surface personnel usually, or the point-to-point communication between the underwater diver, and the function is more single, and stability flexibility is relatively poor, is difficult to satisfy the demand of diver in the time of the complicated scene during actual operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-user diving communication positioning system based on an underwater acoustic communication base station, which meets the requirement of multiple scenes, supports multiple users and integrates the functions of communication and underwater positioning.
The invention is realized by adopting the following technical scheme:
a multi-user diving communication positioning system based on an underwater acoustic communication base station comprises: mobile PC controls management terminal, underwater acoustic communication base station, portable underwater acoustic communication terminal and high in the clouds data processing center, wherein:
the mobile PC control management terminal is used for remotely connecting and controlling the underwater sound communication base station and uploading the received data to the cloud end data processing center in time;
the underwater acoustic communication base station is used for communicating and positioning with the portable underwater communication terminal and transmitting the data of the portable underwater communication terminal to the mobile PC control management terminal in real time;
the portable underwater sound communication terminal is used for receiving communication data from the underwater sound communication base station and sending the data to the underwater sound communication base station;
the cloud data processing center is used for timely and quickly calculating, storing and responding data sent by the mobile PC control management terminal.
Preferably, the underwater acoustic communication base station includes: receiving and dispatching transducer, annular hydrophone array, first hydrophone modem, main control unit, first operating panel and wireless communication module, wherein:
the annular hydrophone array and the receiving and transmitting transducer act together to form a sound head part of the underwater acoustic communication base station, and the sound head part is used for estimating the position and the azimuth angle of the portable underwater acoustic communication terminal;
the first underwater sound modem comprises: the first receiving processing unit, the first sending processing unit and the first signal processing unit; the first sending processing unit is used for amplifying power and sending signals; the first receiving and processing unit is used for acquiring and receiving signals and carrying out filtering processing; the first signal processing unit is used for processing the data to be transmitted or the received data by different algorithms to complete coding, modulation or demodulation, decoding and calculation processing of the positioning signal;
the main control unit runs an upper layer program, and comprises the steps of obtaining a calculation result of a signal processing unit of the first underwater sound modem, sending data to the mobile PC control management terminal, and obtaining data and instructions to be sent from the mobile PC control management terminal;
the first operation panel is a key interface of the underwater acoustic communication base station;
the wireless communication module is used for establishing wireless connection with the mobile PC control management terminal and carrying out communication with the portable underwater sound communication terminal.
Preferably, the portable underwater acoustic communication terminal includes: a transducer, a second underwater acoustic modem and a second operations panel, wherein:
the transducer is used for sending and receiving data or sending a sound wave signal of positioning response to the underwater acoustic communication base station;
the second underwater sound modem comprises a second receiving processing unit, a second sending processing unit and a second signal processing unit;
the second operation panel is provided with a liquid crystal screen and is used for displaying received data and providing keys to enable a diver to input data and instructions.
Preferably, the cloud data processing center includes two parallel processing mechanisms: an active transmission mechanism and a passive transmission mechanism;
the active transmitting mechanism and the passive transmitting mechanism exist simultaneously, and the active transmitting mechanism aims at facilitating the cloud data processing center to be connected to the mobile PC control management terminal and the portable underwater sound communication terminal quickly; and the passive transmission mechanism mainly processes data from the mobile PC control management terminal.
Preferably, the passive transmitting mechanism mainly judges according to the received data; if the receiving is the first receiving, the ID of the mobile PC control management terminal sending the packet is recorded in an ID recording table; if not, monitoring the received data; if the length of the received data is zero, closing the connection and deleting the ID in the record table; and if the length of the received data is not zero, processing the received data.
Preferably, in the case that the length of the received data is not zero, processing the received data includes:
judging whether the received data is a general situation, a general important situation or an emergency situation; if the situation is common, a first passive transmission mechanism mode is adopted, namely received data and an operation result are stored, and a normal instruction is sent; if the situation is a general important situation, a passive transmitting mode II is adopted, namely the cloud data processing center knows the related personnel and the related personnel manually transmit data or instructions; and if the emergency situation is the emergency situation, a passive transmitting mechanism mode III is adopted, namely the cloud data processing center automatically transmits data or instructions and knows related personnel.
Preferably, the multi-user diving communication positioning system based on the underwater acoustic communication base station issues an instruction by the mobile PC control management terminal through wirelessly connecting the underwater acoustic communication base station, and the mobile PC control management terminal comprises two different communication working modes: the communication working mode I and the communication working mode II are both oriented to multi-diver users, and specifically:
under the situation of a communication working mode, the portable underwater sound communication terminal is only in direct communication with the underwater sound communication base station, the communication between the portable underwater sound communication terminals needs to take the underwater sound communication base station as a relay, and the relay forwarding function of the underwater sound communication base station is selectively turned on or off at the mobile PC control management terminal;
under the second communication working mode, the portable underwater sound communication terminals can send and receive data with each other except for the communication with the underwater sound communication base station instead of relaying through the underwater sound communication base station.
Preferably, the multi-user diving communication positioning system based on the underwater acoustic communication base station uses an ultra-short baseline positioning system to position the portable underwater acoustic communication terminal.
Preferably, the ultra-short baseline positioning system comprises a sound head part of the underwater acoustic communication base station and the portable underwater acoustic communication terminal, the sound head of the underwater acoustic communication base station and the portable underwater acoustic communication terminal measure round trip time in a query and response mode, and further estimate the distance between the underwater acoustic communication base station and the portable underwater acoustic communication terminal, and the ring-shaped hydrophone array can also be used for estimating the azimuth angle of the portable underwater acoustic communication terminal.
Preferably, the underwater acoustic communication base station floats on the water surface or the sea surface, the mobile PC control management terminal is placed in a ship, the cloud data processing center is deployed in a land machine room, and the portable underwater acoustic communication terminal is worn by a diver.
Compared with the existing diving communication system, the invention has the following advantages:
(1) the invention can realize communication among divers and between divers and on-board commanders, can position the underwater position of each diver, helps the on-board commander to command and guide the divers to operate underwater, and can dispatch and inform the divers to rescue in time when the divers meet sudden conditions, thereby better ensuring the efficiency and safety of the diver underwater operation process and reducing operation risks.
(2) The underwater command terminal integrates the mutual communication of the above-water command terminal and the underwater multiple users, and meets the requirement of common underwater operation of multiple divers.
(3) The integrated communication and underwater positioning functions enable the mobile PC control management terminal to master the underwater position of a diver in real time, and underwater position information plays a vital role when the diver is in danger and waits for rescue.
(4) The expected size scale of three devices (a mobile PC control management terminal, a portable underwater sound communication terminal and an underwater sound communication base station) forming the system is not large, and the system is convenient for personnel to carry and arrange quickly.
(5) The cloud data processing center is assembled, so that the data of the mobile PC control and management terminal is synchronized to the cloud data processing center in time, the operation and storage pressure of the mobile PC control and management terminal on a ship is reduced, and the processing speed of data information is increased.
Drawings
FIG. 1 is a schematic diagram of a multi-user submersible communication positioning system based on an underwater acoustic communication base station in one embodiment of the present invention;
fig. 2 is a view of an underwater acoustic communication base station in an embodiment of the present invention, in which (a) is a front view, (b) is a side view, and (c) is a top view;
fig. 3 is a block diagram of an underwater acoustic communication base station according to an embodiment of the present invention;
fig. 4 is a block diagram of a portable underwater acoustic communication terminal according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating processing performed by the cloud data processing center according to an embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to examples, which illustrate one mode of use of the present invention, but are not limited thereto.
A multi-user diving communication positioning system based on underwater acoustic communication base station is shown in fig. 1, and comprises: the mobile PC controls and manages the terminal 1, the underwater acoustic communication base station 2, the portable underwater acoustic communication terminal 3 and the cloud data processing center 4, wherein:
the underwater acoustic communication base station is usually floated on the water surface or the sea surface, is provided with a transmitting-receiving transducer, a ring-shaped hydrophone array, a first underwater acoustic modem and a wireless communication module (comprising an external antenna), and has the functions of communicating and positioning with a plurality of underwater divers portable underwater communication terminals. And the commander controls the management terminal by operating the mobile PC to remotely connect and control the underwater acoustic communication base station. Meanwhile, the mobile PC controls the management terminal to upload the received information to the cloud data processing center in time so as to be used by staff of the cloud data processing center. The portable underwater sound communication terminal is carried by a diver during diving and is used for receiving downlink communication data from the underwater sound communication base station and sending uplink data to the shipborne underwater sound communication base station by the diver.
The following components are described in further detail:
(1) the mobile PC control management terminal is usually placed in a ship, a commander runs an upper computer program, and after a wireless communication link is established with a wireless communication module of the underwater acoustic communication base station, the communication working mode of the underwater acoustic communication base station can be set, the received data of the underwater acoustic communication base station can be checked, and the dynamics of a diver can be known.
(2) When the underwater acoustic communication base station is actually operated, the underwater acoustic communication base station is usually thrown into water and floats on the water surface, and three views of an appearance model of the underwater acoustic communication base station are shown in fig. 2. As shown in fig. 3, the underwater acoustic communication base station includes a transceiver transducer, a ring hydrophone array, a first underwater acoustic modem, a main control unit, a first operation panel, and a wireless communication module (including an external antenna). The first underwater sound modem comprises a first receiving processing unit, a first sending processing unit and a first signal processing unit. The first sending processing unit is used for amplifying power and sending signals; the first receiving and processing unit is used for acquiring and receiving signals and carrying out filtering processing; the first signal processing unit is used for processing different algorithms on data to be transmitted or received, and completing coding, modulation or demodulation, decoding, calculation processing of positioning signals and the like. The main control unit runs an upper layer program, and comprises the steps of obtaining a calculation result of the signal processing unit, sending data to the mobile PC control management terminal, obtaining data and instructions to be sent from the mobile PC control management terminal and the like. The first operation panel is a key interface of the underwater acoustic communication base station. And the wireless communication module is in wireless connection with the mobile PC control management terminal, so that the mobile PC control management terminal can control the underwater sound communication base station and can communicate with a diver carrying the portable underwater sound communication terminal through the underwater sound communication base station.
(3) The portable underwater acoustic communication terminal is worn by a diver, and includes: the transducer, the second underwater sound modem and the second operation panel. The transducer is used for sending and receiving data or sending sound wave signals of positioning response, the annular hydrophone array of the underwater acoustic communication base station calculates the approximate underwater position of the sound source, namely a diver, and the second underwater sound modem of the portable underwater acoustic communication terminal is similar to the first underwater sound modem of the underwater acoustic communication base station and comprises: a second receiving and processing unit, a second sending and processing unit and a second signal processing unit. The second operation panel is provided with a liquid crystal screen for displaying received data and providing keys for a diver to input data and instructions.
(4) The cloud data processing center mainly has two functions: firstly, storing and operating data; and secondly, sending the related data back to the mobile PC control management terminal according to the operation result and the instruction of the staff of the cloud data processing center. The cloud data processing center is arranged in a land machine room and cannot move with a ship due to the fact that the cloud data processing center is large in number of servers, large in size and large in power consumption. The cloud data processing center can automatically calculate and store the received data, can automatically inform the staff of the cloud data processing center of the abnormity in the data, and the staff of the cloud data processing center can communicate with the staff of the mobile PC control management terminal on the ship and the diver carrying the portable underwater acoustic communication terminal in the sea in time.
The operation flow of the cloud data processing center is shown in fig. 5.
The mobile PC control management terminal on the ship synchronizes data to the cloud data processing center in time, and the cloud data processing center performs operation, storage and response quickly in time. The cloud data processing center comprises two parallel processing mechanisms: an active transmission mechanism and a passive transmission mechanism.
The active emission mechanism and the passive emission mechanism exist simultaneously, and the active emission mechanism aims to facilitate staff in the cloud data processing center to be connected to terminals (a mobile PC control management terminal and a portable underwater acoustic communication terminal) quickly; and the passive transmission mechanism mainly processes data from the mobile PC control management terminal.
For an active transmitting mechanism, namely, a worker of a cloud processing center has related requirements or related suggestions, the worker of the mobile PC control management terminal or a diver carrying the portable underwater sound communication terminal is actively contacted, and communication information can be recorded.
For the passive transmission mechanism, the determination is mainly made according to the received data. If the receiving is the first receiving, the ID of the mobile PC control management terminal sending the packet is recorded in an ID recording table; if not, then listening for the received data. If the received data length is zero, the connection is closed and the ID in the record table is deleted. If the length of the received data is not zero, the data exists, the situation exists, and then the received data is processed, wherein three processing modes are adopted: a first passive transmission mechanism mode, a second passive transmission mechanism mode and a third passive transmission mechanism mode. Specifically, the method comprises the following steps:
whether the situation is a general situation, a general important situation or an emergency situation is judged according to the received data. If the situation is normal, a passive transmission mechanism mode I is adopted, namely the received data and the operation result are stored, and a normal instruction is sent. If the situation is generally important, a passive transmission mode two is adopted, namely the cloud data processing center knows the relevant personnel of the center and sends data or instructions manually by the relevant personnel. As the calculation result of the cloud data processing center is changed, new creatures or new ores and the like can be found, and scientific research personnel of the cloud data processing center can communicate with the mobile PC control management terminal in time so as to avoid missing new findings. And if the emergency situation is the emergency situation, a passive transmitting mechanism mode III is adopted, namely the cloud automatically transmits data or instructions and knows related personnel. And if the situation that the sea environment is abnormal, such as the situation that a submarine volcano is about to explode, is calculated, a relevant instruction is immediately sent to inform a mobile PC control management terminal on the ship, so that divers can evacuate timely, and the like.
The following describes the communication mode of the multi-user diving communication positioning system based on the underwater acoustic communication base station.
The multi-user diving communication positioning system based on the underwater acoustic communication base station issues an instruction by the mobile PC control management terminal through the wireless connection underwater acoustic communication base station, and the mobile PC control management terminal can switch two different communication working modes: the communication working mode I and the communication working mode II are both oriented to a multi-diver user. Specifically, the method comprises the following steps:
(1) communication mode of operation-communication procedure: after a commander issues a communication mode instruction at the mobile PC control management terminal, each portable underwater sound communication terminal only directly communicates with the underwater sound communication base station, the communication between the portable underwater sound communication terminals needs to use the underwater sound communication base station as a relay, and the relay forwarding function of the underwater sound communication base station can be selectively started or closed at the mobile PC control management terminal. Under the working mode, the underwater acoustic communication base station can completely record and store the communication content of the whole system. Therefore, the mobile PC control management terminal can monitor the real-time communication content of all divers, and the forwarding mechanism of the underwater acoustic communication base station can expand the range of underwater acoustic communication. The relay function switching-off in the mode means that the portable underwater sound communication terminal only has direct data communication with the underwater sound communication base station and the mobile PC control management terminal, and the portable underwater sound communication terminal is not in direct contact with each other, so that excessive interference on a communication link between the underwater sound communication base station and the portable underwater sound terminal caused by excessive communication between divers can be avoided.
(2) Communication working mode communication procedure: after the commander issues the command of the second communication mode at the mobile PC control management terminal, the portable underwater sound communication terminals can send and receive data mutually besides communicating with the underwater sound communication base station, namely divers directly communicate with each other through the portable underwater sound communication terminals instead of relaying through the underwater sound communication base station. This mode of operation may improve the efficiency of communication between portable underwater acoustic communication terminals, especially when divers are concentrated in relatively close proximity.
Under the two communication working modes, the portable underwater sound communication terminal can be in communication contact with the underwater sound communication base station at regular time, and the underwater sound communication base station forwards data from the portable underwater sound communication terminal to the mobile PC control management terminal in real time, so that the mobile PC control management terminal can master the real-time information of the portable underwater sound communication terminal.
The following describes the positioning process of the multi-user diving communication positioning system based on the underwater acoustic communication base station.
The multi-user diving communication positioning system based on the underwater acoustic communication base station uses the ultra-short baseline positioning system to carry out sound source positioning on the portable underwater acoustic communication terminal.
The ultra-short baseline positioning system comprises a sound head part of the underwater sound communication base station and a portable underwater sound communication terminal. The acoustic head of the underwater acoustic communication base station, as shown in the top view of fig. 2 (c), comprises a centrally located transceiver transducer and an outer annular hydrophone array. The size of the annular hydrophone arrays is very small, with each annular hydrophone array being only a few centimeters to a dozen or so centimeters. Therefore, the overall size of the underwater acoustic communication base station is not large, and the underwater acoustic communication base station is convenient and flexible to carry. The sound head of the underwater sound communication base station and the portable underwater sound communication terminal can measure the round trip time in an inquiry and response mode, and further estimate the distance between the sound head and the portable underwater sound communication terminal. The annular hydrophone array can also be used for estimating the azimuth angle of the sound source of the portable underwater sound communication terminal.
The working flow of the multi-user diving communication positioning system based on the underwater acoustic communication base station is further explained below.
The working process of the multi-user diving communication positioning system based on the underwater acoustic communication base station comprises the following steps:
firstly, initializing a cloud data processing center; and starting the underwater acoustic communication base station and carrying out related initialization.
And step two, the mobile PC controls the management terminal to open an upper computer program, connect with the underwater acoustic communication base station, connect with the cloud data processing center and initialize.
And step three, arranging the underwater acoustic communication base station on the water surface, and fixing the position of the underwater acoustic communication base station.
And step four, the diver wears the portable underwater acoustic communication terminal, enters water, performs initial test after entering water, and the commander checks the portable underwater acoustic communication terminal at the mobile PC control management terminal to ensure the normal work of receiving, sending, positioning and the like of each terminal device.
And step five, after the upper computer of the mobile PC control management terminal sets a system communication working mode, the diver starts diving operation.
And step six, in the diving operation process, the underwater sound communication base station sequentially sends packets to inquire the position information of each portable underwater sound communication terminal at intervals, and the portable underwater sound communication terminals receiving the inquiry packets respond, so that the underwater sound communication base station can position each portable underwater sound communication terminal.
And seventhly, when the diver encounters an emergency, the diver can selectively inform the command terminal PC and/or nearby divers in different communication working modes to inform the divers of the position and the danger situation.
And step eight, the mobile PC control management terminal forwards the collected information to the cloud data processing center at intervals, and the cloud data processing center performs corresponding operation and storage.
And step nine, the cloud data processing center performs prejudgment according to the calculation result of the received data. If the diver is in an emergency state, namely the environment where the diver is in extremely dangerous, an emergency danger avoiding instruction is automatically sent and the related personnel are informed. If the importance is general, the related personnel are informed and the indication is made by the related personnel. If normal, return to normal for the diver to continue working.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A multi-user diving communication positioning system based on an underwater acoustic communication base station is characterized by comprising: mobile PC controls management terminal, underwater acoustic communication base station, portable underwater acoustic communication terminal and high in the clouds data processing center, wherein:
the mobile PC control management terminal is used for remotely connecting and controlling the underwater sound communication base station and uploading the received data to the cloud end data processing center in time;
the underwater acoustic communication base station is used for communicating and positioning with the portable underwater communication terminal and transmitting the data of the portable underwater communication terminal to the mobile PC control management terminal in real time;
the portable underwater sound communication terminal is used for receiving communication data from the underwater sound communication base station and sending the data to the underwater sound communication base station;
the cloud data processing center is used for timely and quickly calculating, storing and responding data sent by the mobile PC control management terminal.
2. The multi-user submersible communication positioning system of claim 1, wherein the underwater acoustic communication base station comprises: receiving and dispatching transducer, annular hydrophone array, first hydrophone modem, main control unit, first operating panel and wireless communication module, wherein:
the annular hydrophone array and the receiving and transmitting transducer act together to form a sound head part of the underwater acoustic communication base station, and the sound head part is used for estimating the position and the azimuth angle of the portable underwater acoustic communication terminal;
the first underwater sound modem comprises: the first receiving processing unit, the first sending processing unit and the first signal processing unit; the first sending processing unit is used for amplifying power and sending signals; the first receiving and processing unit is used for acquiring and receiving signals and carrying out filtering processing; the first signal processing unit is used for processing the data to be transmitted or the received data by different algorithms to complete coding, modulation or demodulation, decoding and calculation processing of the positioning signal;
the main control unit runs an upper layer program, and comprises the steps of obtaining a calculation result of a signal processing unit of the first underwater sound modem, sending data to the mobile PC control management terminal, and obtaining data and instructions to be sent from the mobile PC control management terminal;
the first operation panel is a key interface of the underwater acoustic communication base station;
the wireless communication module is used for establishing wireless connection with the mobile PC control management terminal and carrying out communication with the portable underwater sound communication terminal.
3. The multi-user submersible communication positioning system of claim 1, wherein the portable underwater acoustic communication terminal comprises: a transducer, a second underwater acoustic modem and a second operations panel, wherein:
the transducer is used for sending and receiving data or sending a sound wave signal of positioning response to the underwater acoustic communication base station;
the second underwater sound modem comprises a second receiving processing unit, a second sending processing unit and a second signal processing unit;
the second operation panel is provided with a liquid crystal screen and is used for displaying received data and providing keys to enable a diver to input data and instructions.
4. The multi-user submersible communication positioning system of claim 1, wherein the cloud data processing center comprises two parallel processing mechanisms: an active transmission mechanism and a passive transmission mechanism;
the active transmitting mechanism and the passive transmitting mechanism exist simultaneously, and the active transmitting mechanism aims at facilitating the cloud data processing center to be connected to the mobile PC control management terminal and the portable underwater sound communication terminal quickly; and the passive transmission mechanism mainly processes data from the mobile PC control management terminal.
5. The multi-user submersible communication positioning system of claim 4 wherein the passive transmission mechanism is determined primarily based on the received data; if the receiving is the first receiving, the ID of the mobile PC control management terminal sending the packet is recorded in an ID recording table; if not, monitoring the received data; if the length of the received data is zero, closing the connection and deleting the ID in the record table; and if the length of the received data is not zero, processing the received data.
6. The multi-user submersible communication positioning system of claim 5, wherein processing the received data in the case that the length of the received data is not zero comprises:
judging whether the received data is a general situation, a general important situation or an emergency situation; if the situation is common, a first passive transmission mechanism mode is adopted, namely received data and an operation result are stored, and a normal instruction is sent; if the situation is a general important situation, a passive transmitting mode II is adopted, namely the cloud data processing center knows the related personnel and the related personnel manually transmit data or instructions; and if the emergency situation is the emergency situation, a passive transmitting mechanism mode III is adopted, namely the cloud data processing center automatically transmits data or instructions and knows related personnel.
7. The multi-user submersible communication positioning system according to claim 1, wherein the multi-user submersible communication positioning system based on the underwater acoustic communication base station issues instructions by the mobile PC control management terminal through wirelessly connecting the underwater acoustic communication base station, and the mobile PC control management terminal comprises two different communication operation modes: the communication working mode I and the communication working mode II are both oriented to multi-diver users, and specifically:
under the situation of a communication working mode, the portable underwater sound communication terminal is only in direct communication with the underwater sound communication base station, the communication between the portable underwater sound communication terminals needs to take the underwater sound communication base station as a relay, and the relay forwarding function of the underwater sound communication base station is selectively turned on or off at the mobile PC control management terminal;
under the second communication working mode, the portable underwater sound communication terminals can send and receive data with each other except for the communication with the underwater sound communication base station instead of relaying through the underwater sound communication base station.
8. The multi-user submersible communication positioning system of claim 1, wherein the multi-user submersible communication positioning system based on an underwater acoustic communication base station uses an ultra-short baseline positioning system to position the portable underwater acoustic communication terminal.
9. The multi-user submersible communication positioning system according to claim 8, wherein the ultra-short baseline positioning system comprises a sound head part of the underwater acoustic communication base station and the portable underwater acoustic communication terminal, the sound head of the underwater acoustic communication base station and the portable underwater acoustic communication terminal measure round trip time by means of inquiry and response to further estimate the distance between the underwater acoustic communication base station and the portable underwater acoustic communication terminal, and the annular hydrophone array is further used for estimating the azimuth angle of the portable underwater acoustic communication terminal.
10. The multi-user submersible communication positioning system according to any one of claims 1-9, wherein the underwater acoustic communication base station is floating on the water or sea surface, the mobile PC control and management terminal is placed in a ship, the cloud data processing center is deployed in a land machine room, and the portable underwater acoustic communication terminal is worn by a diver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911126741.3A CN110912618A (en) | 2019-11-18 | 2019-11-18 | Multi-user diving communication positioning system based on underwater acoustic communication base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911126741.3A CN110912618A (en) | 2019-11-18 | 2019-11-18 | Multi-user diving communication positioning system based on underwater acoustic communication base station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112017503A (en) * | 2020-09-18 | 2020-12-01 | 武汉理工大学 | Underwater training facility for improving capability of diving operator, and evaluation system and method |
| CN112911512A (en) * | 2021-01-29 | 2021-06-04 | 英华达（南京）科技有限公司 | Underwater sound positioning and communication system, positioning, communication, team formation and geo-fencing method |
| CN115236595A (en) * | 2022-07-19 | 2022-10-25 | 深圳市智慧海洋科技有限公司 | Signal transmission method and system based on underwater acoustic communication and underwater acoustic positioning |
| CN116774149A (en) * | 2023-08-10 | 2023-09-19 | 海底鹰深海科技股份有限公司 | Underwater acoustic communication and positioning integrated system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112017503A (en) * | 2020-09-18 | 2020-12-01 | 武汉理工大学 | Underwater training facility for improving capability of diving operator, and evaluation system and method |
| CN112017503B (en) * | 2020-09-18 | 2022-07-08 | 武汉理工大学 | Underwater training facility for improving capability of diving operator, and evaluation system and method |
| CN112911512A (en) * | 2021-01-29 | 2021-06-04 | 英华达（南京）科技有限公司 | Underwater sound positioning and communication system, positioning, communication, team formation and geo-fencing method |
| CN115236595A (en) * | 2022-07-19 | 2022-10-25 | 深圳市智慧海洋科技有限公司 | Signal transmission method and system based on underwater acoustic communication and underwater acoustic positioning |
| CN116774149A (en) * | 2023-08-10 | 2023-09-19 | 海底鹰深海科技股份有限公司 | Underwater acoustic communication and positioning integrated system |
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