CN111490804A - Integrated communication device and communication method for unmanned ship - Google Patents
Integrated communication device and communication method for unmanned ship Download PDFInfo
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- CN111490804A CN111490804A CN202010186225.6A CN202010186225A CN111490804A CN 111490804 A CN111490804 A CN 111490804A CN 202010186225 A CN202010186225 A CN 202010186225A CN 111490804 A CN111490804 A CN 111490804A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
- H04B1/401—Circuits for selecting or indicating operating mode
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18515—Transmission equipment in satellites or space-based relays
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
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- H—ELECTRICITY
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- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40286—Bus for use in transportation systems the transportation system being a waterborne vessel
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Abstract
An integrated communication device and a communication method for an unmanned ship comprise a main control unit, a communication gateway, a power supply module, an Ethernet communication assembly, a WIFI communication assembly, a data transmission radio station communication assembly and a Beidou satellite communication assembly. The main control unit, ethernet communication subassembly and WIFI communication subassembly all link to each other through ethernet and communication gateway, and data radio station communication subassembly and big dipper satellite communication subassembly all link to each other through RS232 and communication gateway, and the ethernet communication subassembly is accompanied by the RJ45 interface, and WIFI communication subassembly, data radio station communication subassembly and big dipper satellite communication subassembly are all connected with the antenna that corresponds, and power module gives all units and subassembly power supply. According to the invention, four communication modes of Ethernet, WIFI, a data transmission radio station and a Beidou satellite commonly used by the unmanned ship are integrated, the size of the communication device is reduced, the shore-based control system can select and convert a communication mode with the unmanned ship according to the working condition of the unmanned ship, and the reliability of communication is improved.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to an integrated communication device and a communication method for an unmanned ship.
Background
With the progress of scientific technology and the expansion of application scenarios, both the carrying platform and the data acquisition system develop towards the aspects of unmanned and intelligentized aspects, and unmanned platforms such as unmanned aerial vehicles, unmanned ships, unmanned autonomous aircrafts and the like gradually become research hotspots. The unmanned ship is widely applied to the military and civil fields, can perform all-weather, long-term and large-range tasks on the ocean after being provided with various sensors, and can be applied to the civil fields such as maritime search and rescue, ocean environment monitoring, ocean weather forecast, sea map surveying and mapping, resource exploration, marine organism research and the like, and the military fields such as unmanned sea surface operation, communication relay, maritime patrol, reconnaissance and the like. When the unmanned ship is debugged on the shore, a shore-based command control system is required to send a configuration command to the unmanned ship in a wired communication or short-distance wireless communication mode, and a preset task is loaded; when the unmanned ship executes a task at sea, the shore-based command control system is required to send command commands to the unmanned ship in a wireless communication mode, and meanwhile, the unmanned ship also sends acquired data and state information of the unmanned ship to the shore-based command control system in a wireless communication mode.
More importantly, current unmanned ship communication device often is discrete, has independent wired communication debugging interface and a plurality of wireless communication device, and wired communication debugging interface often adopts the RJ45 of ethernet, and wireless communication mode includes GPRS, WIFI, data radio station and big dipper satellite. The communication modes have different characteristics, the communication systems are separately designed or purchased from different manufacturers, and are accessed to the main control center of the unmanned ship through respective channels, and the main control center is connected with the communication modules through corresponding interfaces. Most of the communication devices have the characteristics of large volume, scattered positions, difficult installation and wiring and the like, and have the problems of high energy consumption, electromagnetic interference and the like under the condition of simultaneous use of a plurality of wireless communication modes, so that the requirements of portability, easiness in use, low energy consumption and reliability on the communication devices by unmanned ships which are increasingly miniaturized are difficult to meet, and the development and application of unmanned ship technology are restricted. Therefore, how to develop a portable, easy-to-use, low-energy-consumption and reliable communication device for unmanned ships becomes an important problem, especially in occasions with higher requirements on portability and reliability, such as maritime patrol, maritime communication relay and the like.
Disclosure of Invention
The invention provides an integrated communication device and a communication method for an unmanned ship, aiming at the problems of large size, scattered position, high energy consumption and the like of the current unmanned ship communication device. The invention integrates four communication modes of Ethernet communication, WIFI communication, data transmission radio station communication and Beidou satellite communication in the common communication mode of the unmanned ship, reduces the volume of the communication device and is easy to carry. Only one communication mode is used at a certain moment, and the other three communication modules are powered off, so that the energy consumption is reduced. If the error rate of the current communication mode rises, the communication device can automatically switch to another communication mode, and the reliability of communication is ensured. The unmanned ship communication device is higher in integration degree, lower in energy consumption, more portable and easy to install, and is beneficial to application and popularization of the unmanned ship.
The technical scheme provided by the invention is as follows:
the utility model provides an integrated communication device for unmanned ship, its characterized in that includes main control unit, communication gateway, power module, ethernet communication subassembly, WIFI communication subassembly, data radio station communication subassembly and big dipper satellite communication subassembly.
Further preferably, an ethernet to RS232 module is integrated inside the communication gateway.
It is further preferable that two voltage dividers are arranged in the power module, and provide 5V and 3.3V working voltages respectively.
The utility model provides a communication method for unmanned ship's integrated communication device, when communicating, unmanned ship and bank base command control system respectively have one set of communication device, it can select to have ethernet, WIFI, the data radio station, four kinds of communication modes of big dipper satellite, only use a communication mode at a certain moment, three kinds of communication module outage simultaneously, the communication mode is selected and is converted by bank base command control system communication device's main control unit, the priority of four kinds of communication modes is ethernet, WIFI, the data radio station, big dipper satellite from high to low in proper order.
Further preferably, when the unmanned ship is powered on and debugged, the main control unit of the shore-based command control system selects the communication mode according to the priority of the four communication modes and the condition of receiving data frame replies; when the unmanned ship executes a task at sea, the main control unit of the shore-based command control system selects and converts a communication mode by calculating the distance between the main control unit and the unmanned ship and counting the error rate of received data;
during the task execution period of the unmanned ship on the sea, the main control unit of the shore-based control system calculates the distance between the unmanned ship and the main control unit in real time according to the longitude and latitude of the main control unit and the longitude and latitude of the unmanned ship;
when the distance is less than 60 meters, the WIFI communication assembly is powered on, a WIFI communication mode is temporarily adopted, the communication error rate is counted, if the error rate is less than 1%, the WIFI communication mode is formally adopted, and power supplies of the data transmission radio station and the Beidou satellite communication assembly are disconnected;
if the error code is 1% or more, powering on the data transmission radio station communication assembly, temporarily adopting a data transmission radio station communication mode, counting the error code rate, and if the error code rate is less than 1%, formally adopting the data transmission radio station communication mode, and powering off the WIFI and Beidou satellite communication assembly;
if the error rate is 1% or more, the Beidou satellite communication assembly is powered on, a Beidou satellite communication mode is temporarily adopted, the error rate is counted, and if the error rate is less than 1%, the Beidou satellite communication mode, WIFI and the data transmission station communication assembly are formally adopted to be powered off;
if the error rate is 1% or more, judging that the communication fails and ending the task;
when the distance between the unmanned ship and the shore-based command control system is between 60 meters and 5 kilometers, the WIFI communication mode is eliminated, and the execution is started from the temporary adoption of the data transmission radio station communication mode; and if the distance between the unmanned ship and the shore-based control system is more than 5 kilometers, the Beidou satellite communication mode is adopted for the moment to start execution.
The invention has the advantages that four communication modes of Ethernet communication, WIFI communication, data transmission radio station communication and Beidou satellite communication commonly used by unmanned ships are integrated together, and only one communication mode is used at a certain specific moment, so that the volume and the energy consumption of the communication device are reduced. During the navigation of the unmanned ship, if the reliability of the current communication mode is reduced or fails, the communication mode can be automatically switched to other communication modes, and the reliability of communication is ensured. The unmanned ship communication device has the advantages of higher integration degree, smaller volume and energy consumption, portability and easy installation, and is favorable for application and popularization of the unmanned ship.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a view of the internal structure of a communication gateway;
FIG. 3 is a diagram of the internal structure of the power module;
FIG. 4 is a flow diagram of communication mode selection during power-up debugging of the unmanned ship;
FIG. 5 is a flow chart of communication mode selection and conversion during mission of an unmanned ship performed offshore.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
Referring to fig. 1, the integrated communication device and the communication method for the unmanned ship provided by the invention comprise a main control unit, a communication gateway, a power module, an ethernet communication assembly, a WIFI communication assembly, a data transmission radio station communication assembly and a Beidou satellite communication assembly. The main control unit, ethernet communication subassembly and WIFI communication subassembly all link to each other through ethernet and communication gateway, and data radio station communication subassembly and big dipper satellite communication subassembly all link to each other through RS232 and communication gateway, and the ethernet communication subassembly is accompanied by the RJ45 interface, and WIFI communication subassembly, data radio station communication subassembly and big dipper satellite communication subassembly are all connected with the antenna that corresponds, and power module gives all units and subassembly power supply.
The main control unit is an embedded system based on ARM, is realized by adopting an S3C2440 chip and is responsible for controlling a communication process, and comprises power supply control and communication mode selection of all communication components, a socket interface is defined on an Ethernet channel connected with a communication gateway by the main control unit, and a static IP address and a static port number are arranged, the Ethernet communication component is a gigabit Ethernet card taking an RT L8168 chip as a core, one end of the gigabit Ethernet card is connected to the communication gateway, the other end of the gigabit Ethernet card is connected with an RJ45 interface, the WIFI communication component is realized by an Intel AX200 chip, a wired end of the gigabit Ethernet card is connected to the communication gateway through Ethernet, an antenna end is connected with a spiral WIFI antenna with the length of 18 cm, the communication distance can reach 150 m under the working frequency of 2.4GHz, wherein the communication reliability within 60 m is higher, the data transmission radio communication component is realized by an SX1278 chip, the chip adopts the L ORA spread spectrum technology to realize stronger single-pole capacity, the anti-interference working frequency is 433MHz, the wired end of the gigabit Ethernet card is connected to the communication gateway through RS232 communication system, the antenna end of which is connected to the Beidou communication gateway, the Beidou communication module with the reliability of 0538D kilometer communication module, the Beidou satellite communication module, the Beidou communication.
The communication gateway completes conversion of a communication interface and a protocol, the internal structure of the communication gateway is shown in FIG. 2, a data channel of the communication gateway is AN Ethernet bus and is essentially AN Ethernet switch module and is realized by AN IEM7110-3G type gigabit industrial Ethernet switch, a microcontroller, three network cards and two Ethernet-to-RS 232 modules are all connected to the Ethernet bus, the microcontroller is realized by AN STM32F103VCT6 singlechip and is connected to the Ethernet bus through a socket interface, the network card 1, the network card 2 and the network card 3 are gigabit Ethernet cards taking AN RT L8168 chip as a core, one end of each gigabit Ethernet card is connected to the Ethernet bus, the other end of each gigabit Ethernet card is respectively connected with AN Ethernet communication module, a WIFI communication module and a master control unit, the two Ethernet-to-RS 232 modules are realized by a Z L AN5103 serial server, the Ethernet end of each Ethernet-to-RS 232 module is connected to the Ethernet bus, and the RS232 end is respectively connected to a data transfer station communication module and a Beidou satellite communication module, the socket interface, the three network cards and the Ethernet-to.
Before the communication device works, configuration parameters of RS232 serial ports in the data transfer radio communication assembly and the Beidou satellite communication assembly, including a baud rate, a data bit, a stop bit and a parity bit, need to be mastered, and the parameters are configured to the serial ports of the corresponding Ethernet-to-RS 232 modules in the program initialization process of the microcontroller. The data formats of all interactive data in the communication device are provided with channel identifiers, and the channel identifiers represent which channel the frame data is transmitted through and are realized by two bits. The channel identifier is 00 and represents that the frame data is sent by the Ethernet communication module, 01 represents that the frame data is sent by the WIFI communication module, 10 represents that the frame data is sent by the data radio station communication module, and 11 represents that the frame data is sent by the Beidou satellite communication module. The communication gateway protocol conversion function is realized by the following steps: when the communication device needs to send data, the main control unit sends a data frame to be sent to an ethernet bus of the communication gateway through the network card 3, and after a socket interface of the microcontroller monitors the data in the ethernet bus, the socket interface judges which communication module should send the data frame according to a channel identifier of the data frame. If the channel identifier is 00, the frame data is sent to the corresponding IP address and port number of the network card 1 in a UDP mode, and the frame data enters an Ethernet communication module after being forwarded by the network card 1, so that the frame data enters an RJ45 interface; if the channel identifier is 01, the frame data is sent to an IP address and a port number corresponding to the network card 2 in a UDP mode, and the frame data enters the WIFI communication module after being forwarded by the network card 2, so that the frame data is transmitted out through the WIFI antenna; if the channel identifier is 10, the frame data is sent to an IP address and a port number corresponding to the Ethernet-to-RS 232 module 1 in a UDP mode, the Ethernet frame is split inside the Ethernet-to-RS 232 module and converted into data streams in an RS232 format, and the data streams enter a data transmission radio communication module and are transmitted out through a data transmission radio antenna; if the channel identifier is 11, the frame data is sent to the IP address and the port number corresponding to the Ethernet-to-RS 232 module 2 in a UDP mode, the Ethernet frame is split inside the Ethernet-to-RS 232 module and converted into data streams in an RS232 format, and the data streams enter the Beidou satellite communication module and are transmitted through the Beidou satellite antenna.
Similarly, after the ethernet communication module or the WIFI communication module receives the data, the data are respectively forwarded to the ethernet bus through the network card 1 and the network card 2. After the data transmission radio station communication module or the Beidou satellite communication module receives the data, the data stream in the RS232 format is forwarded to an Ethernet data frame through the Ethernet-to-RS 232 module 1 and the Ethernet-to-RS 232 module 2 respectively, and then the Ethernet data frame is sent to an Ethernet bus. The socket interface of the microcontroller can receive data on the ethernet bus and send the data to the IP address and the port number corresponding to the network card 3, and the network card 3 forwards the data to the main control unit after receiving the data, thereby completing the signal receiving process.
The internal structure of the power supply module is shown in fig. 3, and mainly comprises two voltage dividers, 5V and 3.3V voltages are obtained from a 24V power supply of an unmanned ship by utilizing the two voltage dividers, the voltage divider 1 is realized by a L M2596R-12 chip, the chip is a voltage reduction switch type voltage stabilization chip, the output voltage can be 5V by adjusting the values of components such as an external resistor and the like, the chip is connected to the power supply input ends of a WIFI communication assembly, a data transmission radio station communication assembly and a Beidou satellite communication assembly and provides working voltage for the WIFI communication assembly, the chip can provide 3A output current, the WIFI communication assembly, the data transmission radio station communication assembly and the Beidou satellite communication assembly can reach rated instantaneous power when transmitting signals, and accordingly, the communication distance required by indexes is ensured, the voltage divider 2 is realized by an MP1584EN chip, and the output voltage can be 3.3V by adjusting the values of the components such as the external resistor and the like, so that the 3.3V working voltage is provided for a main control unit and the internal components of a communication.
When the unmanned ship and the shore-based command control system communicate, the unmanned ship and the shore-based command control system are respectively provided with a set of communication device, and a main control unit of the shore-based command control system selects and converts a communication mode according to the working condition of the unmanned ship. The unmanned ship has two working conditions, namely power-on debugging and marine execution of tasks. When the unmanned ship is electrified and debugged, a shore-based command control system is required to send a configuration command to the unmanned ship in a wired communication or short-distance wireless communication mode, and a preset task is loaded; when the unmanned ship executes a task at sea, the shore-based command control system is required to send command commands to the unmanned ship in a wireless communication mode, and meanwhile, the unmanned ship also sends acquired data and state information of the unmanned ship to the shore-based command control system in a wireless communication mode. The selection and conversion work of the communication modes under different working conditions is completed by an internal program of a main control unit of the shore-based command control system.
The communication mode selection process during the unmanned ship power-on debugging is shown in fig. 4. After the unmanned ship is powered on, the main control unit of the shore-based command control system sends four Ethernet test frames to the communication gateway, wherein channel identifiers of the four test frames are 00, 01, 10 and 11 respectively. After the four Ethernet test frames pass through the communication gateway, the test frame containing the 00 channel identifier is sent to the RJ15 interface of the Ethernet communication module, and the other three Ethernet test frames are respectively transmitted by the WIFI antenna, the data transmission radio antenna and the Beidou satellite antenna. And then, the main control unit of the shore-based command control system detects whether the data frame reply of the unmanned ship is received or not, and selects a communication mode according to the priority order of the Ethernet, the WIFI, the data transmission radio station and the Beidou satellite. If the Ethernet data frame reply is received, an Ethernet communication mode is adopted, and power supplies of the WIFI, the data transmission radio station and the Beidou satellite component are disconnected, so that energy consumption is reduced; if the Ethernet data frame reply is not received, but the WIFI data frame reply is received, adopting a WIFI communication mode, and disconnecting the power supplies of the Ethernet, the data transmission radio station and the Beidou satellite component; if the data frame replies of the Ethernet and the WIFI are not received, but the data frame replies of the data transmission radio station are received, adopting a communication mode of the data transmission radio station, and disconnecting the power supplies of the Ethernet, the WIFI and the Beidou satellite components; if the data frame replies of the Ethernet, the WIFI and the data transmission radio station are not received, but the data frame replies of the Beidou satellite are received, a Beidou satellite communication mode is adopted, and the power supply of the Ethernet, the WIFI and the data transmission radio station component is disconnected; if the data frame replies of the four communication modes are not received, the communication failure is judged, and the task is ended.
The communication mode selection and conversion flow during the unmanned ship marine task execution is shown in fig. 5, and the unmanned ship can only adopt a wireless communication mode when marine task execution is carried out. In three communication modes of WIFI, data transfer radio station and big dipper satellite, the characteristics of WIFI communication are that the speed is high, the bandwidth is big, communication distance is near, and big dipper satellite communication's characteristics are that the speed is low, the bandwidth is little, communication distance is far away, and each index of data transfer radio station communication is central. Therefore, the main control unit of the shore-based command control system selects and converts the communication mode by calculating the distance from the unmanned ship and counting the error rate of received data. During the unmanned ship executes a task at sea, the main control unit of the shore-based finger control system calculates the distance between the self longitude and latitude and the longitude and latitude of the unmanned ship in real time. When the distance is less than 60 meters, the WIFI communication assembly is powered on, a WIFI communication mode is temporarily adopted, the communication error rate is counted, if the error rate is less than 1%, the WIFI communication mode is formally adopted, and power supplies of the data transmission radio station and the Beidou satellite communication assembly are disconnected; if the error code is 1% or more, powering on the data transmission radio station communication assembly, temporarily adopting a data transmission radio station communication mode, counting the error code rate, and if the error code rate is less than 1%, formally adopting the data transmission radio station communication mode, and powering off the WIFI and Beidou satellite communication assembly; if the error rate is 1% or more, the Beidou satellite communication assembly is powered on, a Beidou satellite communication mode is temporarily adopted, the error rate is counted, and if the error rate is less than 1%, the Beidou satellite communication mode, WIFI and the data transmission station communication assembly are formally adopted to be powered off; and if the error rate is 1% or more, judging that the communication fails and ending the task.
If the distance between the unmanned ship and the shore-based command control system is between 60 meters and 5 kilometers, the WIFI communication mode is eliminated, and the execution is started from the temporary adoption of the data transmission radio station communication mode; and if the distance between the unmanned ship and the shore-based control system is more than 5 kilometers, the Beidou satellite communication mode is adopted for the moment to start execution. The following criteria are adopted in the error rate statistics: when WIFI or data transmission radio station communication is adopted, the error rate is counted when 10 frames of data are received, and when Beidou satellite communication is adopted, the error rate is counted when 5 frames of data are received. Therefore, when the unmanned ship performs tasks at sea, the main control unit of the shore-based command control system can select and switch the communication mode at any time through the current distance and the statistical error rate condition, and disconnect the power supplies of other communication components. The communication method is more flexible, and the energy consumption is reduced while the communication reliability is ensured.
Claims (5)
1. The utility model provides an integrated communication device for unmanned ship, its characterized in that includes main control unit, communication gateway, power module, ethernet communication subassembly, WIFI communication subassembly, data radio station communication subassembly and big dipper satellite communication subassembly.
2. The integrated communication device for unmanned ship according to claim 1, wherein said communication gateway is integrated with ethernet to RS232 module.
3. The integrated communication device for unmanned ship according to claim 1, wherein two voltage dividers are provided in said power module to provide 5V and 3.3V operating voltages, respectively.
4. A communication method using the integrated communication device for the unmanned ship according to any one of claims 1 to 3, wherein during communication, the unmanned ship and the shore-based command control system are respectively provided with a set of communication device, four communication modes of Ethernet, WIFI, data transmission radio and Beidou satellite can be selected, only one communication mode is used at a certain moment, the other three communication modes are powered off, the communication modes are selected and switched by a main control unit of the shore-based command control system communication device, and the four communication modes are sequentially Ethernet, WIFI, data transmission radio and Beidou satellite from high to low.
5. The integrated communication method for the unmanned ship, according to claim 4, wherein when the unmanned ship is powered on for debugging, the main control unit of the shore-based command control system selects the communication mode according to the priority of the four communication modes and the condition of receiving the data frame reply; when the unmanned ship executes a task at sea, the main control unit of the shore-based command control system selects and converts a communication mode by calculating the distance between the main control unit and the unmanned ship and counting the error rate of received data;
during the task execution period of the unmanned ship on the sea, the main control unit of the shore-based control system calculates the distance between the unmanned ship and the main control unit in real time according to the longitude and latitude of the main control unit and the longitude and latitude of the unmanned ship;
when the distance is less than 60 meters, the WIFI communication assembly is powered on, a WIFI communication mode is temporarily adopted, the communication error rate is counted, if the error rate is less than 1%, the WIFI communication mode is formally adopted, and power supplies of the data transmission radio station and the Beidou satellite communication assembly are disconnected;
if the error code is 1% or more, powering on the data transmission radio station communication assembly, temporarily adopting a data transmission radio station communication mode, counting the error code rate, and if the error code rate is less than 1%, formally adopting the data transmission radio station communication mode, and powering off the WIFI and Beidou satellite communication assembly;
if the error rate is 1% or more, the Beidou satellite communication assembly is powered on, a Beidou satellite communication mode is temporarily adopted, the error rate is counted, and if the error rate is less than 1%, the Beidou satellite communication mode, WIFI and the data transmission station communication assembly are formally adopted to be powered off;
if the error rate is 1% or more, judging that the communication fails and ending the task;
when the distance between the unmanned ship and the shore-based command control system is between 60 meters and 5 kilometers, the WIFI communication mode is eliminated, and the execution is started from the temporary adoption of the data transmission radio station communication mode; and if the distance between the unmanned ship and the shore-based control system is more than 5 kilometers, the Beidou satellite communication mode is adopted for the moment to start execution.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112118552A (en) * | 2020-09-16 | 2020-12-22 | 西安应用光学研究所 | Remote control multilink data decision processing method of unmanned platform |
| CN112927390A (en) * | 2020-12-29 | 2021-06-08 | 蓝盾信息安全技术有限公司 | Integration system of marine intelligent gateway, satellite telephone and external satellite antenna |
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