CN111669228B - UUV cluster ad hoc network method and system based on underwater acoustic communication - Google Patents
UUV cluster ad hoc network method and system based on underwater acoustic communication Download PDFInfo
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Abstract
The application discloses a UUV cluster ad hoc network method and system based on underwater acoustic communication, wherein the ad hoc network method comprises the following steps: establishing a networking: a master node is selected among the UUV nodes through a competition mechanism, other UUV nodes are automatically matched as slave nodes, and a UUV cluster ad hoc network is established; networking and merging: merging two or more ad hoc networks; networking and decomposing: the main node of the network to be decomposed transmits an underwater acoustic network decomposition signal, network quitting is executed according to the underwater acoustic network decomposition signal, and the quitted node reestablishes an ad hoc network according to a networking establishment mechanism; networking and reconstructing: when the master node of the UUV cluster ad hoc network is damaged or lost, the competition mechanism reselects the master node, other UUV nodes are automatically matched as slave nodes, and the UUV cluster ad hoc network is reconstructed. The method combines a centralized UUV clustering mode with a distributed UUV clustering mode, has the characteristics of autonomous state conversion, data exchange, resource sharing and the like, and supports a node joining/exiting mechanism and a network merging/decomposing mechanism within an acoustic action distance range.
Description
Technical Field
The application relates to the technical field of UUV cluster ad hoc networks, in particular to a UUV cluster ad hoc network method and system based on underwater acoustic communication.
Background
UUVs (Unmanned Underwater vehicles) play an important role in the fields of current ocean exploration, ocean development, military operations and the like. The underwater navigation system can complete specific underwater tasks in a complex marine environment, and can complete a series of actions such as autonomous navigation, positioning, obstacle avoidance and the like without human participation. Therefore, the research on the UUV not only has important scientific significance, but also has strong urgent needs in the military field.
With the continuous improvement of the complexity of underwater operation, the conventional underwater operation mainly based on single UUV is difficult to meet the requirements on working time, range, capacity, efficiency and the like, in recent years, a large number of underwater operation modes mainly based on UUV clusters appear, and the cooperative operation of multiple UUV clusters can not only complete the task which is difficult to complete by the single UUV, but also greatly improve the working range, capacity and efficiency of the underwater operation, greatly shorten the working time of the underwater operation and have better application prospect.
UUV cluster operation usually works underwater, and the transmission signal attenuation of communication means such as radio or laser under water is large, so that the working distance is limited, the defects are more prominent during long-distance operation, and the UUV cluster operation often cannot be used as an underwater effective communication mode. The acoustic signals are used as a unique and effective transmission carrier of a seawater medium and are commonly used for equipping underwater equipment, and the equipment can complete tasks such as acoustic positioning, communication, navigation, time service, detection and the like by using an underwater acoustic technology.
The UUV cluster originates from unmanned aerial vehicle formation, and in the unmanned aerial vehicle formation, formation control is flexible and information interaction is timely through various information interaction means (radio, satellite, laser and the like), so that an ad hoc network becomes possible; the UUV cluster is different from the background of unmanned aerial vehicle formation application, underwater sound is used as a unique and effective means for underwater information interaction of the UUV cluster, and compared with a radio transmission rate, the sound velocity is lower by several orders of magnitude, so that the UUV cluster mostly adopts a fixed cluster configuration and presets route planning and tasks, the cluster configuration only establishes a fixed underwater sound communication link between fixed UUV, does not support node adding/exiting and network merging/decomposing functions, and cannot realize an ad hoc network.
The patent with the application number of 201310275454.5 discloses a master-slave multi-UUV cooperative positioning method based on underwater acoustic communication delay, which mainly solves the problem of large positioning error of the existing master-slave multi-UUV cooperative positioning system.
The patent with the application number of 201710569143.8 discloses a cooperative positioning method and a cooperative positioning system for an underwater vehicle, and mainly solves the technical problem that the existing underwater vehicle cannot meet the requirement of high-precision positioning.
In addition, from the descriptions of the prior published patents and papers, the prior UUV clusters mostly adopt a centralized operation mode with central nodes (master and slave). Due to the limitations of the size, weight, cost and the like of the UUV, in a UUV cluster, only a few UUV (master node UUV) are provided with an inertial navigation system with higher precision, the autonomous positioning function can be realized without depending on external means, other UUV (slave node UUV) are provided with an inertial navigation system with low precision, the UUV provided with the low-precision inertial navigation system has the advantages that the position divergence is very fast when the UUV is autonomously positioned underwater, the positioning error is large, the position precision requirement when the UUV is remotely positioned underwater cannot be met, the self positioning function is assisted by high-precision position information provided by the master node UUV, the distance between the master node UUV and the orientation information, and the cooperative positioning function is completed by matching with the master node UUV, so that the cooperative task is completed.
The patent with the publication number of CN110412508A discloses a master-slave mode multi-UUV cooperative positioning method based on a vector hydrophone, which mainly solves the problems that the existing underwater UUV cooperative positioning clocks are asynchronous and the cooperative positioning method is complex.
The patent No. CN109656136A discloses a topological structure optimization method for underwater multi-AUV (autonomous underwater vehicle) co-location formation based on an acoustic measurement network, and mainly solves the problem that a main AUV starts from any position under the condition that the position of the AUV is uncertain, and the method for rapidly optimizing and designing the formation configuration of the multi-AUV co-location system is completed.
The above patents describe in detail a centralized working manner, one centralized cluster system generally consists of a master node and a plurality of slave nodes, the maneuvering control and information interaction are completed through the master node, and the slave nodes cooperate with each other. The distributed cluster system can effectively reduce communication cost, improve response speed, has good expansibility, higher reliability and better usability, and has the defects of complex system structure, difficult confidentiality control and the like.
Disclosure of Invention
The invention provides a UUV cluster ad hoc network method and system based on underwater acoustic communication, which have the characteristics of combination of a centralized UUV cluster mode and a distributed UUV cluster mode, autonomous configuration operation, autonomous state conversion and the like, and particularly have the characteristics of competition, optimization and reconfiguration mechanisms in a master node missing state.
The technical scheme of the invention is as follows:
the invention provides a UUV cluster ad hoc network method based on underwater acoustic communication, which comprises the following steps:
establishing a networking: the method comprises the steps that a master node is selected among a plurality of UUV nodes through a competition mechanism, other UUV nodes are automatically matched as slave nodes, a UUV cluster ad hoc network is established, and in the UUV cluster ad hoc network, the autonomous network state of each UUV node is converted into a centralized cluster mode from a distributed cluster mode;
networking and merging: when the master nodes of two or more ad hoc networks detect underwater acoustic network combination signals of master nodes of other ad hoc networks, the master nodes share information among the master nodes in an underwater acoustic communication mode, the master nodes after network combination are selected through a competition mechanism, and other nodes are automatically distributed as slave nodes after network combination;
networking and decomposing: the method comprises the steps that a main node of a to-be-decomposed network transmits an underwater acoustic network decomposition signal, network quitting is executed according to the underwater acoustic network decomposition signal, and the quitted node reestablishes an ad hoc network according to a networking establishment mechanism;
networking and reconstructing: when the master node of the UUV cluster ad hoc network is damaged or lost, the competition mechanism reselects the master node, other UUV nodes are automatically matched as slave nodes, and the UUV cluster ad hoc network is reconstructed.
Further preferably, the method further includes a step of adding a UUV node to an existing UUV cluster ad hoc network, and specifically includes:
a node to be added with the UUV transmits an added underwater sound frame signal;
after receiving and decoding the underwater sound frame adding signal, the host node of the UUV cluster ad hoc network replies an underwater sound frame signal in an underwater sound communication mode according to the current task state;
and if the UUV node to be added receives the addition approval instruction, adding the UUV cluster ad hoc network according to the addition mechanism.
Further preferably, the method further includes a step of executing exit of a UUV node in an existing UUV cluster ad hoc network, and specifically includes:
a UUV node to be exited transmits an underwater acoustic frame exiting signal;
after receiving and decoding the exit underwater sound frame signal, the master node of the UUV cluster ad hoc network replies an underwater sound frame signal in an underwater sound communication mode according to the current task state;
and if the UUV node to be quitted receives the exit approval instruction, quitting the UUV cluster ad hoc network according to the exit mechanism.
Further preferably, before the networking is established, each UUV node further performs the following steps:
initialization: automatically loading working parameters, wherein the working parameters comprise addresses, frequencies, bandwidths, frame synchronization periods and communication coding modes, initializing according to the working parameters, and initializing binding position reference information;
time synchronization: and the external time reference is utilized to carry out synchronous time service, and the time information is automatically updated when the underwater robot is underwater, so that the time information is kept synchronous with the time reference.
Further preferably, the networking setup specifically includes the steps of:
in the detection time, whether underwater sound monitoring signals of other UUV nodes exist in the range of the acoustic action distance is judged based on acoustic detection;
if not, establishing an ad hoc network by taking the self as a main node;
and if so, adding the corresponding UUV cluster ad hoc network.
The invention also provides a UUV cluster ad hoc network system based on underwater acoustic communication, which comprises a plurality of monomer UUV, wherein the monomer UUV comprises:
the energy module is used for providing energy for the single UUV;
the power module is used for providing power for the single UUV;
the control module is used for controlling the track, the course and the speed of the single UUV;
the navigation module is used for providing accurate position information for the single UUV;
and the acoustic ad hoc network module is used for underwater acoustic communication.
Further preferably, the acoustic ad hoc network module includes:
an acoustic transducer for converting underwater acoustic signals into electrical signals, or vice versa;
the receiver is used for receiving signals and filtering and amplifying the received signals;
a transmitter for transmitting a signal;
the underwater acoustic signal processing unit is used for realizing acoustic communication of the UUV cluster ad hoc network based on the underwater acoustic communication;
and the time keeping and time service unit is used for realizing a time synchronization reference.
Further preferably, each single UUV is completed by performing the following operations: networking establishment, networking combination, networking decomposition and networking reconstruction;
establishing a networking: the method comprises the steps that a master node is selected among a plurality of UUV nodes through a competition mechanism, other UUV nodes are automatically matched as slave nodes, a UUV cluster ad hoc network is established, and in the UUV cluster ad hoc network, the autonomous network state of each UUV node is converted into a centralized cluster mode from a distributed cluster mode;
networking and merging: when the master nodes of two or more ad hoc networks detect underwater acoustic network combination signals of master nodes of other ad hoc networks, the master nodes share information among the master nodes in an underwater acoustic communication mode, the master nodes after network combination are selected through a competition mechanism, and other nodes are automatically distributed as slave nodes after network combination;
networking and decomposing: the method comprises the steps that a main node of a to-be-decomposed network transmits an underwater acoustic network decomposition signal, network quitting is executed according to the underwater acoustic network decomposition signal, and the quitted node reestablishes an ad hoc network according to a networking establishment mechanism;
networking and reconstructing: when the master node of the UUV cluster ad hoc network is damaged or lost, the competition mechanism reselects the master node, other UUV nodes are automatically matched as slave nodes, and the UUV cluster ad hoc network is reconstructed.
The UUV cluster ad hoc network method and system based on underwater acoustic communication have the following beneficial effects:
the method combines a centralized UUV clustering mode with a distributed UUV clustering mode, has a network structure with no centralization and node peer, has the characteristics of autonomous state conversion, data exchange, resource sharing and the like, supports a node joining/exiting mechanism in an acoustic action distance range, and supports a network merging/decomposing mechanism. Compared with the prior art, the invention has two main differences: firstly, a centralized UUV clustering mode and a distributed UUV clustering mode are combined, in the establishing stage, the distributed clustering mode is adopted, master nodes and slave nodes are autonomously configured through competition among the nodes and an optimal selection mechanism, and after an autonomous network is established, the centralized clustering mode is adopted for normal operation; and secondly, when the main node is damaged or destroyed to cause the cluster main node to be lost, restoring each node to a distributed cluster mode, autonomously configuring a master node and a slave node through competition among the nodes and an optimal selection mechanism, and establishing a centralized network again so as not to influence the functional composition of each node.
Drawings
FIG. 1 is a flow chart of a UUV cluster ad hoc networking method;
fig. 2 is a schematic diagram of networking setup;
FIG. 3 is a schematic diagram of a UUV node joining a UUV cluster ad hoc network;
FIG. 4 is a flow chart of the process performed by FIGS. 2 and 3;
FIG. 5 is a schematic diagram of a UUV node exiting a UUV cluster ad hoc network;
FIG. 6 is a flow chart of the process performed in FIG. 5;
FIG. 7 is a schematic diagram of network merging;
FIG. 8 is a schematic diagram of a networking decomposition;
fig. 9 is a schematic diagram of a UUV cluster ad hoc network system.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
The embodiment provides a UUV cluster ad hoc network method based on underwater acoustic communication, and a flowchart thereof is shown in fig. 1, which specifically includes the following steps.
S100: establishing a networking: and selecting master nodes among the UUV nodes through a competition mechanism, automatically configuring other UUV nodes as slave nodes, and establishing a UUV cluster ad hoc network, wherein the autonomous network state of each UUV node is converted from a distributed cluster mode into a centralized cluster mode in the UUV cluster ad hoc network.
S200: networking and merging: when the master nodes of two or more ad hoc networks detect underwater acoustic network combination signals of the master nodes of other ad hoc networks, the master nodes share information among the master nodes in an underwater acoustic communication mode, the master nodes after network combination are selected through a competition mechanism, and other nodes are automatically distributed as slave nodes after network combination.
S300: networking and decomposing: and the master node of the network to be decomposed transmits an underwater acoustic network decomposition signal, network quitting is executed according to the underwater acoustic network decomposition signal, and the quitted node reestablishes the ad hoc network according to a networking establishment mechanism.
S400: networking and reconstructing: when the master node of the UUV cluster ad hoc network is damaged or lost, the competition mechanism reselects the master node, other UUV nodes are automatically matched as slave nodes, and the UUV cluster ad hoc network is reconstructed.
It should be noted that, after the networking is established in step S100, the subsequent steps S200 to S400 are executed according to a specific actual occurrence condition instead of a sequence in principle, for example, after the networking is established, if a master node is missing, the step S400 may be directly executed.
The steps are explained in detail below.
In step S100, in the networking establishment phase, when there is no UUV node in the underwater networking, a plurality of UUV nodes prefer the master node through a contention mechanism, and other joining nodes are automatically allocated as slave nodes. As shown in fig. 2, before networking is established, a plurality of UUV nodes belong to a distributed cluster mode, and after an autonomous network is established successfully, the autonomous network state of each UUV node is converted from a distributed mode to a centralized cluster mode.
If the UUV nodes are networked underwater, the networking establishment process of other UUV nodes is as follows:
in the detection time, whether underwater sound monitoring signals of other UUV nodes exist in the range of the acoustic action distance is judged based on acoustic detection;
if not, establishing an ad hoc network by taking the self as a main node;
and if so, adding the corresponding UUV cluster ad hoc network.
A schematic diagram of adding a UUV node to a UUV cluster ad hoc network is shown in fig. 3, and specifically includes the following steps:
1) a node to be added with the UUV transmits an added underwater sound frame signal;
2) after receiving and decoding the underwater sound frame adding signal, the host node of the UUV cluster ad hoc network replies an underwater sound frame signal in an underwater sound communication mode according to the current task state;
3) and if the UUV node to be added receives the addition approval instruction, adding the UUV cluster ad hoc network according to the addition mechanism.
Further, before the networking is established, each UUV node further performs the following steps:
1) initialization: automatically loading working parameters, wherein the working parameters comprise addresses, frequencies, bandwidths, frame synchronization periods and communication coding modes, initializing according to the working parameters, and initializing binding position reference information;
2) time synchronization: and the external time reference is utilized to carry out synchronous time service, and the time information is automatically updated when the underwater robot is underwater, so that the time information is kept synchronous with the time reference.
Further, please refer to fig. 4 for better understanding the UUV node networking process and the UUV node joining UUV cluster ad hoc network process.
After the UUV node is started, initialized and time-synchronized, the UUV node enters an acoustic detection state, underwater acoustic monitoring signals of other UUV nodes within an acoustic action distance range are detected in real time in the state, and the detection time is longer than 3 frame synchronization periods; if the underwater sound monitoring signal in the acoustic action distance range is not detected within the detection time, judging that no self-organized network UUV cluster exists in the current underwater action distance range, and establishing a self-organized network by taking the self as a main node; and if the underwater sound monitoring signal in the acoustic action distance range is detected within the detection time, judging that the self-organized network UUV cluster in the working state exists in the current underwater action distance range, and adding the self-organized network UUV cluster into the existing UUV cluster network.
The joining state refers to a state that when the UUV cluster network exists underwater, the newly joined UUV applies for joining the self-organizing network in an underwater acoustic communication mode, and the newly joined UUV and the current existing UUV cluster network jointly execute tasks. The specific networking adding method comprises the following steps: the acoustic networking subsystem of the joining node actively transmits an underwater sound frame signal for applying to join the ad hoc network, the main node of the existing ad hoc network correctly receives the underwater sound frame signal of the joining node, after decoding, the main node reasonably determines a current request command according to the current task state and replies the underwater sound frame signal in an underwater sound communication mode. If the host node approves the adding application, the adding node executes an adding mechanism and executes a command and a station position according to the host node instruction; if the main node rejects the joining application, the joining node exits the joining mechanism and is arranged additionally.
The underwater acoustic monitoring signal comprises a frame header + address + monitoring signal, and the underwater acoustic frame signal comprises a frame header + address + position + request command; the above-mentioned underwater sound reply frame signal includes frame header + address + position + command reply.
Further, this embodiment further includes a step of executing exit of a UUV node in an existing UUV cluster ad hoc network, which specifically includes:
a UUV node to be exited transmits an underwater acoustic frame exiting signal;
after receiving and decoding the exit underwater sound frame signal, the master node of the UUV cluster ad hoc network replies an underwater sound frame signal in an underwater sound communication mode according to the current task state;
and if the UUV node to be quitted receives the exit approval instruction, quitting the UUV cluster ad hoc network according to the exit mechanism.
Specifically, as shown in fig. 5 and 6, the exit state refers to a state in which a UUV node already on the network applies for exiting the ad hoc network in an underwater acoustic communication manner, and no longer performs a task together with the existing UUV trunking network. The specific networking quitting method comprises the following steps: and the acoustic networking subsystem of the quitting node actively transmits an underwater sound frame signal for applying for quitting the ad hoc network, the main node of the existing ad hoc network correctly receives the underwater sound frame signal for quitting the UUV node, and after decoding, the main node reasonably determines a current request command according to the current task state and replies the underwater sound frame signal in an underwater sound communication mode. If the host node approves the quit application, the quit node executes a quit mechanism and actively quits the current UUV network; if the host node rejects the quit application, the quit node does not execute any operation and maintains the current state unchanged.
In S200, the network merging state refers to a state in which two or more existing ad hoc networks implement network merging in an underwater acoustic communication manner and jointly execute subsequent tasks, the multiple ad hoc networks prefer a master node through a contention mechanism, and other ad hoc network nodes are automatically configured as slave nodes.
As shown in fig. 7, the specific network merging method is as follows: the method comprises the following steps that main nodes of two or more ad hoc networks detect underwater acoustic network combination signals of main nodes of other ad hoc networks, and the detection time is more than 3 frame synchronization periods; if the underwater acoustic networking combined signal is not detected within the detection time, establishing an ad hoc network by taking the self network as a center, and actively transmitting the underwater acoustic networking combined signal; if the underwater acoustic networking combination signal is detected within the detection time, information among the main nodes is further shared in an underwater acoustic communication mode, the main nodes after network combination are optimized through a competition mechanism, the mission and the task of the main nodes are executed, other nodes are automatically allocated to the slave nodes after network combination, and the mission and the task of the slave nodes are executed.
In S300, the network decomposition state refers to a state in which an existing autonomous network is decomposed into two or more ad hoc networks according to needs, network decomposition is realized in an underwater acoustic communication manner, subsequent tasks are respectively executed, the decomposed two or more ad hoc networks prefer a master node of each network through a contention mechanism, and other nodes are automatically configured as slave nodes.
As shown in fig. 8, the specific network decomposition method is as follows: the method comprises the steps that a master node of a to-be-decomposed network transmits an underwater acoustic network decomposition signal, wherein the underwater acoustic network decomposition signal comprises a frame header, an address and a decomposition network address; decomposing the nodes with unmatched network addresses to keep the current networking state unchanged and continuously executing subsequent tasks; the decomposed network address matching nodes execute network exit according to an exit mechanism respectively, and the nodes after exit reestablish an ad hoc network according to a networking establishment mechanism to execute a new mission and task.
In S400, network reconfiguration refers to a process in which, in a state where a master node is damaged or missing, the ad hoc network quickly determines a fault and continues to operate normally, and reestablishes the master node and the slave node, thereby implementing network reconfiguration. The specific network reconstruction method comprises the following steps: and in accordance with the networking establishment mechanism, the master node is optimized through a competition mechanism among the nodes, and other nodes are configured as slave nodes to respectively execute the mission and the task of the master node and the slave node.
The UUV cluster ad hoc network method based on underwater acoustic communication provided by the invention has the characteristics of combination of a centralized UUV cluster mode and a distributed UUV cluster mode, autonomous configuration operation, autonomous state conversion and the like, and particularly has a mechanism of competition, optimization and reconstruction under a master node missing state, and has the following beneficial effects:
1. the method adopts a networking mode combining centralized type and distributed type, establishes a network by utilizing a competition mechanism, an optimization mechanism and a prediction mechanism, dynamically and automatically adjusts the network state through mechanisms such as networking joining, quitting, merging, decomposing, reconstructing and the like, and keeps the network state effective and stable.
2. The method utilizes the characteristic of a centerless network structure to realize the ad hoc network of peer-to-peer communication nodes, and can autonomously realize network reconstruction and realize resource sharing under the conditions of threat and damage to a main node; the method has the characteristics of decentralization, self discovery, automatic configuration, self organization, fault self-healing, high reliability, high availability and the like.
3. By adopting the ad hoc network technology, the user side can realize data exchange and multi-hop transmission among nodes according to the existing communication link and an autonomous protocol, and realize cascade communication among the nodes, thereby realizing the task coverage range of the ad hoc network UUV cluster.
The present embodiment also provides a UUV cluster ad hoc network system based on underwater acoustic communication, a schematic diagram of which is shown in fig. 9, the UUV cluster ad hoc network system based on underwater acoustic communication of the present invention is composed of a plurality of single UUVs, each single UUV is equipped with an energy module, a power module, a control module, a navigation module (inertial navigation, satellite navigation, etc.), an acoustic ad hoc network module (positioning, communication, navigation, etc.), etc., and each module is composed of units such as a sensor, a processor, an external interface, etc.
Specifically, the energy module provides energy input for the single UUV and supplies power for other systems; the power module provides power for the single UUV; the control module controls the track, the course, the speed and the like of the single UUV; the navigation module is generally provided with inertial navigation, satellite navigation, wireless and the like, and provides accurate position information and the like for the single UUV; the acoustic ad hoc network module is used for underwater acoustic communication.
The acoustic ad hoc network module comprises an acoustic transducer, a receiving and transmitting combined switch, a receiver, a transmitter, an underwater acoustic signal processing unit, a main control unit, an external interface, a time keeping and time service unit and the like.
The acoustic transducer is used for converting underwater acoustic signals into electric signals or converting the electric signals into acoustic signals; the function of the receiving and transmitting combined switch is to avoid the damage or performance reduction of the receiver and the transmitter; the receiver completes the filtering and amplification of the weak signal received from the acoustic transducer; the transmitter is used for improving the transmitting power and realizing the matching function between the acoustic transducer and the power amplification; the underwater acoustic signal processing unit is the core of the acoustic ad hoc network module, and core algorithms mainly related to acoustic communication are realized in the underwater acoustic signal processing unit and are matched with the main control unit to realize functions of acoustic communication and the like, particularly the communication function of a UUV cluster ad hoc network based on the underwater acoustic communication; the main control unit completes functions of an external interface, timekeeping, time service and the like, and realizes functions of acoustic communication and the like with the underwater sound signal processing unit, particularly a UUV cluster ad hoc network control function based on the underwater sound communication; the external interface realizes the link function with other systems; the time keeping and time service module realizes time synchronization reference.
The networking establishment, networking merging, networking decomposition and networking reconstruction of the UUV cluster provided by the present invention are realized by an acoustic ad hoc network module, and for a specific implementation process, reference is made to the above steps S100 to S400, which are not described in detail herein.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. It will be apparent to those skilled in the art that a number of simple derivations or substitutions can be made without departing from the inventive concept.
Claims (6)
1. A UUV cluster ad hoc network method based on underwater acoustic communication is characterized by comprising the following steps:
the networking establishment comprises the steps that a master node is selected among a plurality of UUV nodes through a competition mechanism, other UUV nodes are automatically matched as slave nodes, a UUV cluster ad hoc network is established, the UUV cluster ad hoc network is of a decentralized and node-peer network structure, the UUV nodes belong to a distributed cluster mode in the UUV cluster ad hoc network before networking establishment, and after the ad hoc network is successfully established, the autonomous network state of each UUV node is converted from the distributed cluster mode to a centralized cluster mode;
networking and merging: when the master nodes of two or more ad hoc networks detect underwater acoustic network combination signals of master nodes of other ad hoc networks, the master nodes share information among the master nodes in an underwater acoustic communication mode, the master nodes after network combination are selected through a competition mechanism, and other nodes are automatically distributed as slave nodes after network combination;
networking and decomposing: the method comprises the steps that a main node of a to-be-decomposed network transmits an underwater acoustic network decomposition signal, network quitting is executed according to the underwater acoustic network decomposition signal, and the quitted node reestablishes an ad hoc network according to a networking establishment mechanism;
networking and reconstructing: when the master node of the UUV cluster ad hoc network is damaged or lost, the nodes are restored to a distributed cluster mode, the master node is reselected through a competition mechanism among the nodes, other UUV nodes are automatically matched as slave nodes, and a centralized network is created again to reconstruct the UUV cluster ad hoc network.
2. The UUV cluster ad hoc network method according to claim 1, further comprising a step of adding a UUV node to an existing UUV cluster ad hoc network, specifically comprising:
a node to be added with the UUV transmits an added underwater sound frame signal;
after receiving and decoding the underwater sound frame adding signal, the host node of the UUV cluster ad hoc network replies an underwater sound frame signal in an underwater sound communication mode according to the current task state;
and if the UUV node to be added receives the addition approval instruction, adding the UUV cluster ad hoc network according to the addition mechanism.
3. The UUV cluster ad hoc network method according to claim 1, further comprising a step of performing exit of a UUV node in an existing UUV cluster ad hoc network, specifically comprising:
a UUV node to be exited transmits an underwater acoustic frame exiting signal;
after receiving and decoding the exit underwater sound frame signal, the master node of the UUV cluster ad hoc network replies an underwater sound frame signal in an underwater sound communication mode according to the current task state;
and if the UUV node to be quitted receives the exit approval instruction, quitting the UUV cluster ad hoc network according to the exit mechanism.
4. The UUV cluster ad-hoc networking method according to claim 1, wherein before the networking is established, each UUV node further performs the following steps:
initialization: automatically loading working parameters, wherein the working parameters comprise addresses, frequencies, bandwidths, frame synchronization periods and communication coding modes, initializing according to the working parameters, and initializing binding position reference information;
time synchronization: and the external time reference is utilized to carry out synchronous time service, and the time information is automatically updated when the underwater robot is underwater, so that the time information is kept synchronous with the time reference.
5. The UUV cluster ad hoc networking method according to claim 1, wherein the networking setup specifically comprises the steps of:
in the detection time, whether underwater sound monitoring signals of other UUV nodes exist in the range of the acoustic action distance is judged based on acoustic detection;
if not, establishing an ad hoc network by taking the self as a main node;
and if so, adding the corresponding UUV cluster ad hoc network.
6. The utility model provides a UUV cluster is from network deployment system based on underwater acoustic communication which characterized in that, includes a plurality of monomer UUV, monomer UUV includes:
the energy module is used for providing energy for the single UUV;
the power module is used for providing power for the single UUV;
the control module is used for controlling the track, the course and the speed of the single UUV;
the navigation module is used for providing accurate position information for the single UUV;
an acoustic ad hoc network module for underwater acoustic communications, comprising:
an acoustic transducer for converting underwater acoustic signals into electrical signals, or vice versa;
the receiver is used for receiving signals and filtering and amplifying the received signals;
a transmitter for transmitting a signal;
the underwater acoustic signal processing unit is used for realizing acoustic communication of the UUV cluster ad hoc network based on the underwater acoustic communication;
the time keeping and time service unit is used for realizing a time synchronization reference;
each single UUV is completed by performing the following operations: the method comprises the following steps of networking establishment, networking combination, networking decomposition and networking reconstruction, specifically:
establishing a networking: the method comprises the steps that a master node is selected among a plurality of UUV nodes through a competition mechanism, other UUV nodes are automatically matched as slave nodes, a UUV cluster ad hoc network is established, the UUV nodes belong to a distributed cluster mode before networking is established in the UUV cluster ad hoc network, and after the ad hoc network is established successfully, the autonomous network state of each UUV node is converted into a centralized cluster mode from the distributed cluster mode;
networking and merging: when the master nodes of two or more ad hoc networks detect underwater acoustic network combination signals of master nodes of other ad hoc networks, the master nodes share information among the master nodes in an underwater acoustic communication mode, the master nodes after network combination are selected through a competition mechanism, and other nodes are automatically distributed as slave nodes after network combination;
networking and decomposing: the method comprises the steps that a main node of a to-be-decomposed network transmits an underwater acoustic network decomposition signal, network quitting is executed according to the underwater acoustic network decomposition signal, and the quitted node reestablishes an ad hoc network according to a networking establishment mechanism;
networking and reconstructing: when the master node of the UUV cluster ad hoc network is damaged or lost, the nodes are restored to a distributed cluster mode, the master node is reselected through a competition mechanism among the nodes, other UUV nodes are automatically matched as slave nodes, and a centralized network is created again to reconstruct the UUV cluster ad hoc network.
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