CN111694072B - Multi-platform and multi-sensor development system integration and data processing platform - Google Patents
Multi-platform and multi-sensor development system integration and data processing platform Download PDFInfo
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Abstract
The invention relates to a multi-platform and multi-sensor development system integration and data processing platform, which defines a unified data storage format according to the data characteristics of a plurality of sensors to realize the time and position synchronization of data and the acquisition, transmission and storage of heterogeneous data; and carrying out full-flow rapid processing, verification, visual drawing integration and standardized product generation on the load data of the unmanned ship remote sensing system, realizing rapid production of the standardized product, and forming the demonstration application service capability of the system. The platform can realize real-time data transmission communication based on an unmanned ship system, a three-dimensional sounding side-scan sonar system, a portable multi-frequency sounding instrument, a shallow stratum profiler and a wireless data transmission device, and construct an underwater topography survey network of a heterogeneous unmanned ship.
Description
Technical Field
The invention relates to the technical field of underwater information integrated quick acquisition and intelligent processing, in particular to a multi-platform and multi-sensor development system integration and data processing platform based on an unmanned ship system, a three-dimensional sounding side-scan sonar system, a portable multi-frequency sounding instrument, a shallow stratum profiler and a wireless data transmission device.
Background
At present, four technical schemes are generally adopted for underwater topography investigation and sludge thickness measurement: 1. a dual-frequency GPS receiver and a dual-frequency digital depth finder are adopted, and a dynamic real-time positioning (RTK) measurement mode is combined by a reference station and a mobile station; 2. a GPS receiver and a double frequency digital depth finder are adopted, and a pseudo range difference real-time positioning measurement mode is combined by a reference station and a mobile station; 3. a pseudo-range differential post-processing measurement mode is adopted, wherein the pseudo-range differential post-processing measurement mode is formed by connecting a mobile station with a permanently operated tracking station by adopting a GPS receiver and a double frequency digital depth finder; 4. the automatic measurement mode of the polar coordinate method combining the measurement robot and the double-frequency digital depth finder is adopted.
However, the observation capability of the underwater topography survey and the siltation quantitative identification in the normal state and the emergency state in the prior art cannot meet the requirement, the underwater topography survey and the siltation quantitative identification are easily affected by the multi-path of underwater sound waves when underwater measurement is carried out, jump and uncertainty are caused when water depth measurement is carried out, and the width of a sounding strip cannot be effectively expanded.
In addition, in the prior art, no multi-platform and multi-sensor development system integration and data processing platform can be used for realizing real-time data transmission communication based on an unmanned ship system, a three-dimensional sounding side-scan sonar system, a portable multi-frequency sounding instrument, a shallow stratum profiler and a wireless data transmission device, so that an underwater topography survey network of a heterogeneous unmanned ship is constructed.
Disclosure of Invention
The invention aims to provide a multi-platform and multi-sensor development system integration and data processing platform, and the technical problems to be solved at least comprise how to realize real-time data transmission communication based on an unmanned ship system, a three-dimensional sounding side-scan sonar system, a portable multi-frequency sounding instrument, a shallow stratum profiler and a wireless data transmission device, so as to construct an underwater topography survey network of a heterogeneous unmanned ship.
In order to achieve the above purpose, the invention provides a multi-platform and multi-sensor development system integration and data processing platform installed on the hull of an unmanned ship remote sensing system, the platform defines a unified data storage format according to the data characteristics of the multi-sensor, and realizes the time and position synchronization of data and the acquisition, transmission and storage of heterogeneous data; and carrying out full-flow rapid processing, verification, visual drawing integration and standardized product generation on the load data of the unmanned ship remote sensing system, realizing rapid production of the standardized product, and forming the demonstration application service capability of the system.
The hull of the unmanned ship remote sensing system is also provided with a three-dimensional sounding side-scan sonar system, a portable multi-frequency sounding instrument and a wireless data transmission device; the three-dimensional sounding side-scan sonar system is used for simultaneously obtaining a 2D sonar image, a high-resolution 3D side-scan image and strip sounding data in one measurement navigation; the portable multi-frequency depth sounder is used for pipeline routing investigation and siltation condition investigation; the shallow stratum profiler can measure water depth data and shallow profile data and perform profile display on the underwater stratum; the wireless data transmission device is suitable for a carrier-grade point-to-point network application, and achieves the extremely high spectrum utilization rate of 7.5bit/Hz by combining the channel bandwidth of 20 or 40MHz and a specially customized remote transmission private protocol; the multi-platform and multi-sensor development system integration and data processing platform is used for realizing real-time data transmission and communication and constructing an underwater topography survey network of the heterogeneous unmanned ship.
The unmanned ship remote sensing system is suitable for carrying three-dimensional sounding side-scan sonar systems and sounding and underwater profile equipment, and the bow and the stern of the unmanned ship system are provided with sonar installation supports, so that two sonar equipment can be carried simultaneously for underwater mapping activities.
In a preferred embodiment, the unmanned ship remote sensing system is simultaneously provided with a sounding side-scan sonar and a shallow stratum profiler, and in one voyage, the water depth data measurement and the water bottom matrix profile measurement are simultaneously realized.
The unmanned ship system comprises: sonar load module, 30HP four-stroke petrol outboard engine, boats and ships autopilot system, sonar system, electrical power system and communication system.
The three-dimensional depth sounding side-scan sonar system adopts a three-dimensional side-scan sonar and a shallow water strip depth sounder with ultra-wide coverage, can provide convenient 3D target and submarine landscape picking and detecting capability, and adopts a multi-echo angle signal detection electronic beam technology; the three-dimensional sounding side-scan sonar system adopts N independent primitives, simultaneously receives signals of a plurality of echo sources of a full water column from the water surface to the seabed, and directly calculates the distance and angle of each source by using the phase and the echo intensity at each sampling time, so that 3D side-scan and sounding data in the full water column range are obtained.
The hardware system of the three-dimensional sounding side-scan sonar system consists of a sonar head, a cable, a junction box and a power supply.
The compass with the precision of 1 degree is built in the sonar head, and the longitudinal and transverse shaking motion sensor with the precision of 0.4 degree is arranged in the sonar head.
The wireless data transmission device adopts a high-capacity remote unlicensed frequency band point-to-point digital wireless bridge, and is based on a point-to-point proprietary wireless protocol of dynamic TDD, and data is encapsulated into a big packet for transmission.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that: the multi-platform and multi-sensor development system integration and data processing platform can realize real-time data transmission communication based on an unmanned ship system, a three-dimensional sounding side-scan sonar system, a portable multi-frequency sounding instrument, a shallow stratum profiler and a wireless data transmission device, and construct an underwater topography survey network of a heterogeneous unmanned ship. The multi-platform and multi-sensor development system integration and data processing platform, the unmanned ship system, the three-dimensional sounding side-scan sonar system, the portable multi-frequency sounding instrument, the shallow stratum profiler and the wireless data transmission device can form a river reservoir bank underwater topography and silt thickness survey system, so that the multi-path influence of underwater sound waves is well solved, jump and uncertainty in water depth measurement are reduced, the sounding strip width can be effectively expanded, the basic scientific research capability and business capability of a water conservancy remote sensing laboratory are improved, and the laboratory initially has the observation capability of underwater topography survey and siltation quantitative identification in a normal state and an emergency state. The system may be used to:
(1) the method comprises the steps of (1) mapping underwater topography of a river bank, collecting underwater two-dimensional and three-dimensional topography space distribution data and silt deposition thickness data, and providing data support for reservoir capacity measurement, reservoir capacity curve updating, dredging detection, engineering square quantity calculation and the like;
(2) the hydrology and water quality factors are rapidly measured, and the position, the water depth, the flow speed, the water quality and other parameters of the walking area can be rapidly and accurately measured and acquired;
(3) the underwater information is quickly acquired when the wading disaster occurs;
(4) autonomous navigation and completion of real-time transmission and backup management of measured data, and real-time viewing and subsequent processing of the data by a data processing platform.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and do not limit the invention.
FIG. 1 is a block diagram of a multi-platform and multi-sensor development system integration and data processing platform according to the present invention.
Detailed Description
The present invention is described in more detail below to facilitate an understanding of the present invention.
As shown in fig. 1, the multi-platform and multi-sensor development system integration and data processing platform of the invention are installed on the hull of the unmanned ship system, and according to the data characteristics of the multi-sensor, a unified data storage format is defined, so that the time and position synchronization of data and the acquisition, transmission and storage of heterogeneous data are realized; and carrying out full-flow rapid processing, verification, visual drawing integration and standardized product generation on the load data of the unmanned ship remote sensing system, realizing rapid production of the standardized product, forming the demonstration application service capability of the system, selecting the demonstration river bank for joint debugging and joint testing, and verifying the feasibility and practicability of the system, thereby continuously perfecting the technical method and the platform system.
The hull of the unmanned ship remote sensing system is also provided with a three-dimensional sounding side-scan sonar system, a portable multi-frequency sounding instrument, a shallow stratum profiler and a wireless data transmission device; the three-dimensional sounding side-scan sonar system is used for simultaneously obtaining a 2D sonar image, a high-resolution 3D side-scan image and strip sounding data in one measurement navigation; the portable multi-frequency depth sounder is used for pipeline routing investigation and siltation condition investigation; the wireless data transmission device is suitable for a carrier-grade point-to-point network application, and achieves the extremely high spectrum utilization rate of 7.5bit/Hz by combining the channel bandwidth of 20 or 40MHz and a specially customized remote transmission private protocol; the multi-platform and multi-sensor development system integration and data processing platform is used for realizing real-time data transmission and communication and constructing an underwater topography survey network of the heterogeneous unmanned ship.
The unmanned ship remote sensing system is suitable for carrying a three-dimensional sounding side-scan sonar system and sounding and underwater profile equipment, and a comprehensive solution of the unmanned survey and drawing ship with low cost is realized. The bow and the stern of the unmanned ship system are provided with sonar installation brackets, and two sonar equipment can be carried simultaneously for underwater surveying and mapping activities. For example, a sounding side-scan sonar and a shallow stratum profiler are mounted at the same time, and in one navigation, water depth data measurement and water bottom profile measurement are realized at the same time. The basic module of the unmanned ship system comprises: sonar load module, 40HP four-stroke petrol outboard engine, boats and ships autopilot system, sonar system, electrical power system, communication system.
As a preferred embodiment, the parameters of the unmanned ship system are shown in table 1:
table 1 unmanned ship system parameter table
The three-dimensional depth sounding side-scan sonar system is a three-dimensional side-scan sonar and ultra-wide coverage shallow water strip depth sounder, can provide convenient 3D target and submarine landscape picking and detecting capability, adopts a multi-echo angle signal detection electronic beam technology, and is an expansion of a coherent sonar technology. Coherent sonar uses two transducers to calculate a single echo phase (time) difference that does not resolve angle for echoes arriving simultaneously.
The three-dimensional sounding side-scan sonar system adopts N independent primitives, simultaneously receives signals of a plurality of echo sources from the water surface to the seabed (full water column), and directly calculates the distance and angle of each source by using the phase and the echo intensity (not calculating the phase difference) at each sampling time, so that 3D side-scan and sounding data in the full water column range are obtained.
The multi-echo angle signal detection electronic beam technology can well solve the influence of multi-path of underwater sound waves, and reduces jump and uncertainty in water depth measurement, so that the width of a sounding strip can be effectively expanded.
The hardware system of the three-dimensional sounding side-scan sonar system consists of a sonar head, a cable, a junction box and a power supply. The sonar head is internally provided with a longitudinal and transverse shaking motion sensor with the precision of 0.4 degrees and a compass with the precision of 1 degree. The main parameters of the three-dimensional sounding side-scan sonar system are shown in table 2:
TABLE 2 three-dimensional sounding side-scan sonar System index
The wireless data transmission device adopts a high-capacity remote unlicensed frequency band point-to-point digital wireless bridge, is based on a point-to-point proprietary wireless protocol of dynamic TDD, and is used for transmitting data by being sealed into large packets, so that the transmission efficiency (forwarding capacity: 35000 PPS) is improved, the utilization rate of bandwidth (spectrum utilization rate: 7.5 bit/Hz) is improved, and the transmission distance, throughput and PPS forwarding capacity of a system are increased. The 64 byte transmission delay of the system is less than 2ms, and the real-time transmission of data such as voice, video and the like can be realized. The 2×2MIMO breakthrough technology is adopted to realize throughput up to 220Mbps (110 Mbps full duplex), and has excellent PPS data packet processing capability and higher anti-interference capability.
The wireless data transmission device is applicable to point-to-point network application of a carrier grade, and is ideal equipment for special line access or backhaul application (including VOIP and other small data packet transmission applications). The product achieves extremely high spectrum utilization of 7.5bit/Hz by combining flexible channel bandwidth (20 or 40 MHz) with a specially tailored long-range transmission private protocol. The product is internally provided with a dual-polarized antenna or is provided with 2N-type connectors, and the cast aluminum shell which is firm and durable achieves the IP-67 protection level.
The wireless data transmission device incorporates a series of advanced software mechanisms that provide optimal point-to-point connection performance for high throughput, remote link applications. The special point-to-point communication mechanism utilizes a dynamic Time Division Duplex (TDD) technology to dynamically allocate bandwidth for a required transmission direction, thereby improving link efficiency and remarkably reducing the influence of a transmission distance on link throughput. In addition, the selective repeat ARQ technology is adopted, the error correction capability is enhanced, and the data flow is optimized, so that the device can still achieve very high throughput under the conditions of large bandwidth, long distance and even interference.
The portable multi-frequency depth finder is special marine equipment for shallow water buried object detection, provides a whole set of solution for detecting buried pipeline problems and siltation investigation, and is mainly used for pipeline routing investigation and siltation situation investigation. The portable multi-frequency sounding instrument is single-beam parametric array equipment, and has rich frequency selection. The original frequency is 200KHz, the difference frequency is 10-40 KHz, and the sounding result and the penetration data are provided. The portable multi-frequency depth sounder is suitable for shipborne, and the main application occasions comprise:
submarine pipeline investigation: the method can meet the requirements of the domestic depth of most offshore, river, lake and other underwater pipelines (water pipes, oil pipes, air pipes and the like);
port, channel fouling situation measurement measurements: providing data support for port construction engineering and dredging engineering;
multi-frequency sounding: by adopting a nonlinear acoustic technology, the performance is far superior to that of a traditional multi-frequency depth finder;
underwater buried object detection: salvaging water accidents, underwater archaeology and the like.
The main parameters of the portable multi-frequency sounding instrument are shown in table 3:
table 3 portable multi-frequency sounding instrument index
| Product name | Portable multi-frequency depth finder |
| Power supply | 24v, normal power consumption<5w |
| Connection to PC | RS485 to USB communication |
| Software part | PLS-2014 |
| Weight of the apparatus | About 5.7 kg |
| Material | Aluminum alloy titanium alloy stainless steel is optional |
| Storage temperature | -30℃～70℃ |
| Operating temperature | -10℃～40℃ |
| Pressure of | Atmospheric pressure |
| Maximum depth of water | 150 meters |
| Maximum penetration depth | 20 meters (depending on the type of substrate and the noise conditions) |
| Resolution ratio | 3cm |
| Number of shots per second | Max12 times/second |
| Pulse length | 0.2～1ms |
| Difference frequency opening angle/-3 dB | 4° |
The shallow stratum profiler adopts a full frequency spectrum CHIRP technology, and is a high-resolution broadband frequency modulation shallow stratum profiler system. The Window XP operating system has flexible peripheral equipment expansion function and powerful software display function, provides stratum display in various scaling modes, and is convenient for the integration of acoustic equipment such as GPS, surge sensor, acoustic velocity sensor and the like. The 2GB high-capacity movable hard disk can store more data, has up to 8 RS-232 interfaces for inputting and outputting various data, has a sounding range of 800m, can penetrate a stratum of 40m, provides a resolution of 6cm underwater sediments, has an emission frequency of up to 10KHZ, and is more flexible and convenient to use. The method is suitable for shallow water application taking unmanned ships as carrying platforms and deep water large-area investigation for ship towing. The method is mainly applied to engineering investigation, sludge thickness investigation, sediment classification and the like.
The main parameters of the shallow stratum profiler are shown in table 4:
TABLE 4 shallow formation profiler index
The multi-platform and multi-sensor development system integration and data processing platform is used for realizing real-time data transmission and communication, constructing a heterogeneous unmanned ship underwater topography survey network, defining a unified data storage format according to multi-sensor data characteristics, realizing time and position synchronization of data, and realizing acquisition, transmission and storage of heterogeneous data.
Furthermore, the multi-platform and multi-sensor development system integration and data processing platform is also used for realizing the whole-flow rapid processing, verification, visual drawing integration and standardized product generation of unmanned ship remote sensing load data, realizing the rapid production of standardized products, forming the demonstration application service capability of the system, selecting the demonstration river bank for joint debugging and joint testing, verifying the feasibility and practicability of the system, and continuously perfecting the technical method and platform system.
The foregoing describes preferred embodiments of the present invention, but is not intended to limit the invention thereto. Modifications and variations to the embodiments disclosed herein may be made by those skilled in the art without departing from the scope and spirit of the invention.
Claims (7)
1. The multi-platform and multi-sensor development system integration and data processing platform is characterized in that the multi-platform and multi-sensor development system integration and data processing platform defines a unified data storage format according to the data characteristics of the multi-sensor, and realizes time and position synchronization of data and acquisition, transmission and storage of heterogeneous data; carrying out full-flow rapid processing, verification, visual drawing integration and standardized product generation on load data of an unmanned ship remote sensing system, realizing rapid production of the standardized product, and forming the demonstration application service capability of the system;
the multi-platform and multi-sensor development system integration and data processing platform is arranged on the hull of the unmanned ship system;
the hull of the unmanned ship remote sensing system is also provided with a three-dimensional sounding side-scan sonar system, a portable multi-frequency sounding instrument, a shallow stratum profiler and a wireless data transmission device; the three-dimensional sounding side-scan sonar system is used for simultaneously obtaining a 2D sonar image, a high-resolution 3D side-scan image and strip sounding data in one measurement navigation; the portable multi-frequency depth sounder is used for pipeline routing investigation and siltation condition investigation; the shallow stratum profiler can measure water depth data and shallow profile data and perform profile display on a stratum at the bottom of water; the wireless data transmission device is suitable for a carrier-grade point-to-point network application, and achieves the extremely high spectrum utilization rate of 7.5bit/Hz by combining the channel bandwidth of 20 or 40MHz and a remote transmission private protocol; the multi-platform and multi-sensor development system integration and data processing platform is used for realizing real-time data transmission and communication and constructing an underwater topography survey network of the heterogeneous unmanned ship;
the unmanned ship remote sensing system is suitable for carrying a three-dimensional sounding side-scan sonar system and sounding and underwater profile equipment, and is provided with sonar installation brackets at the bow and the stern, so that two sonar equipment can be simultaneously carried for underwater mapping activities;
the shallow stratum profiler can measure water depth data and shallow profile data, perform profile display on the underwater stratum, and can identify the type of sediment on the underwater surface layer and record images.
2. The integrated multi-platform and multi-sensor development system and data processing platform according to claim 1, wherein the unmanned ship remote sensing system is simultaneously provided with a sounding side-scan sonar and a shallow stratum profiler, and in one voyage, the water depth data measurement and the water bottom profile measurement are simultaneously realized.
3. The multi-platform and multi-sensor development system integration and data processing platform of claim 1, wherein said unmanned ship system comprises: sonar load module, 30HP four-stroke petrol outboard engine, boats and ships autopilot system, sonar system, electrical power system and communication system.
4. The multi-platform and multi-sensor development system integration and data processing platform of claim 1, wherein the three-dimensional sounding side-scan sonar system adopts a three-dimensional side-scan sonar and ultra-wide coverage shallow water strip sounding instrument, can provide convenient 3D target and submarine landscape picking and detecting capability, and adopts a multi-echo angle signal detection electronic beam technology; the three-dimensional sounding side-scan sonar system adopts N independent primitives, simultaneously receives signals of a plurality of echo sources of a full water column from the water surface to the seabed, and directly calculates the distance and angle of each source by using the phase and the echo intensity at each sampling time, so that 3D side-scan and sounding data in the full water column range are obtained.
5. The integrated and data processing platform of claim 4, wherein the hardware system of the three-dimensional sounding side-scan sonar system comprises a sonar head, cables and junction boxes, and a power supply.
6. The integrated and data processing platform of the multi-platform and multi-sensor development system according to claim 5, wherein the sonar head is internally provided with a longitudinal and transverse rocking motion sensor with the precision of 0.4 degrees and a compass with the precision of 1 degree.
7. The platform for integrating multiple platforms and multiple sensor development systems according to claim 1 wherein said wireless data transfer means employs a high capacity remote unlicensed band point-to-point digital wireless bridge, a dynamic TDD based point-to-point proprietary wireless protocol, and data is encapsulated into packets for transfer.
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| CN110834698A (en) * | 2019-09-27 | 2020-02-25 | 北京航天控制仪器研究所 | Unmanned water surface measuring system with load measuring stable platform |
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