CN113068126A - Unmanned ship maritime communication channel self-adaptive selection method - Google Patents

Unmanned ship maritime communication channel self-adaptive selection method Download PDF

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CN113068126A
CN113068126A CN202110143980.0A CN202110143980A CN113068126A CN 113068126 A CN113068126 A CN 113068126A CN 202110143980 A CN202110143980 A CN 202110143980A CN 113068126 A CN113068126 A CN 113068126A
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unmanned ship
communication channel
position information
unmanned
communication
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CN113068126B (en
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周建英
许惠
王晨
陈亮
马赛男
卲汉东
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Cetc Maritime Electronics Ltd
Zhejiang Jialan Marine Electronic Co ltd
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Cetc Maritime Electronics Ltd
Zhejiang Jialan Marine Electronic Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H04W36/0085—Hand-off measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data

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Abstract

The invention discloses a self-adaptive selection method of an unmanned ship maritime communication channel, which comprises the following steps: acquiring the running state and position information of the unmanned ship and a task running line of the unmanned ship; estimating estimated position information of the unmanned ship after the current time interval is preset according to the running state and the position information of the unmanned ship and a task running line of the unmanned ship; calculating the quality of different communication channels at the positions of the unmanned ships according to the estimated position information of the unmanned ships; and determining the communication channel used by the unmanned ship after the current time interval is preset according to the estimated quality of the communication channel. The position of the unmanned ship after the current time interval is preset is estimated to obtain the estimated position of the unmanned ship, and then a communication channel with the optimal communication channel quality at the estimated position is determined to be used as a communication channel of the unmanned ship at the estimated position, so that the real-time performance and the stability of data transmission are guaranteed.

Description

Unmanned ship maritime communication channel self-adaptive selection method
Technical Field
The invention relates to the technical field of marine communication, in particular to a self-adaptive selection method for a marine communication channel of an unmanned ship.
Background
The unmanned ship is a small water surface platform with autonomy, and has a wide development prospect in the civil field. The unmanned ship working on the water surface needs to communicate with the relay station on the water surface and the base station on the shore in real time, return the real-time state information of the unmanned ship and the acquired data information, and receive commands issued by the shore control center.
Due to the diversity and complexity of the working water surface of the unmanned ship, the communication quality of a communication channel between the unmanned ship and the relay station and the base station is reduced due to external interference, so that data transmission is delayed, and even communication is interrupted seriously. In the prior art, it is generally determined whether the quality of a communication channel transmitting data is less than a threshold, and if the quality of the communication channel is less than the threshold, the communication channel is switched.
For example, chinese patent document CN105263173A discloses a "channel switching method and device", which includes the following steps: obtaining a current value of a quality parameter of a first channel; and when the difference value between the current value and the standard value of the quality parameter is larger than a preset value, switching from the first channel to a second channel. The above patent has the disadvantages that the switching of the communication channel is performed when the quality of the online transmission communication channel is lower than a set threshold, and there is a time delay in the switching process, which results in poor real-time performance and stability of data transmission.
Disclosure of Invention
The invention mainly solves the technical problems that in the existing unmanned ship communication process, when the quality of the communication channel transmitted on line is lower than a set threshold value, the communication channel is switched, and the real-time performance and stability of data transmission are poor due to time delay in the switching process; the method comprises the steps of predicting the position of the unmanned ship after the current time interval of the unmanned ship is preset for preset time to obtain the predicted position of the unmanned ship, determining the communication channel with the optimal quality of the communication channel at the predicted position as the communication channel of the unmanned ship at the predicted position, and ensuring the real-time performance and stability of data transmission.
The technical problem of the invention is mainly solved by the following technical scheme: the invention comprises the following steps:
s1, acquiring the running state and position information of the unmanned ship and the task running route of the unmanned ship;
s2, estimating estimated position information of the unmanned ship after the current time interval is preset according to the running state and the position information of the unmanned ship and a task running route of the unmanned ship;
s3, calculating the quality of different communication channels of the unmanned ship according to the estimated position information of the unmanned ship;
and S4, determining the communication channel used by the unmanned ship after the current time interval is preset according to the estimated quality of the communication channel.
The position of the unmanned ship after the current time interval is preset is estimated to obtain the estimated position of the unmanned ship, then a communication channel with the optimal quality of the communication channel of the estimated position is determined to be used as the communication channel of the unmanned ship at the estimated position, the communication channel does not need to be switched only when the quality of the communication channel transmitted on line is lower than a set threshold value, and the real-time performance and the stability of data transmission are guaranteed.
Preferably, the step S2 specifically includes:
according to unmanned boatsThe maximum advancing distance S of the unmanned ship in the preset time is obtained by the running speed v and the preset time delta tmax＝v×△t；
According to the running speed v of the unmanned ship, the preset time delta t and the influence factor eta of the marine navigation environment, the minimum advancing distance S of the unmanned ship in the preset time is obtainedmin＝v×△t×η；
Marking the current position information of the unmanned ship in a task running line of the unmanned ship, and keeping the current position information S of the unmanned ship away from the current unmanned ship along the running directionminMarking the position information of the unmanned ship as the nearest estimated position information of the unmanned ship, and keeping the distance from the current unmanned ship along the driving direction to obtain the position information SmaxMarking the position information of the unmanned ship as the farthest estimated position information of the unmanned ship;
in a task driving route of the unmanned ship, position information between nearest estimated position information of the unmanned ship and farthest estimated position information of the unmanned ship is estimated position information of the unmanned ship after the current time interval is preset.
Due to the diversity and the load of the working sea surface of the unmanned ship, the estimated position information of the unmanned ship is a set of a plurality of position information, the accuracy of the estimated position of the unmanned ship is ensured to the maximum extent, and the selection accuracy of the optimal communication channel is further ensured.
Preferably, the influence factor η of the marine navigation environment is obtained by calculation through the following steps:
obtaining the wind-induced drift amount:
Figure BDA0002929226790000021
wherein K is a coefficient, BaThe wind area on the hull waterline of the unmanned boat, BwThe wind area of the lower side of a hull waterline of the unmanned boat is v, the running speed of the unmanned boat is vaThe relative wind speed is adopted, and the delta t is preset time;
obtaining the drift caused by flow: delta Bc＝vc·△t·sinα，
Wherein v iscTaking the flow velocity as a reference, alpha is a flow pressure angle, and delta t is a preset time;
acquiring a wind direction vector a according to the wind direction and the wind-induced drift amount, acquiring a water flow vector c according to the water flow direction and the flow-induced drift amount, and solving a vector ac according to the wind direction vector a and the water flow vector c;
and calculating the influence factor eta of the marine navigation environment, namely sin theta, wherein theta is an included angle between the vector ac and the unidirectional quantity of the driving direction of the unmanned ship.
Preferably, the step S3 specifically includes:
s31, screening out a communication channel of which the communication range comprises the estimated position of the unmanned ship according to the estimated position information of the unmanned ship;
s32, extracting the evaluation indexes corresponding to the screened communication channels from the database according to the weather condition, the task driving line of the unmanned ship and the estimated position information of the unmanned ship;
s33, carrying out quality evaluation on the communication channel according to the evaluation index to obtain a quality evaluation value of the communication channel;
and S34, determining the communication channel with the optimal quality assessment value as the communication channel used by the unmanned ship after the current time interval is preset.
Preferably, the database in step S32 includes the associated task driving route, the location information on the task driving route, the weather condition, and the evaluation index, wherein the evaluation index includes the channel capacity C, the transmission delay τ, and the transmission charge Q:
C＝B×log2(1+S/N)，
where B denotes a bandwidth, S denotes a signal average power, N denotes a noise power, and 10 × lg (S/N) denotes a signal-to-noise ratio;
τ＝τdp+τdt＝M/V+L/R，
wherein, taudpRepresenting propagation delay, τdtRepresenting transmission delay, M representing channel length, V representing propagation speed on a channel, L representing data frame length, and R representing channel bandwidth;
Q＝I·u/CI，
wherein I represents the amount of data to be transmitted, u represents the lease price of the channel per unit time, CIIndicating the transmission rate.
Preferably, the step S33 specifically includes:
calculating an evaluation value of the channel capacity C:
Figure BDA0002929226790000031
wherein
Figure BDA0002929226790000032
Representing the channel capacity estimate of the m-th communication channel, CmIndicates the channel capacity of the mth communication channel, { C1,C2,…,Cn}maxMaximum value of channel capacity in n communication channels, { C1,C2,…,Cn}minRepresents the minimum value of the channel capacity in n communication channels, m being 1,2, … n;
calculating an evaluation value of the transmission delay tau:
Figure BDA0002929226790000041
wherein
Figure BDA0002929226790000042
Representing the estimated value of the transmission delay, tau, of the m-th communication channelmDenotes the transmission delay of the m-th communication channel, { τ1,τ2,…,τn}maxMaximum value of transmission delay in n communication channels, { tau1,τ2,…,τn}minRepresents the minimum value of the transmission delay in n communication channels, m is 1,2, … n;
calculating an evaluation value of the transmission tariff Q:
Figure BDA0002929226790000043
wherein
Figure BDA0002929226790000044
Representing transmission tariff estimates, Q, of the m-th communication channelmRepresenting the m-th communication channelTransmission tariff, { Q1,Q2,…,Qn}maxMaximum value of transmission charge in n communication channels, { Q }1,Q2,…,Qn}minRepresents the minimum value of the transmission charge in n communication channels, m is 1,2, … n;
calculating a quality assessment value of a communication channel:
Figure BDA0002929226790000045
wherein P ismRepresenting the quality assessment value of the m-th communication channel, f1Weight coefficient of the evaluation value representing the channel capacity C, f2Weight coefficient of the estimated value representing the propagation delay tau, f3A weight coefficient indicating an evaluation value of the transmission tariff Q.
Preferably, the step S34 further includes: and arranging the communication channels in a descending order according to the corresponding quality evaluation values, determining the communication channel at the head of the order as the communication channel used by the unmanned ship after the current time interval is preset, and determining the communication channels at the second and third orders as standby communication channels.
And a standby communication channel is added, so that the situation that the communication channel cannot be switched in time when the optimal communication channel fails is prevented, and the real-time performance and the stability of data transmission are ensured.
Preferably, the communication channel comprises one or more of a short wave communication channel, a medium wave communication channel, an ultra short wave communication channel and a satellite communication channel.
The invention has the beneficial effects that:
1) the position of the unmanned ship after the current time interval is preset is estimated to obtain the estimated position of the unmanned ship, then a communication channel with the optimal quality of the communication channel of the estimated position is determined to be used as the communication channel of the unmanned ship at the estimated position, the switching of the communication channel is not needed only when the quality of the communication channel transmitted on line is lower than a set threshold value, and the real-time performance and the stability of data transmission are ensured;
2) due to the diversity and the load of the working sea surface of the unmanned ship, the estimated position information of the unmanned ship is a set of a plurality of position information, the accuracy of the estimated position of the unmanned ship is ensured to the maximum extent, and the selection accuracy of the optimal communication channel is further ensured.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of estimated location information for an unmanned vehicle according to the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the method for adaptively selecting the unmanned ship maritime communication channel of the embodiment, as shown in fig. 1, includes the following steps:
s1, acquiring the running state and position information of the unmanned ship and the task running route of the unmanned ship;
s2, estimating estimated position information of the unmanned ship after the current time interval is preset according to the running state and the position information of the unmanned ship and a task running route of the unmanned ship;
s3, calculating the quality of different communication channels at the positions of the unmanned ship according to the estimated position information of the unmanned ship;
and S4, determining the communication channel used by the unmanned ship after the current time interval is preset according to the estimated quality of the communication channel.
The communication channel includes one or more of a short wave communication channel, a medium wave communication channel, an ultra short wave communication channel, and a satellite communication channel.
Step S2 specifically includes:
according to the running speed v and the preset time delta t of the unmanned ship, the maximum advancing distance S of the unmanned ship in the preset time is obtainedmax＝v×△t；
According to the running speed v of the unmanned ship, the preset time delta t and the influence factor eta of the marine navigation environment, the minimum advancing distance S of the unmanned ship in the preset time is obtainedmin＝v×△t×η；
For unmanned vessels in their mission routesMarking the current position information (such as point O shown in figure 2), and keeping the position information S from the current unmanned ship along the driving directionminMarking the position information of the unmanned ship as the nearest estimated position information (point A shown in figure 2), and keeping the position information S of the current unmanned ship away from the current unmanned ship along the driving directionmaxThe position information is marked as the farthest estimated position information (shown as a point B in figure 2) of the unmanned ship, and the driving direction is the pointing direction of an arrow in figure 2;
in a task driving route of the unmanned ship, position information between the nearest estimated position information of the unmanned ship and the farthest estimated position information of the unmanned ship is estimated position information of the unmanned ship after the current time interval is preset time, namely between a point A and a point B in fig. 2.
The influence factor eta of the marine navigation environment is obtained by calculation through the following steps:
obtaining the wind-induced drift amount:
Figure BDA0002929226790000061
wherein K is a coefficient, BaThe wind area on the hull waterline of the unmanned boat, BwThe wind area of the lower side of a hull waterline of the unmanned boat is v, the running speed of the unmanned boat is vaThe relative wind speed is adopted, and the delta t is preset time;
obtaining the drift caused by flow: delta Bc＝vc·△t·sinα，
Wherein v iscTaking the flow velocity as a reference, alpha is a flow pressure angle, and delta t is a preset time;
acquiring a wind direction vector a according to the wind direction and the wind-induced drift amount, acquiring a water flow vector c according to the water flow direction and the flow-induced drift amount, and solving a vector ac according to the wind direction vector a and the water flow vector c;
and calculating the influence factor eta of the marine navigation environment, namely sin theta, wherein theta is an included angle between the vector ac and the unidirectional quantity of the driving direction of the unmanned ship.
Step S3 specifically includes:
s31, screening out a communication channel of which the communication range comprises the estimated position of the unmanned ship according to the estimated position information of the unmanned ship;
s32, extracting evaluation indexes corresponding to the screened communication channels from a database according to weather conditions, task driving lines of the unmanned ship and estimated position information of the unmanned ship, wherein the database comprises the position information, the weather conditions and the evaluation indexes of the associated task driving lines and the task driving lines, and the evaluation indexes comprise channel capacity C, transmission delay tau and transmission charge Q:
C＝B×log2(1+S/N)，
where B denotes a bandwidth, S denotes a signal average power, N denotes a noise power, and 10 × lg (S/N) denotes a signal-to-noise ratio;
τ＝τdp+τdt＝M/V+L/R，
wherein, taudpRepresenting propagation delay, τdtRepresenting transmission delay, M representing channel length, V representing propagation speed on a channel, L representing data frame length, and R representing channel bandwidth;
Q＝I·u/CI，
wherein I represents the amount of data to be transmitted, u represents the lease price of the channel per unit time, CIRepresents a transmission rate;
the acquisition process of each item of data in the database is as follows: the data acquisition unmanned ship runs according to a task running line, acquires various data of each communication channel at the point at fixed points, wherein the various data are parameters in a calculation formula of the channel capacity C, the transmission delay tau and the transmission charge Q and weather conditions in the running process, repeats the process for many times, obtains an average value, and establishes a database comprising the associated task running line, position information on the task running line, the weather conditions and evaluation indexes.
S33, carrying out quality evaluation on the communication channel according to the evaluation index, and acquiring a quality evaluation value of the communication channel: calculating an evaluation value of the channel capacity C:
Figure BDA0002929226790000071
wherein
Figure BDA0002929226790000072
Representing the channel capacity estimate of the m-th communication channel, CmIndicates the channel capacity of the mth communication channel, { C1,C2,…,Cn}maxMaximum value of channel capacity in n communication channels, { C1,C2,…,Cn}minRepresents the minimum value of the channel capacity in n communication channels, m being 1,2, … n;
calculating an evaluation value of the transmission delay tau:
Figure BDA0002929226790000073
wherein
Figure BDA0002929226790000074
Representing the estimated value of the transmission delay, tau, of the m-th communication channelmDenotes the transmission delay of the m-th communication channel, { τ1,τ2,…,τn}maxMaximum value of transmission delay in n communication channels, { tau1,τ2,…,τn}minRepresents the minimum value of the transmission delay in n communication channels, m is 1,2, … n;
calculating an evaluation value of the transmission tariff Q:
Figure BDA0002929226790000075
wherein
Figure BDA0002929226790000076
Representing transmission tariff estimates, Q, of the m-th communication channelmIndicating the transmission tariff of the mth communication channel, { Q1,Q2,…,Qn}maxMaximum value of transmission charge in n communication channels, { Q }1,Q2,…,Qn}minRepresents the minimum value of the transmission charge in n communication channels, m is 1,2, … n;
calculating a quality assessment value of a communication channel:
Figure BDA0002929226790000077
wherein P ismRepresenting the quality assessment value of the m-th communication channel, f1Weight coefficient of the evaluation value representing the channel capacity C, f2Weight coefficient of the estimated value representing the propagation delay tau, f3A weight coefficient representing an evaluation value of the transmission tariff Q;
s34, determining the communication channel with the optimal quality assessment value as the communication channel used by the unmanned ship after the current time interval is preset: and arranging the communication channels in a descending order according to the corresponding quality evaluation values, determining the communication channel at the head of the order as the communication channel used by the unmanned ship after the current time interval is preset, and determining the communication channels at the second and third orders as standby communication channels.
The position of the unmanned ship after the current time interval is preset is estimated to obtain the estimated position of the unmanned ship, then a communication channel with the optimal quality of the communication channel of the estimated position is determined to be used as the communication channel of the unmanned ship at the estimated position, the communication channel does not need to be switched only when the quality of the communication channel transmitted on line is lower than a set threshold value, and the real-time performance and the stability of data transmission are guaranteed.

Claims (8)

1. An unmanned ship maritime communication channel self-adaptive selection method is characterized by comprising the following steps:
s1, acquiring the running state and position information of the unmanned ship and the task running route of the unmanned ship;
s2, estimating estimated position information of the unmanned ship after the current time interval is preset according to the running state and the position information of the unmanned ship and a task running route of the unmanned ship;
s3, calculating the quality of different communication channels of the unmanned ship according to the estimated position information of the unmanned ship;
and S4, determining the communication channel used by the unmanned ship after the current time interval is preset according to the estimated quality of the communication channel.
2. The unmanned-vessel maritime communication link adaptive selection method of claim 1, wherein the step S2 specifically includes:
according to the running speed v and the preset time delta t of the unmanned ship, the maximum advancing distance S of the unmanned ship in the preset time is obtainedmax＝v×△t；
According to the running speed v of the unmanned ship, the preset time delta t and the influence factor eta of the marine navigation environment, the minimum advancing distance S of the unmanned ship in the preset time is obtainedmin＝v×△t×η；
Marking the current position information of the unmanned ship in a task running line of the unmanned ship, and keeping the current position information S of the unmanned ship away from the current unmanned ship along the running directionminMarking the position information of the unmanned ship as the nearest estimated position information of the unmanned ship, and keeping the distance from the current unmanned ship along the driving direction to obtain the position information SmaxMarking the position information of the unmanned ship as the farthest estimated position information of the unmanned ship;
in a task driving route of the unmanned ship, position information between nearest estimated position information of the unmanned ship and farthest estimated position information of the unmanned ship is estimated position information of the unmanned ship after the current time interval is preset.
3. The unmanned-vessel maritime communication link adaptive selection method as claimed in claim 2, wherein the maritime navigation environment influence factor η is obtained by calculating according to the following steps:
obtaining the wind-induced drift amount:
Figure FDA0002929226780000011
wherein K is a coefficient, BaThe wind area on the hull waterline of the unmanned boat, BwThe wind area of the lower side of a hull waterline of the unmanned boat is v, the running speed of the unmanned boat is vaThe relative wind speed is adopted, and the delta t is preset time;
obtaining the drift caused by flow: delta Bc＝vc·△t·sinα，
Wherein v iscIs the flow rate, αIs the flow pressure angle, and delta t is the preset time;
acquiring a wind direction vector a according to the wind direction and the wind-induced drift amount, acquiring a water flow vector c according to the water flow direction and the flow-induced drift amount, and solving a vector ac according to the wind direction vector a and the water flow vector c;
and calculating the influence factor eta of the marine navigation environment, namely sin theta, wherein theta is an included angle between the vector ac and a unit vector of the driving direction of the unmanned ship.
4. The unmanned-vessel maritime communication link adaptive selection method of claim 1, wherein the step S3 specifically includes:
s31, screening out a communication channel of which the communication range comprises the estimated position of the unmanned ship according to the estimated position information of the unmanned ship;
s32, extracting the evaluation indexes corresponding to the screened communication channels from the database according to the weather condition, the task driving line of the unmanned ship and the estimated position information of the unmanned ship;
s33, carrying out quality evaluation on the communication channel according to the evaluation index to obtain a quality evaluation value of the communication channel;
and S34, determining the communication channel with the optimal quality assessment value as the communication channel used by the unmanned ship after the current time interval is preset.
5. The adaptive selection method for unmanned surface vehicle maritime communication link according to claim 4, wherein the database in step S32 includes associated task driving routes, position information on the task driving routes, weather conditions and evaluation indexes, wherein the evaluation indexes include channel capacity C, transmission delay τ and transmission cost Q:
C＝B×log2(1+SN)，
where B denotes a bandwidth, S denotes a signal average power, N denotes a noise power, and 10 × lg (S/N) denotes a signal-to-noise ratio;
τ＝τdp+τdt＝M/V+L/R，
wherein, taudpRepresenting propagation delay, τdtRepresenting transmission delay, M representing channel length, V representing propagation speed on a channel, L representing data frame length, and R representing channel bandwidth;
Q＝I·u/CI，
wherein I represents the amount of data to be transmitted, u represents the lease price of the channel per unit time, CIIndicating the transmission rate.
6. The unmanned-vessel maritime communication link adaptive selection method of claim 5, wherein the step S33 specifically includes:
calculating an evaluation value of the channel capacity C:
Figure FDA0002929226780000031
wherein
Figure FDA0002929226780000032
Representing the channel capacity estimate of the m-th communication channel, CmIndicates the channel capacity of the mth communication channel, { C1,C2,…,Cn}maxMaximum value of channel capacity in n communication channels, { C1,C2,…,Cn}minRepresents the minimum value of the channel capacity in n communication channels, m being 1,2, … n;
calculating an evaluation value of the transmission delay tau:
Figure FDA0002929226780000033
wherein
Figure FDA0002929226780000034
Representing the estimated value of the transmission delay, tau, of the m-th communication channelmDenotes the transmission delay of the m-th communication channel, { τ1,τ2,…,τn}maxMaximum value of transmission delay in n communication channels, { tau1,τ2,…,τn}minRepresenting the maximum transmission delay in n communication channelsSmall value, m ═ 1,2, … n;
calculating an evaluation value of the transmission tariff Q:
Figure FDA0002929226780000035
wherein
Figure FDA0002929226780000036
Representing transmission tariff estimates, Q, of the m-th communication channelmIndicating the transmission tariff of the mth communication channel, { Q1,Q2,…,Qn}maxMaximum value of transmission charge in n communication channels, { Q }1,Q2,…,Qn}minRepresents the minimum value of the transmission charge in n communication channels, m is 1,2, … n;
calculating a quality assessment value of a communication channel:
Figure FDA0002929226780000037
wherein P ismRepresenting the quality assessment value of the m-th communication channel, f1Weight coefficient of the evaluation value representing the channel capacity C, f2Weight coefficient of the estimated value representing the propagation delay tau, f3A weight coefficient indicating an evaluation value of the transmission tariff Q.
7. The unmanned-vessel marine communication link adaptive selection method of claim 4, wherein the step S34 further comprises: and arranging the communication channels in a descending order according to the corresponding quality evaluation values, determining the communication channel at the head of the order as the communication channel used by the unmanned ship after the current time interval is preset, and determining the communication channels at the second and third orders as standby communication channels.
8. An unmanned-vessel, maritime communication link adaptive selection method according to any one of claims 1-7, wherein the communication channel comprises one or more of a short-wave communication channel, a medium-wave communication channel, an ultra-short wave communication channel, and a satellite communication channel.
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