CN114554508A - Autonomous deployment method and system of heterogeneous underwater acoustic sensor network - Google Patents

Autonomous deployment method and system of heterogeneous underwater acoustic sensor network Download PDF

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CN114554508A
CN114554508A CN202210447446.3A CN202210447446A CN114554508A CN 114554508 A CN114554508 A CN 114554508A CN 202210447446 A CN202210447446 A CN 202210447446A CN 114554508 A CN114554508 A CN 114554508A
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auv
usv
processing unit
central processing
network node
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CN114554508B (en
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姚瑶
李恪
范衠
邹延宾
曹峻华
黄晨
梁家平
叶豪盛
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Shantou University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/385—Arrangements for measuring battery or accumulator variables
    • G01R31/387—Determining ampere-hour charge capacity or SoC
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y20/00—Information sensed or collected by the things
    • G16Y20/10—Information sensed or collected by the things relating to the environment, e.g. temperature; relating to location
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y20/00—Information sensed or collected by the things
    • G16Y20/20—Information sensed or collected by the things relating to the thing itself
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y20/00—Information sensed or collected by the things
    • G16Y20/30—Information sensed or collected by the things relating to resources, e.g. consumed power
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/10—Detection; Monitoring
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/20—Analytics; Diagnosis
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/30—Control
    • G16Y40/35—Management of things, i.e. controlling in accordance with a policy or in order to achieve specified objectives
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/60—Positioning; Navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses an autonomous deployment method and system of a heterogeneous underwater acoustic sensor network, wherein the method comprises the following steps: acquiring an underwater task area; deploying an USV group on water, wherein the coverage range of the USV group comprises the range of an underwater task area; any USV in the USV group determines an AUV group communicated with the USV; the USV converts one AUV meeting the node deployment requirement in the AUV group into a current network node; the USV determines whether the number of network nodes in the coverage range of the USV group is smaller than a set network node threshold value; if so, the AUV determines the corresponding adjacent AUV and converts the adjacent AUV into the current network node; the USV continuously determines whether the number of the network nodes in the USV group coverage area is smaller than a set network node threshold value; and if not, when all AUVs in the USV group coverage range are converted into network nodes, the sensor network is autonomously deployed and completes and executes work. The invention can carry out autonomous cooperative deployment.

Description

Autonomous deployment method and system of heterogeneous underwater acoustic sensor network
Technical Field
The invention relates to the field of artificial intelligence, in particular to an autonomous deployment method and system of a heterogeneous underwater acoustic sensor network.
Background
The underwater stealth small target greatly threatens the ocean rights and interests and the soil taking safety of China. The underwater acoustic sensor network is characterized in that a large number of low-cost multi-module integrated underwater sensor nodes are deployed in a designated water area to be monitored. The method comprises the steps that communication is carried out between sensor network node AUV (autonomous underwater vehicle) groups by using sound waves, monitoring information is transmitted to an Unmanned Surface Vehicle (USV) group, and finally the information is transmitted to a monitoring center.
However, the existing underwater acoustic sensor network nodes mainly have the problems of low self-organization and cooperativity and low deployment efficiency, so that a good sensor network is difficult to deploy.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the autonomous deployment method and system for the heterogeneous underwater acoustic sensor network can perform autonomous collaborative deployment and improve deployment efficiency.
In a first aspect, an embodiment of the present application provides an autonomous deployment method for a heterogeneous underwater acoustic sensor network, including:
s100, acquiring an underwater task area;
s200, deploying an USV group on water, wherein the coverage area of the USV group comprises the range of the underwater task area;
step S300, determining an AUV group communicated with the USV by any USV in the USV group;
step S400, the USV converts one AUV meeting the node deployment requirement in the AUV group into a current network node;
step S500, the USV determines whether the number of network nodes in the coverage area of the USV group is smaller than a set network node threshold value;
if yes, go to step S600; if not, executing step S700;
step S600, the AUV determines a corresponding adjacent AUV and converts the adjacent AUV into a current network node; executing step S500;
and S700, when all AUVs in the coverage range of the USV group are converted into network nodes, the sensor network is autonomously deployed and completes and executes work.
Optionally, in an embodiment of the present application, in step S400, the converting, by the USV, one AUV in the AUV group that meets the node deployment requirement into a current network node includes:
the USV searches the AUV group for a corresponding adjacent AUV; wherein, the adjacent AUV corresponding to the USV meets the following requirements of all node deployment: the distance between the adjacent AUV and the USV is a first relay distance, and the first relay distance is inversely related to the set monitoring precision and the pressure value borne by the adjacent AUV corresponding to the USV; no obstacle is required to block between the adjacent AUV and the USV;
the USV stops searching and converts the corresponding neighboring AUV obtained by searching into the current network node.
Optionally, in an embodiment of the present application, in step S600, the determining, by the AUV, a neighboring AUV corresponding to the AUV, and converting the neighboring AUV into the current network node includes:
the AUV searches for its corresponding neighboring AUV; wherein, the adjacent AUV corresponding to the AUV satisfies all the following conditions: the distance between the AUV and the adjacent AUV is a second relay distance, and the second relay distance is inversely related to the set monitoring precision and the pressure value of the adjacent AUV corresponding to the USV; the AUV and the adjacent AUV are not blocked by obstacles;
the AUV stops searching and converts all the corresponding neighboring AUVs obtained by searching into the current network node.
Optionally, in an embodiment of the present application, before the AUV is converted into a network node, the AUV autonomously navigates; the calculation formula of the navigation speed of an AUV is as follows:
Figure 977410DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 644015DEST_PATH_IMAGE002
the speeds of the ith AUV in the X, Y and Z axis directions at the next moment respectively;
Figure DEST_PATH_IMAGE003
respectively, the ith AUV is currently in X and YSpeed in the Z-axis direction;
Figure 722829DEST_PATH_IMAGE004
respectively the initial group velocity of the ith AUV in the X, Y and Z axis directions;
Figure DEST_PATH_IMAGE005
respectively generating repelling speeds of the barrier to the ith AUV in the X, Y and Z axis directions;
Figure 158490DEST_PATH_IMAGE006
the viscosity speeds generated by the ith AUV in the X, Y and Z directions are respectively.
Optionally, in an embodiment of the present application, in step S700, the work performed by the sensor network that is autonomously deployed includes:
step S710, monitoring the electric quantity of each network node;
step S720, determining whether the electric quantity of each network node is greater than or equal to an electric quantity threshold value;
if yes, continuously monitoring the electric quantity of each network node;
if not, go to step S730;
step 730, determining network nodes with electric quantity smaller than the electric quantity threshold value;
step S740, each network node with the electric quantity smaller than the electric quantity threshold value sends the information of the electric quantity shortage to the corresponding USV;
step S750, each USV receiving the information of insufficient electric quantity sends the information of insufficient electric quantity to a central computer;
step S760, after receiving the information of insufficient electric quantity, the central computer dispatches new AUVs to the positions of the network nodes of which the electric quantity is smaller than the electric quantity threshold respectively, and the dispatched new AUVs are converted into new network nodes;
and step S770, navigating to a set recycling position after the network node with the electric quantity smaller than the electric quantity threshold value floats to the water surface.
Optionally, in an embodiment of the present application, in step S760, the location of the network node is obtained by:
the USV corresponding to the network node acquires the position information of the USV and the relative position information of the network node;
the USV corresponding to the network node sends the relative position information of the network node to the central computer;
the central computer obtains the global position information of the network node according to the relative position information of the network node;
and the USV corresponding to the network node receives the global position information of the network node, which is sent by the central computer, wherein the global position information is the position of the network node.
In a second aspect, an embodiment of the present application provides an autonomous deployment system for a heterogeneous underwater acoustic sensor network, where the autonomous deployment system performs the above-mentioned autonomous deployment method for the heterogeneous underwater acoustic sensor network, and the autonomous deployment system includes: the USV group, the AUV group and the central computer;
each USV in the group of USVs comprises:
a first central processing unit;
the laser radar is connected with the first central processing unit and receives the instruction of the first central processing unit to obtain the position information of obstacles around the USV;
the wireless communication device is connected with the first central processing unit and is also respectively in communication connection with the central computer and other USVs;
the low-frequency sonar device is connected with the first central processing unit and receives an instruction of the first central processing unit to acquire relative position information of the AUV in the USV coverage range;
the first GPS positioning device is connected with the first central processing unit and receives the instruction of the first central processing unit to acquire the position information of the USV and the position information of other USVs in the USV group;
the first high-frequency sonar device is connected with the first central processing unit and receives an instruction of the first central processing unit to acquire position information of an adjacent AUV corresponding to the USV;
a first underwater acoustic communication device in communication connection with the AUV group;
the laser radar, the low-frequency sonar device, the first GPS positioning device and the first high-frequency sonar device send respectively acquired position information to the first information processing module, and the first information processing module sends the processed position information to the first central processing unit;
each AUV in the group of AUVs comprises:
a second central processing unit;
the depth meter is connected with the second central processing unit and used for receiving the instruction of the second central processing unit and then acquiring the depth information of the AUV;
the second high-frequency sonar device is connected with the second central processing unit and receives the instruction of the second central processing unit to acquire the position information of the objects around the AUV;
the pressure sensor is connected with the second central processing unit and used for measuring the pressure value born by the AUV after receiving the instruction of the second central processing unit;
the second GPS positioning device is connected with the second central processing unit and used for acquiring the position information of the AUV after receiving the instruction of the second central processing unit;
the steering engine is connected with the second central processing unit, the second high-frequency sonar device is arranged on the steering engine, and the steering engine drives the second high-frequency sonar device to rotate according to the instruction of the second central processing unit;
the second underwater acoustic communication device is connected with the second central processing unit and is also in communication connection with the corresponding USV and other AUVs respectively;
and the second information processing module is respectively connected with the second central processing unit, the depth meter, the second high-frequency sonar device, the pressure sensor and the second GPS positioning device, the second central processing unit, the depth meter, the second high-frequency sonar device, the pressure sensor and the second GPS positioning device send the acquired position information to the second information processing module, and the second information processing module sends the processed position information to the second central processing unit.
The autonomous deployment method of the heterogeneous underwater acoustic sensor network, provided by the embodiment of the application, has the following beneficial effects at least: in the autonomous deployment process, firstly, a USV configures a base station mode for a neighboring AUV, and deploys the neighboring AUV as a network node; the network node configures the corresponding adjacent AUV into a base station mode, and so on until the complete deployment of the AUV is realized; the AUVs are configured in a one-by-one and multi-by-one mode, when all AUVs are configured in a base station mode and are converted into network nodes, information communication is automatically carried out among the network nodes, the deployment of the sensor network is completed, all intelligent agents (including the USV and the AUV) can cooperate with one another, autonomous cooperative deployment can be carried out, and the deployment efficiency is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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 embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic flow chart of an autonomous deployment method of a heterogeneous underwater acoustic sensor network according to an embodiment of the present invention;
FIG. 2 is a schematic flow diagram of S700 in FIG. 1;
fig. 3 is a structural framework diagram of an autonomous deployment system of a heterogeneous underwater acoustic sensor network according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be understood that in the description of the embodiments of the present invention, a plurality (or a plurality) means two or more, more than, less than, more than, etc. are understood as excluding the number, and more than, less than, etc. are understood as including the number. If the description of "first", "second", etc. is used for the purpose of distinguishing technical features, it is not intended to indicate or imply relative importance or to implicitly indicate the number of indicated technical features or to implicitly indicate the precedence of the indicated technical features.
Referring to fig. 1, in some embodiments of the invention, a method for autonomous deployment of a heterogeneous underwater acoustic sensor network comprises:
s100, acquiring an underwater task area;
s200, deploying an USV group on water, wherein the coverage area of the USV group comprises the range of an underwater task area; wherein the group of USVs comprises at least one USV;
in the embodiment, the USV group is used as the overwater base station, and the accurate positioning of the USV group is realized by receiving the GPS signal; and adopting an AUV group as an underwater relay base station (namely a network node). The USV group obtains rough position information of each AUV by transmitting low-frequency sound wave signals to the underwater, and the AUV accurately positions the adjacent AUVs by using high-frequency sonars transmitted by the AUV according to the rough position information of the adjacent AUVs given by the USV; according to the requirements of practical application, the overwater base station autonomously determines which adjacent AUVs are converted into relay base stations, and then autonomous layout of the underwater acoustic sensor network is completed, so that real-time and high-precision detection of the underwater stealth small target is realized;
step S300, determining an AUV group communicated with the USV by any USV in the USV group; when the AUV groups are grouped, only one AUV is converted into a network node;
step S400, the USV converts one AUV meeting the node deployment requirement in the AUV group into a current network node;
it should be noted that, when an AUV group is grouped, only one AUV is configured as a base station mode and is converted into a network node;
step S500, the USV determines whether the number of network nodes in the coverage area of the USV group is smaller than a set network node threshold value; the set network node threshold is the total number of AUVs in the coverage range of the USV group, and the total number of AUVs in the coverage range of the USV group is set according to actual application;
it should be noted that the set network node threshold is the number of AUVs in the coverage area of the USV group, and finally all the AUVs put in can be converted into network nodes;
if yes, go to step S600; if not, executing step S700;
step S600, the AUV determines a corresponding adjacent AUV and converts the adjacent AUV into a current network node; executing step S500;
and S700, when AUVs in the coverage range of the USV group are all converted into network nodes, the sensor network is autonomously deployed and completes and executes work.
It should be noted that the network node is a sensor network node, and a plurality of sensor network nodes form a sensor network; the coverage range of the USV group is the sum of the ranges monitored by all the USVs included in the USV group; the AUV in step S600 is an AUV serving as a current network node;
in the autonomous deployment process, firstly, the USV configures an AUV into a base station mode, and deploys the AUV into a network node; the network node configures the corresponding adjacent AUV into a base station mode, and so on until the complete deployment of the AUV is realized; the AUVs are configured in a one-transmission-one-retransmission-multiple mode, when all AUVs are configured in a base station mode and are converted into network nodes, information communication is automatically carried out among the network nodes, the deployment of the sensor network is completed, all intelligent agents (including the USV and the AUV) can cooperate with one another, autonomous cooperative deployment can be carried out, and the deployment efficiency is improved;
it should be noted that the USV group includes at least one USV, and the AUV group includes at least one AUV; AUV groups are automatically grouped according to the condition of the barrier, so that the adjacent intelligent agents (including USV and AUV) cannot be shielded by the barrier;
in some embodiments of the present invention, in step S400, the USV converting an AUV in the AUV group that meets the node deployment requirement into a current network node includes:
the USV searches the AUV group for a corresponding adjacent AUV; wherein, the adjacent AUV corresponding to the USV meets the following requirements of all node deployment: the distance between the adjacent AUV and the USV is a first relay distance, and the first relay distance is inversely related to the set monitoring precision and the pressure value borne by the adjacent AUV corresponding to the USV; no obstacle is required to block between the adjacent AUV and the USV;
the USV stops searching, and converts the corresponding adjacent AUV obtained by searching into the current network node; wherein, the relative position of the USV and the adjacent AUV which is converted into the current network node and corresponds to the USV is unchanged;
it should be noted that, after the AUV is configured in the base station mode and becomes a network node, the position of the AUV may change due to the fluctuation of the seawater, and in order to maintain the stability of the network, the AUV may move to the position configured in the base station mode by itself, and control the movement by itself to maintain the stability of the network.
In some embodiments of the present invention, in step S600, the AUV determining its corresponding neighboring AUV, and converting the neighboring AUV into the current network node includes:
the AUV searches for its corresponding neighboring AUV; wherein, the adjacent AUV corresponding to the AUV satisfies all the following conditions: the distance between the AUV and the adjacent AUV is a second relay distance, and the second relay distance is inversely related to the set monitoring precision and the pressure value borne by the adjacent AUV corresponding to the AUV; the AUV and the adjacent AUV are not blocked by obstacles;
the AUV stops searching and converts all corresponding adjacent AUVs obtained by searching into current network nodes;
wherein the relative position of the AUV and all corresponding neighboring AUVs converted into the current network node is unchanged;
it should be noted that, as long as the AUV searches for an AUV meeting the conditions within its own search range, all AUVs meeting the conditions are configured into a base station mode and converted into network nodes, regardless of the number;
it should be noted that, since the greater the depth, the greater the pressure value borne, the greater the second relay distance is greater than the first relay distance;
the relay distance comprises a first relay distance and a second relay distance; acquiring a relay distance in real time according to the environment of the AUV and the set monitoring precision;
the underwater turbulence can disturb signal transmission, and the larger the flow rate is, the larger the pressure of the AUV is, and the larger the interference on the signal is. In an area with large environmental interference, monitoring accuracy is improved during setting, nodes need to be deployed for multiple times, relay distance is shortened, and accuracy of a calculation result is improved through more data;
the larger the pressure value born by the AUV is, the smaller the relay distance is; the larger the set monitoring accuracy, the smaller the relay distance.
In some embodiments of the invention, the AUV navigates autonomously before it is converted into a network node; the calculation formula of the navigation speed of an AUV is as follows:
Figure 930137DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE007
the speeds of the ith AUV in the X, Y and Z axis directions at the next moment respectively;
Figure 818458DEST_PATH_IMAGE008
the current speeds of the ith AUV in the X, Y and Z axis directions are respectively;
Figure 700963DEST_PATH_IMAGE009
respectively the initial group velocity of the ith AUV in the X, Y and Z axis directions;
Figure 991131DEST_PATH_IMAGE010
respectively generating repelling speeds of the barrier to the ith AUV in the X, Y and Z axis directions;
Figure 933679DEST_PATH_IMAGE006
the viscosity speeds of the ith AUV generated in the X, Y and Z axis directions respectively;
it should be noted that the velocity calculation formulas of different AUVs are the same, but the initial population velocity, the repulsion velocity and the viscous velocity are different due to different ambient environmental conditions, so that the velocities are different;
it should be further noted that the repulsion velocity and the viscous velocity are obtained by detecting and evaluating the ambient environment by the AUV, and both the repulsion velocity and the viscous velocity belong to relative velocities; the initial group speed is the initial speed set by the AUV group;
assuming that the AUV is static relative to the object and the object keeps moving at a constant speed in a short time, the relative speed can be solved by measuring the relative distance between the surrounding objects at different moments; the object herein includes an obstacle or sea water;
the optimal velocity is solved by vectorially summing the relative velocities of the surrounding objects.
Referring to fig. 2, in some embodiments of the present invention, in step S700, the work performed by the sensor network after autonomous deployment includes:
step S710, monitoring the electric quantity of each network node;
step S720, determining whether the electric quantity of each network node is greater than or equal to an electric quantity threshold value;
if yes, continuously monitoring the electric quantity of each network node;
if not, go to step S730;
step 730, determining network nodes with electric quantity smaller than the electric quantity threshold value;
step S740, each network node with the electric quantity smaller than the electric quantity threshold value sends the information of the electric quantity shortage to the corresponding USV;
step S750, each USV receiving the information of insufficient electric quantity sends the information of insufficient electric quantity to a central computer;
step S760, after receiving the information of insufficient electric quantity, the central computer dispatches new AUVs to the positions of the network nodes of which the electric quantity is smaller than the electric quantity threshold respectively, and the dispatched new AUVs are converted into new network nodes;
step S770, navigating to a set recycling position after the network node with the electric quantity smaller than the electric quantity threshold value floats to the water surface;
the network node can self-check whether the electric quantity of the network node is sufficient, if the electric quantity is insufficient, the network node with insufficient electric quantity can automatically replace the node, and the stability and the reliability of the network are ensured.
In some embodiments of the present invention, in step S760, the location of the network node is obtained by:
the USV corresponding to the network node acquires the position information of the USV and the relative position information of the network node;
the USV corresponding to the network node sends the relative position information of the network node to the central computer;
the central computer obtains the global position information of the network node according to the relative position information of the network node;
and the USV corresponding to the network node receives the global position information of the network node, which is sent by the central computer, wherein the global position information is the position of the network node.
Referring to fig. 3, an embodiment of the present invention further provides an autonomous deployment system of a heterogeneous underwater acoustic sensor network, where the autonomous deployment system executes the above-mentioned autonomous deployment method of the heterogeneous underwater acoustic sensor network, and includes: USV and AUV groups and a central computer 300;
each USV in the USV group includes:
a first central processor 101;
the laser radar 102 is connected with the first central processing unit 101, and the laser radar 102 receives an instruction of the first central processing unit 101 and then acquires position information of obstacles around the USV; the method comprises the steps of obtaining accurate position information of obstacles around the USV, deploying USV groups on the sea surface as positioning base stations, obtaining position information of surrounding objects through a laser radar 102 device, and achieving collision and obstacle avoidance functions;
the wireless communication device 103 is connected with the first central processing unit 101, and is also respectively in communication connection with the central computer 300 and other USVs;
the low-frequency sonar device 104 is connected with the first central processing unit 101, and the low-frequency sonar device 104 receives an instruction of the first central processing unit 101 and then acquires relative position information of the AUV in the USV coverage range; obtaining rough position information of an AUV in an underwater coverage range;
the first GPS positioning device 105 is connected with the first central processing unit 101, and the first GPS positioning device 105 receives an instruction of the first central processing unit 101 and then acquires position information of the USV and position information of other USVs in the USV group;
the first high-frequency sonar device 106 is connected with the first central processing unit 101, and the first high-frequency sonar device 106 receives an instruction of the first central processing unit 101 and then acquires position information of an adjacent AUV corresponding to the USV; acquiring accurate position information of an adjacent AUV;
the first underwater acoustic communication device 107, wherein the first underwater acoustic communication device 107 is in communication connection with the AUV group; broadcasting real-time location information to the AUV group;
the first information processing module 108, the first information processing module 108 is respectively connected with the first central processing unit 101, the laser radar 102, the low-frequency sonar device 104, the first GPS positioning device 105 and the first high-frequency sonar device 106 send the respective acquired position information to the first information processing module 108, and the first information processing module 108 sends the processed position information to the first central processing unit 101; a first information processing module 108 for suppressing noise in the signal; the first central processor 101 is also used for monitoring the state of the USV and controlling the motion parameters of the USV;
the USV obtains self position information through a first GPS positioning device 105, obtains relative position information of an underwater AUV through a low-frequency sonar device 104, and uploads the relative position information of the AUV group to a central computer 300 through a wireless communication device 103 to obtain global position information of the AUV group;
each AUV in the AUV group includes:
a second central processing unit 201;
the depth meter 202, the depth meter 202 is connected with the second central processing unit 201, and the depth meter 202 receives the instruction of the second central processing unit 201 and then acquires the depth information of the AUV;
a second high-frequency sonar device 203, wherein the second high-frequency sonar device 203 is connected with the second central processing unit 201, and the second high-frequency sonar device 203 receives the instruction of the second central processing unit 201 and then acquires the position information of the objects around the AUV; acquiring accurate position information of peripheral objects;
the pressure sensor 204, the pressure sensor 204 is connected with the second central processing unit 201, and the pressure sensor 204 measures the pressure value born by the AUV after receiving the instruction of the second central processing unit 201;
the second GPS positioning device 205, where the second GPS positioning device 205 is connected to the second central processing unit 201, and the second GPS positioning device 205 obtains the position information of the AUV itself after receiving the instruction of the second central processing unit 201;
the steering engine 206, the steering engine 206 is connected with the second central processing unit 201, the second high-frequency sonar device 203 is arranged on the steering engine 206, and the steering engine 206 drives the second high-frequency sonar device 203 to rotate according to the instruction of the second central processing unit 201; acquiring 360-degree environment information around the user;
the second underwater acoustic communication device 207 is connected with the second central processing unit 201, is also respectively in communication connection with the corresponding USV and other AUVs, and is used for transmitting the position and state information of the second underwater acoustic communication device 207 and the adjacent intelligent agents (including the AUVs and the USVs) to the USV in real time;
a second information processing module 208, wherein the second information processing module 208 is respectively connected with the second central processor 201, the depth meter 202, the second high-frequency sonar device 203, the pressure sensor 204 and the second GPS positioning device 205, the second central processor 201, the depth meter 202, the second high-frequency sonar device 203, the pressure sensor 204 and the second GPS positioning device 205 transmit the acquired position information to the second information processing module 208, and the second information processing module 208 transmits the processed position information to the second central processor 201; a second information processing module 208 for suppressing noise in the signal; the second cpu 201 is also configured to monitor the state of the AUV and control the motion parameters thereof.
The above described embodiments are merely illustrative, wherein elements illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Embodiments of this invention are described herein, including the preferred embodiments known to the inventors for carrying out the invention. Variations of those described embodiments may become apparent to those of ordinary skill in the art upon reading the foregoing description. The inventors expect skilled artisans to employ such variations as appropriate, and the inventors intend for the embodiments of the invention to be practiced otherwise than as specifically described herein. Accordingly, the scope of the present invention includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the scope of the invention unless otherwise indicated herein or otherwise clearly contradicted by context.

Claims (7)

1. An autonomous deployment method of a heterogeneous underwater acoustic sensor network is characterized by comprising the following steps:
s100, acquiring an underwater task area;
s200, deploying a USV group on water, wherein the coverage area of the USV group comprises the range of the underwater task area;
step S300, determining an AUV group communicated with the USV by any USV in the USV group;
step S400, the USV converts one AUV meeting the node deployment requirement in the AUV group into a current network node;
step S500, the USV determines whether the number of network nodes in the coverage area of the USV group is smaller than a set network node threshold value;
if yes, go to step S600; if not, executing step S700;
step S600, the AUV determines a corresponding adjacent AUV and converts the adjacent AUV into a current network node; executing step S500;
and step S700, when all AUVs in the coverage area of the USV group are converted into network nodes, the sensor network is autonomously deployed and executes work.
2. The method of claim 1, wherein in step S400, the USV converting an AUV in the AUV group that meets the node deployment requirement into a current network node comprises:
the USV searches the AUV group for a corresponding adjacent AUV; wherein, the adjacent AUV corresponding to the USV meets the following requirements of all node deployment: the distance between the adjacent AUV and the USV is a first relay distance, and the first relay distance is inversely related to the set monitoring precision and the pressure value borne by the adjacent AUV corresponding to the USV; no obstacle is required to block between the adjacent AUV and the USV;
the USV stops searching and converts the corresponding neighboring AUV obtained by searching into the current network node.
3. The autonomous deployment method of the heterogeneous underwater acoustic sensor network of claim 1, wherein in step S600, the AUV determines its corresponding neighboring AUV, and converting the neighboring AUV into the current network node comprises:
the AUV searches for its corresponding neighboring AUV; wherein, the adjacent AUV corresponding to the AUV satisfies all the following conditions: the distance between the AUV and the adjacent AUV is a second relay distance, and the second relay distance is inversely related to the set monitoring precision and the pressure value of the adjacent AUV corresponding to the USV; the AUV and the adjacent AUV can not be blocked by obstacles;
the AUV stops searching and converts all the corresponding neighboring AUVs obtained by searching into the current network node.
4. The autonomous deployment method of the heterogeneous underwater acoustic sensor network according to claim 1, characterized in that the AUV autonomously navigates before it is converted into a network node; the calculation formula of the navigation speed of an AUV is as follows:
Figure 16633DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 274439DEST_PATH_IMAGE002
the speeds of the ith AUV in the X, Y and Z axis directions at the next moment respectively;
Figure 704283DEST_PATH_IMAGE003
the current speeds of the ith AUV in the X, Y and Z axis directions are respectively;
Figure 945909DEST_PATH_IMAGE004
respectively the initial group velocity of the ith AUV in the X, Y and Z axis directions;
Figure 361978DEST_PATH_IMAGE005
respectively generating repelling speeds of the barrier to the ith AUV in the X, Y and Z axis directions;
Figure 5449DEST_PATH_IMAGE006
the viscosity speeds generated by the ith AUV in the X, Y and Z directions are respectively.
5. The autonomous deployment method of the heterogeneous underwater acoustic sensor network of claim 1, wherein in step S700, the autonomous deployment completed sensor network performs the following operations:
step S710, monitoring the electric quantity of each network node;
step S720, determining whether the electric quantity of each network node is greater than or equal to an electric quantity threshold value;
if yes, continuously monitoring the electric quantity of each network node;
if not, go to step S730;
step 730, determining network nodes with electric quantity smaller than the electric quantity threshold value;
step S740, each network node with the electric quantity smaller than the electric quantity threshold value sends the information of the electric quantity shortage to the corresponding USV;
step S750, each USV receiving the information of insufficient electric quantity sends the information of insufficient electric quantity to a central computer;
step S760, after receiving the information of insufficient electric quantity, the central computer dispatches new AUVs to the positions of the network nodes of which the electric quantity is smaller than the electric quantity threshold respectively, and the dispatched new AUVs are converted into new network nodes;
and step S770, navigating to a set recycling position after the network node with the electric quantity smaller than the electric quantity threshold value floats to the water surface.
6. The autonomous deployment method of the heterogeneous underwater acoustic sensor network of claim 5, wherein in step S760, the locations of the network nodes are obtained by:
the USV corresponding to the network node acquires the position information of the USV and the relative position information of the network node;
the USV corresponding to the network node sends the relative position information of the network node to the central computer;
the central computer obtains the global position information of the network node according to the relative position information of the network node;
and the USV corresponding to the network node receives the global position information of the network node, which is sent by the central computer, wherein the global position information is the position of the network node.
7. An autonomous deployment system of a heterogeneous underwater acoustic sensor network, characterized in that it performs an autonomous deployment method of a heterogeneous underwater acoustic sensor network of any one of claims 1 to 6, said autonomous deployment system comprising: USV group and AUV group and central computer;
each USV in the group of USVs comprises:
a first central processing unit;
the laser radar is connected with the first central processing unit and receives the instruction of the first central processing unit to obtain the position information of obstacles around the USV;
the wireless communication device is connected with the first central processing unit and is also respectively in communication connection with the central computer and other USVs;
the low-frequency sonar device is connected with the first central processing unit and receives an instruction of the first central processing unit to acquire relative position information of the AUV in the USV coverage range;
the first GPS positioning device is connected with the first central processing unit and receives the instruction of the first central processing unit to acquire the position information of the USV and the position information of other USVs in the USV group;
the first high-frequency sonar device is connected with the first central processing unit and receives an instruction of the first central processing unit to acquire position information of an adjacent AUV corresponding to the USV;
a first underwater acoustic communication device in communication connection with the AUV group;
the laser radar, the low-frequency sonar device, the first GPS positioning device and the first high-frequency sonar device send the acquired position information to the first information processing module, and the first information processing module sends the processed position information to the first central processing unit;
each AUV in the group of AUVs comprises:
a second central processing unit;
the depth meter is connected with the second central processing unit and used for receiving the instruction of the second central processing unit and then acquiring the depth information of the AUV;
the second high-frequency sonar device is connected with the second central processing unit and receives the instruction of the second central processing unit to acquire the position information of the objects around the AUV;
the pressure sensor is connected with the second central processing unit and used for measuring the pressure value born by the AUV after receiving the instruction of the second central processing unit;
the second GPS positioning device is connected with the second central processing unit and receives the instruction of the second central processing unit to acquire the position information of the AUV;
the steering engine is connected with the second central processing unit, the second high-frequency sonar device is arranged on the steering engine, and the steering engine drives the second high-frequency sonar device to rotate according to the instruction of the second central processing unit;
the second underwater acoustic communication device is connected with the second central processing unit and is also in communication connection with the corresponding USV and other AUVs respectively;
and the second information processing module is respectively connected with the second central processing unit, the depth meter, the second high-frequency sonar device, the pressure sensor and the second GPS positioning device, the second central processing unit, the depth meter, the second high-frequency sonar device, the pressure sensor and the second GPS positioning device send the acquired position information to the second information processing module, and the second information processing module sends the processed position information to the second central processing unit.
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