CN115102600B - Underwater glider heaven communication system with shore-based shelter cooperation and data transmission method - Google Patents
Underwater glider heaven communication system with shore-based shelter cooperation and data transmission method Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 40
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/18513—Transmission in a satellite or space-based system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The invention relates to a shore-based shelter cooperative underwater glider heaven communication system and a data transmission method. The shelter command center only has satellite communication capability and is responsible for commanding and controlling the underwater glider, receiving the state information and stored data of the underwater glider returned by the space communication satellite communication system. The two are communicated with the Tiantong commander through the Tiantong module, and the communication content comprises GPS positioning information of both parties, AIS ship data, short message content and environment data.
Description
Technical Field
The invention belongs to the technical field of underwater vehicle control, and particularly relates to an underwater glider heaven communication system with a shore-based shelter and a data transmission method.
Background
The Tiantong number one satellite is a satellite mobile communication system which is completely developed and developed by independent development of China, has the characteristics of high reliability, real-time performance and confidentiality, and has been widely applied to various industries.
At present, most underwater gliders adopt iridium satellite communication systems and Beidou satellite communication systems. But both suffer from the following disadvantages: the iridium communication system is operated by the American iridium company, and cannot meet the confidentiality requirement; the Beidou communication system is a satellite communication system independently researched and developed in China, but has smaller bandwidth, and the communication frequency of a civil card is strictly limited, so that the requirement of quick high-frequency communication cannot be met. And the Tiantong I system is fully put into use, so that safer and more reliable communication selection is provided for the ocean finger control.
The reliable and stable communication of the underwater glider is the basis for performing tasks during ocean-going operations. At present, most underwater gliders are commanded and controlled by a single command center, namely a shelter command center or a shore-based command center. Once a single command center fails, the underwater glider will not be controlled and even lost.
In addition, shelter command centers travel with the ship to open sea when the underwater glider is performing ocean experiments. Limited by the communication radius of the base station on the shore, no network signal is generated at a distance of more than 30 km from the shore, and satellite communication can be only relied on. However, environmental data such as typhoons, weather and the like and AIS ship data have a decisive effect on the safety of experiments, and typhoons and bad weather threaten the life safety of personnel on the ship and the operation safety of the aircraft; the AIS ship data may prevent the aircraft from crashing into other ships. Such data needs to be obtained from the network and cannot be obtained directly through satellite communication.
Disclosure of Invention
Technical problem to be solved
The invention provides an underwater glider space communication system and a data transmission method which are cooperated with a shore-based shelter, in order to solve the problems that in the prior art, the underwater glider is unstable and satellite communication cannot acquire environment and AIS data due to single command center command.
Technical proposal
The communication system for the underwater glider in cooperation with the shore-based shelter is characterized by comprising a shore-based command center subsystem and a shelter command center subsystem;
the shore-based command center subsystem has a networking function and satellite communication capability, and is responsible for commanding and controlling the underwater glider, and receiving the state information, storage data, networking environment data and AIS data support of the underwater glider returned by the heaven-earth satellite communication system;
the shelter command center subsystem only has satellite communication capability and is responsible for commanding and controlling the underwater glider, receiving the state information and stored data of the underwater glider returned by the space communication satellite communication system;
the shore-based command center subsystem and the shelter command center subsystem are communicated through short messages.
The invention further adopts the technical scheme that: the shore-based command center subsystem comprises a first industrial personal computer, a second industrial personal computer, a first day-through command machine, a second day-through command machine, an antenna head of the day-through command machine, an antenna feeder of the day-through command machine and an underwater glider cluster;
the first industrial personal computer is connected with the first antenna communication director, and the first antenna communication director is connected with an antenna feeder of the antenna communication director and an antenna feeder is connected with an antenna head through the antenna;
the second industrial personal computer is connected with a second antenna-through command machine, and the second antenna-through command machine is connected with an antenna feeder of the antenna-through command machine and is connected with an antenna head through the antenna feeder;
the first industrial personal computer and the second industrial personal computer are connected into a shore-based command center local area network through network cables;
the second industrial personal computer is connected with a one-way gateway inlet through a network cable, and the one-way gateway is connected with the Internet; the unidirectional gatekeeper physically isolates the local area network from the external network, only allows unidirectional data to circulate, and achieves confidentiality requirements;
n underwater gliders are respectively provided with a space communication terminal 1-N and are bound with a first space communication director, and the N underwater gliders are communicated through space communication satellites; the shore-based command center can communicate with a plurality of underwater gliders simultaneously, receive the states of the plurality of underwater gliders and can deliver tasks to the single/plurality of underwater gliders.
The invention further adopts the technical scheme that: the shelter command center subsystem comprises a third industrial personal computer, a fourth industrial personal computer, a third heaven-earth command machine, an heaven-earth terminal, an heaven-earth command machine antenna head, an heaven-earth terminal antenna and an underwater glider cluster;
the third industrial personal computer is connected with a third antenna-through command machine, and the third antenna-through command machine is connected with an antenna feeder of the antenna-through command machine and is connected with an antenna head through the antenna feeder;
the fourth industrial personal computer is connected with the antenna terminal, the antenna terminal is connected with an antenna feeder of the antenna terminal, and the antenna feeder is connected with an antenna head of the antenna;
the third industrial personal computer and the fourth industrial personal computer are connected into a shelter command center local area network through network cables;
n underwater gliders are respectively provided with a space communication terminal 1-N, are bound with a third space communication director of the shelter command communication system, and communicate with each other through space communication satellites; the shelter command center can be communicated with a plurality of underwater gliders simultaneously, receives the states of the plurality of underwater gliders and can deliver tasks to the single/a plurality of underwater gliders.
A data transmission method of an underwater glider communication system with a shore-based shelter cooperation is characterized by comprising the following 3 parts:
(1) First communication command machine-communication terminal 1-N
The function of the communication link is that the shore-based command center commands and controls the underwater glider through satellite communication, receives the state information and stored data of the underwater glider returned by the heaven-earth satellite communication system;
the N underwater gliders are respectively provided with a Tiantong terminal 1-N, and the first Tiantong commander is arranged in a shore-based command center and is bound with the Tiantong terminal 1-N; the underwater glider organizes the parameters of the sensor, the task information and the navigation state into data streams according to a pre-agreed data transmission protocol, and then adds frame heads and frame tails according to a Tiantong data transmission format, and sends the data streams to a Tiantong terminal through a serial port of a main control board of the underwater glider; the Tiantong terminal transmits the data to a first Tiantong commander of the shore-based command center through a Tiantong satellite communication system; the first general command machine transmits the received data to the first industrial personal computer, and the first industrial personal computer analyzes the data and restores the state information, the task information and the navigation state of the underwater glider;
when the underwater glider is controlled or instructed by a task, the first industrial personal computer organizes data according to a data transmission protocol agreed in advance, then adds a frame head, a frame tail and a sending target according to a Tiantong data transmission protocol, and sends the frame head, the frame tail and the sending target to the first Tiantong director through a serial port; the same piece of data can be selectively sent to 1 or more underwater gliders, the first day through command machine sends the data to the day through terminals 1-N through a day through satellite communication system, and a main control board in the underwater gliders reads and analyzes the data from a serial port connected with the day through terminals to execute corresponding actions or tasks;
(2) Third Tiantong commander-Tiantong terminal 1-N
The communication link has the functions that the shelter command center commands and controls the underwater glider through satellite communication, receives the state information and the stored data of the underwater glider returned by the space communication satellite communication system.
The N underwater gliders are respectively provided with a Tiantong terminal 1-N, and the third Tiantong commander is arranged in the shelter command center and is bound with the Tiantong terminal 1-N; the underwater glider organizes the parameters of the sensor, the task information and the navigation state into data streams according to a pre-agreed data transmission protocol, and then adds frame heads and frame tails according to a Tiantong data transmission format, and sends the data streams to a Tiantong terminal through a serial port of a main control board of the underwater glider; the Tiantong terminal sends the data to a third Tiantong command machine of the shore-based command center through a Tiantong satellite communication system; the third day communication director transmits the received data to a third industrial personal computer, and the third industrial personal computer analyzes the data and restores the state information, the task information and the navigation state of the underwater glider;
when the underwater glider is controlled or instructed by a task, the third industrial personal computer organizes data according to a data transmission protocol agreed in advance, and then adds a frame head, a frame tail and a sending target according to the Tiantong data transmission protocol, and sends the data to the third Tiantong director through a serial port; the same piece of data may optionally be sent to 1 or more underwater gliders. The third Tiantong director sends the data to Tiantong terminals 1-N through a Tiantong satellite communication system; the main control board in the underwater glider reads out data from a serial port connected with the Tiantong terminal and analyzes the data to execute corresponding actions or tasks;
(3) Second Tiantong command machine-Tiantong terminal
The function of the communication link is to enable the shore-based command center to have communication capability with the shelter command center, the shore-based command center and the shelter command center communicate through short messages, and the communication content comprises: short message content, shelter/shore-based GPS positioning data, AIS ship data and environment data.
The invention further adopts the technical scheme that: the short message content takes bytes as a unit, supports ASCII and Unicode coding, and supports English, digital and Chinese;
when the shore-based command center sends a short message to the shelter command center, the second industrial personal computer organizes the content of the short message into byte streams according to the coding format. The second Tiantong director changes the sending target into a Tiantong terminal, adds the frame head and the frame tail of Tiantong communication, and sends byte streams to the Tiantong terminal; the Tiantong terminal receives the data packet, removes the head and the tail of the frame, and sends the data packet to the fourth industrial personal computer through the serial port, and the fourth industrial personal computer analyzes the data content according to the coding format for the bank-based commander to check;
when the shelter command center sends a short message to the shore-based command center, the fourth industrial personal computer organizes the content of the short message into byte streams according to a coding format; the Tiantong terminal changes the sending target into a second Tiantong director, adds the frame head and the frame tail of Tiantong communication, and sends byte streams to the second Tiantong director; the second communication director receives the data packet, removes the head and the tail of the frame, and sends the data packet to the second industrial personal computer through the serial port, and the second industrial personal computer analyzes the data content according to the coding format for the bank-based director to check.
The invention further adopts the technical scheme that: the AIS ship data can display the ship information near the current point in real time, and the shelter command center does not have networking capability, so that requests to the shore-based command center are required, and the request and reply processes are as follows:
s1: the shelter command center determines GPS positioning information of the shelter command center, requests radius and time, and organizes data flow according to a agreed communication protocol;
s2: the Tiantong terminal sends the data stream to a second Tiantong director and requests data from a shore-based command center;
s3: the second Tiantong director receives the data stream, sends a confirmation acceptance short message to the Tiantong terminal, and the Tiantong terminal 0 receives the confirmation short message and waits for the shore-based command center to send AIS data;
s4: the shore-based command center organizes AIS data according to json format and sequences the AIS data into data streams, the second Tiantong command machine sends the data streams to the Tiantong terminal by adding frame head and frame tail according to Tiantong communication protocol, and the AIS data comprise heading, heading phase, longitude, latitude, target port and positioning time of n ships;
s5: and the shelter command center receives the data packet and analyzes the data packet to obtain AIS ship information near the position of the shelter command center. And the Tiantong terminal sends a confirmation short message to the shore-based command center;
s6: and the second director of the shore-based command center receives the confirmation message sent by the Tiantong terminal to finish data transmission.
The invention further adopts the technical scheme that: the environmental data can display the environmental data near the current point in real time, and the shelter command center does not have networking capability, so that requests are required to the shore-based command center, and the request and reply processes are as follows:
s1: the shelter command center determines GPS positioning information of the shelter command center, requests time and organizes data flow according to a agreed communication protocol;
s2: the Tiantong terminal sends the data stream to a Tiantong commander and requests data from a shore-based command center;
s3: the second Tiantong director receives the data stream, sends a confirmation acceptance short message to the Tiantong terminal, and waits for the shore-based command center to send environmental data;
s4: the shore-based command center organizes AIS data according to a Json format and sequences the AIS data into a data stream, the second day communication command machine sends the data stream to a day communication terminal according to a day communication protocol in a frame-adding head-frame-tail mode, and the environmental data comprises typhoon information, hydrological information and meteorological information;
s5: the shelter command center receives and analyzes the data packet to obtain environmental information near the position of the shelter command center; and the Tiantong terminal sends a confirmation short message to the shore-based command center;
s6: and the second director of the shore-based command center receives the confirmation message sent by the Tiantong terminal to finish data transmission.
Advantageous effects
The invention provides two command centers of a shore base and a shelter to acquire the state information of the underwater glider and issue control and task instructions so as to improve the reliability of the system. The shelter command center is used as a front edge, only has satellite communication capability, gives an instruction to an underwater glider in operation and obtains state information of the underwater glider, and can interact with the shore-based command center in real time by means of satellite communication. The shore-based command center is used as a guarantee, has network and satellite communication capacity, can acquire the state information of the underwater glider through the satellite communication and provide necessary data support for the shelter command center, and can mutually guarantee the two, so that the reliability and the safety of the ocean experiment of the underwater glider can be improved.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a diagram of a hardware connection of a heaven communication system of a shore-based/shelter cooperative control underwater glider according to the method of the present invention;
FIG. 2 is a Json format of AIS ship data according to the present invention;
fig. 3 is a diagram of the environment data Json format of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention provides a shore-based shelter cooperative underwater glider heaven communication system and a data transmission method. The shore-based command center has networking function and satellite communication capability, and is responsible for commanding and controlling the underwater glider, and receiving the state information, storage data, networking environment and AIS data support of the underwater glider returned by the heaven-earth satellite communication system. The shore-based command center communication system consists of a first industrial personal computer, a second industrial personal computer, a first day communication command machine, a second day communication command machine, an antenna head of the day communication command machine, an antenna feeder of the day communication command machine and an underwater glider cluster. The shelter command center only has satellite communication capability and is mainly responsible for commanding and controlling the underwater glider, receiving the state information and stored data of the underwater glider returned by the space communication satellite communication system. The shelter command center communication system is composed of a third industrial personal computer, a fourth industrial personal computer, a third space communication command machine, a space communication module, a space communication command machine antenna head, a space communication module antenna and an underwater glider cluster. The two are communicated with the second communication director through the communication module, and the communication content comprises GPS positioning information of both parties, AIS ship data, short message content and environment data.
1. Communication system for controlling underwater glider by cooperation of shore-based/shelter
The communication system is integrally composed of a shore-based command center subsystem and a shelter command center subsystem, and the shore-based command center subsystem and the shelter command center subsystem control the underwater glider through communication command of the sky.
(1) Command communication subsystem based on communication base of heaven communication
The shore-based command center communication system is composed of a first industrial personal computer 1, a second industrial personal computer 2, a first day communication command machine 1, a second day communication command machine 2, a day communication command machine antenna and an underwater glider cluster, as shown in figure 1.
The bank-based command center antenna arrangement is not limited by the field, can be placed at a longer interval, and does not need to consider signal interference among active antennas. Therefore, two antenna communication command machines are selected, and are connected with the active antenna communication antennas, so that the antenna communication command machine has higher signal gain and transmission stability.
The shore-based command center has a networking function. The industrial personal computer 2 is connected with the external internet through a network cable, and acquires networking data including environment data and AIS ship data from a website. The data are then transmitted to the shelter command center through the satellite channel constructed by the second Tiantong command machine 2 and the Tiantong terminal 0.
The shore-based command center has satellite communication capability, and commands and controls the underwater glider through satellite communication, receives the state information and stored data of the underwater glider returned by the heaven-earth satellite communication system.
The shore-based command communication system is composed of a first industrial personal computer 1, a second industrial personal computer 2, a first day communication command machine 1, a second day communication command machine 2, a day communication command machine antenna and an underwater glider cluster, as shown in figure 1.
The first industrial personal computer 1 is connected with the first antenna through director 1 through an RS232 serial port, the first antenna through director 1 is connected with an antenna feeder of the antenna through director, and the antenna feeder is connected with an antenna head through an antenna.
The second industrial personal computer 2 is connected with the second antenna command machine 2 through an RS232 serial port, the second antenna command machine 2 is connected with an antenna feeder of the antenna command machine, and the antenna feeder is connected with an antenna head through the antenna.
The first industrial personal computer 1 and the second industrial personal computer 2 are connected into a shore-based command center local area network through network cables.
The second industrial personal computer 2 is connected with a unidirectional gatekeeper inlet through a network cable, and the unidirectional gatekeeper is connected with the Internet. The unidirectional gatekeeper physically isolates the local area network from the external network, and only allows unidirectional data to circulate, thereby achieving the confidentiality requirement.
N underwater gliders are respectively provided with a space communication terminal 1-N, are bound with a first space communication director 1 of a shore-based command center, and are communicated through space communication satellites. The shore-based command center can communicate with a plurality of underwater gliders simultaneously, receive the states of the plurality of underwater gliders and can deliver tasks to the single/plurality of underwater gliders.
(2) Shelter command communication subsystem based on Tiantong
The shelter command center is arranged on the experimental ship and is mainly responsible for commanding and controlling the underwater glider, receiving the state information of the underwater glider returned by the space satellite communication system and storing data. The shelter command center does not have a networking function and only has satellite communication capability.
The shelter command center communication system is composed of a third industrial personal computer 3, a fourth industrial personal computer 4, a third Tiantong command machine 3, a Tiantong terminal 0, a Tiantong command machine antenna, a Tiantong terminal antenna and an underwater glider cluster, as shown in figure 1.
All communication antennas of the shelter command center are arranged at the top of the shelter, the space is narrow, and a plurality of active antennas can interfere with each other. Therefore, the shelter command center selects one Tiantong command machine and one Tiantong terminal. The antenna commander is connected with an active antenna, and the antenna port terminal is connected with a passive antenna, so that signal interference is reduced.
The third industrial personal computer 3 is connected with the third antenna command machine 3 through an RS232 serial port, the third antenna command machine 3 is connected with an antenna feeder of the antenna command machine, and the antenna feeder is connected with an antenna head through the antenna.
The fourth industrial personal computer 4 is connected with a antenna terminal 0 through an RS232 serial port, the antenna terminal 0 is connected with an antenna feeder of the antenna terminal, and the antenna feeder is connected with an antenna head.
The third industrial personal computer 3 and the fourth industrial personal computer 4 are connected into the shelter command center local area network through network cables.
N underwater gliders are respectively provided with a Tiantong terminal 1-N which is bound with a third Tiantong commander 3 of the shelter command communication system, and the N underwater gliders communicate through Tiantong satellites. The shelter command center can be communicated with a plurality of underwater gliders simultaneously, receives the states of the plurality of underwater gliders and can deliver tasks to the single/a plurality of underwater gliders.
(3) Shore-based command center and shelter command center communication method
The second Tiantong commander 2 of the shore-based command center is bound with the Tiantong terminal 0 of the shelter communication command center, and the second Tiantong command machine and the shelter communication command center are communicated through short messages.
2. Data content transmitted by each link
(1) First communication director 1-communication terminal 1-N
The function of the communication link is that the shore-based command center commands and controls the underwater glider through satellite communication, receives the state information and stored data of the underwater glider returned by the space satellite communication system.
N underwater gliders are respectively provided with a Tiantong terminal 1-N, and a first Tiantong commander 1 is arranged in a shore-based command center and is bound with the Tiantong terminal 1-N. The underwater glider organizes the sensor parameters, task information and navigation state into data flow according to a pre-agreed data transmission protocol, and then adds the frame head and the frame tail according to a Tiantong data transmission format, and sends the data flow to the Tiantong terminal through a serial port of a main control board of the underwater glider. The space communication terminal transmits the data to the first space communication director 1 of the shore-based command center through the space communication satellite communication system. The first day communication director 1 transmits the received data to the first industrial personal computer 1, and the first industrial personal computer 1 analyzes the data and restores the state information, the task information, the navigation state and other data of the underwater glider.
When the underwater glider is controlled or instructed by a task, the first industrial personal computer 1 organizes data according to a data transmission protocol agreed in advance, and then adds a frame head, a frame tail and a sending target according to the Tiantong data transmission protocol, and sends the data to the first Tiantong director 1 through a serial port. The same piece of data may optionally be sent to 1 or more underwater gliders. The first communication director 1 will send to the communication terminals 1-N via the communication system. And the main control board in the underwater glider reads out data from a serial port connected with the Tiantong terminal and analyzes the data to execute corresponding actions or tasks.
(2) Third Tiantong commander 3-Tiantong terminal 1-N
The communication link has the functions that the shelter command center commands and controls the underwater glider through satellite communication, receives the state information and the stored data of the underwater glider returned by the space communication satellite communication system.
The N underwater gliders are respectively provided with a Tiantong terminal 1-N, and the third Tiantong commander 3 is arranged in the shelter command center and is bound with the Tiantong terminal 1-N. The underwater glider organizes the sensor parameters, task information and navigation state into data flow according to a pre-agreed data transmission protocol, and then adds the frame head and the frame tail according to a Tiantong data transmission format, and sends the data flow to the Tiantong terminal through a serial port of a main control board of the underwater glider. And the Tiantong terminal transmits the data to a third Tiantong commander 3 of the shore-based command center through the Tiantong satellite communication system. The third day commander 3 transmits the received data to the third industrial personal computer 3, and the third industrial personal computer 3 analyzes the data and restores the state information, the task information, the navigation state and other data of the underwater glider.
When the underwater glider is controlled or instructed by a task, the third industrial personal computer 3 organizes data according to a data transmission protocol agreed in advance, and then adds a frame head, a frame tail and a sending target according to the Tiantong data transmission protocol, and sends the data to the third Tiantong director 3 through a serial port. The same piece of data may optionally be sent to 1 or more underwater gliders. The third space communication director 3 will send to the space communication terminals 1-N via the space communication satellite communication system. And the main control board in the underwater glider reads out data from a serial port connected with the Tiantong terminal and analyzes the data to execute corresponding actions or tasks.
(3) Second Tiantong commander 2-Tiantong terminal 0
The function of the communication link is to enable the shore-based command center to have communication capability with the shelter command center, the shore-based command center and the shelter command center communicate through short messages, and the communication content comprises: short message content, shelter/shore-based GPS positioning data, AIS ship data and environment data.
The following details the respective data interaction modes and data contents:
(1) content of short message
The short message content refers to that the shelter command center and the shore-based command center communicate through short messages of the space satellite communication system under the condition that no network exists, for example, when the shelter carries out ocean experiments along with a ship.
The short message content takes bytes as a unit, supports ASCII and Unicode coding, and supports English, digital and Chinese.
When the shore-based command center sends a short message to the shelter command center, the second industrial personal computer 2 organizes the content of the short message into byte streams according to the coding format. The second Tiantong director 2 changes the sending target to Tiantong terminal 0, adds the frame head and the frame tail of Tiantong communication, and sends the byte stream to Tiantong terminal 0. The Tiantong terminal 0 receives the data packet, removes the head and the tail of the frame, and sends the data packet to the fourth industrial personal computer 4 through the serial port, and the fourth industrial personal computer 4 analyzes the data content according to the coding format for the bank-based commander to check.
When the shelter command center sends the short message to the shore-based command center, the fourth industrial personal computer 4 organizes the content of the short message into byte streams according to the coding format. The Tiantong terminal 0 changes the sending target to the second Tiantong director 2, adds the frame head and the frame tail of Tiantong communication, and sends the byte stream to the second Tiantong director 2. The second general director 2 receives the data packet, removes the frame head and the frame tail, and then sends the second industrial personal computer 2 through the serial port, and the second industrial personal computer 2 analyzes the data content according to the coding format for the bank-based director to check.
(2) Shelter, shore-based GPS positioning data
The shore base and the shelter mutually send GPS positioning information of the shore base and the shelter through communication of the sky so as to confirm the position of the other party.
The GPS positioning data is organized according to the GGA command rule in the GPS 0183 protocol set by the national marine electronics Association (NMEA-The National Marine ElectronicsAssociation), and the specific sending flow is consistent with the sending short message.
(3) AIS ship data
AIS ship data can display the ship information near the current point in real time, and the shelter command center does not have networking capability, so that requests to the shore-based command center are required, and the request and reply processes are as follows:
s1: the shelter command center determines GPS positioning information of the shelter command center, requests radius and time, and organizes data flow according to a agreed communication protocol;
s2: the Tiantong terminal 0 sends the data stream to the second Tiantong commander 2 and requests the data from the shore-based command center;
s3: the second Tiantong director 2 receives the data stream, sends a confirmation acceptance short message to the Tiantong terminal 0, and waits for the shore-based command center to send AIS data;
s4: the shore-based command center organizes AIS data according to json format and sequences the AIS data into data streams, the second Tiantong command machine 2 sends the data streams to the Tiantong terminal 0 according to Tiantong communication protocol with frame head and frame tail, the AIS data comprises heading, heading phase, longitude, latitude, target port, positioning time and the like of n ships, and the detailed json data format is shown in figure 2;
s5: and the shelter command center receives the data packet and analyzes the data packet to obtain AIS ship information near the position of the shelter command center. And the Tiantong terminal sends a confirmation short message to the shore-based command center;
s6: and the second swing machine 2 of the shore-based command center receives the confirmation message sent by the Tiantong terminal 0 to finish data transmission.
(4) Environmental data
Environmental data can be displayed in real time near the current point, and the shelter command center does not have networking capability, so that requests to the shore-based command center are required, and the request and reply processes are as follows:
s1: the shelter command center determines GPS positioning information of the shelter command center, requests time and organizes data flow according to a agreed communication protocol;
s2: the Tiantong terminal 0 sends the data stream to the Tiantong commander and requests the data from the shore-based command center;
s3: the second Tiantong director 2 receives the data stream, sends a confirmation acceptance short message to the Tiantong terminal 0, and waits for the shore-based command center to send environmental data;
s4: the shore-based command center organizes AIS data according to a Json format and sequences the AIS data into a data stream, the second Tiantong command machine 2 sends the data stream to the Tiantong terminal 0 according to a Tiantong communication protocol in a frame-adding head-end manner, and environment data comprise typhoon information, hydrological information, meteorological information and the like, wherein the detailed Json data format is shown in figure 3;
s5: and the shelter command center receives and analyzes the data packet to obtain environmental information near the position of the shelter command center. And the Tiantong terminal sends a confirmation short message to the shore-based command center;
s6: and the second swing machine 2 of the shore-based command center receives the confirmation message sent by the Tiantong terminal 0 to finish data transmission.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made without departing from the spirit and scope of the invention.
Claims (5)
1. The communication system for the underwater glider in cooperation with the shore-based shelter is characterized by comprising a shore-based command center subsystem and a shelter command center subsystem;
the shore-based command center subsystem has a networking function and satellite communication capability, and is responsible for commanding and controlling the underwater glider, and receiving the state information, storage data, networking environment data and AIS data support of the underwater glider returned by the heaven-earth satellite communication system;
the shore-based command center subsystem comprises a first industrial personal computer, a second industrial personal computer, a first day-through command machine, a second day-through command machine, an antenna head of the day-through command machine, an antenna feeder of the day-through command machine and an underwater glider cluster;
the first industrial personal computer is connected with the first day through director, the first day through director is connected with an antenna feeder of the day through director, and the antenna feeder is connected with an antenna head of the day through director;
the second industrial personal computer is connected with the second antenna-through commander, the second antenna-through commander is connected with an antenna feeder line of the antenna-through commander, and the antenna feeder line is connected with an antenna head of the antenna-through commander;
the first industrial personal computer and the second industrial personal computer are connected into a shore-based command center local area network through network cables;
the second industrial personal computer is connected with a one-way gateway inlet through a network cable, and the one-way gateway is connected with the Internet; the unidirectional gatekeeper physically isolates the local area network from the external network, only allows unidirectional data to circulate, and achieves confidentiality requirements;
n underwater gliders are respectively provided with a space communication terminal 1-N and are bound with a first space communication director, and the N underwater gliders are communicated through space communication satellites; the shore-based command center can communicate with a plurality of underwater gliders simultaneously, receive the states of the plurality of underwater gliders and can deliver tasks to the single/a plurality of underwater gliders
The shelter command center subsystem only has satellite communication capability and is responsible for commanding and controlling the underwater glider, receiving the state information and stored data of the underwater glider returned by the space communication satellite communication system;
the shelter command center subsystem comprises a third industrial personal computer, a fourth industrial personal computer, a third heaven-earth command machine, an heaven-earth terminal, an heaven-earth command machine antenna head, an heaven-earth terminal antenna and an underwater glider cluster;
the third industrial personal computer is connected with a third antenna-through command machine, the third antenna-through command machine is connected with an antenna feeder line of the antenna-through command machine, and the antenna feeder line is connected with an antenna head of the antenna-through command machine;
the fourth industrial personal computer is connected with the antenna terminal, the antenna terminal is connected with an antenna feeder of the antenna terminal, and the antenna feeder is connected with an antenna head of the antenna;
the third industrial personal computer and the fourth industrial personal computer are connected into a shelter command center local area network through network cables;
n underwater gliders are respectively provided with a space communication terminal 1-N, are bound with a third space communication director of the shelter command communication system, and communicate with each other through space communication satellites; the shelter command center can be communicated with a plurality of underwater gliders simultaneously, receives the states of the plurality of underwater gliders and can deliver tasks to the single/a plurality of underwater gliders;
the shore-based command center subsystem and the shelter command center subsystem are communicated through short messages.
2. A method of data transmission in an underwater glider heaven communication system coordinated with a shore-based shelter as claimed in claim 1, comprising the following 3 communication links:
(1) First communication command machine-communication terminal 1-N
The function of the communication link is that the shore-based command center commands and controls the underwater glider through satellite communication, receives the state information and stored data of the underwater glider returned by the heaven-earth satellite communication system;
the N underwater gliders are respectively provided with a Tiantong terminal 1-N, and the first Tiantong commander is arranged in a shore-based command center and is bound with the Tiantong terminal 1-N; the underwater glider organizes the parameters of the sensor, the task information and the navigation state into data streams according to a pre-agreed data transmission protocol, and then adds frame heads and frame tails according to a Tiantong data transmission format, and sends the data streams to a Tiantong terminal through a serial port of a main control board of the underwater glider; the Tiantong terminal transmits the data to a first Tiantong commander of the shore-based command center through a Tiantong satellite communication system; the first general command machine transmits the received data to the first industrial personal computer, and the first industrial personal computer analyzes the data and restores the state information, the task information and the navigation state of the underwater glider;
when the underwater glider is controlled or instructed by a task, the first industrial personal computer organizes data according to a data transmission protocol agreed in advance, then adds a frame head, a frame tail and a sending target according to a Tiantong data transmission protocol, and sends the frame head, the frame tail and the sending target to the first Tiantong director through a serial port; the same piece of data can be selectively sent to 1 or more underwater gliders, the first day through command machine sends the data to the day through terminals 1-N through a day through satellite communication system, and a main control board in the underwater gliders reads and analyzes the data from a serial port connected with the day through terminals to execute corresponding actions or tasks;
(2) Third Tiantong commander-Tiantong terminal 1-N
The communication link has the functions that the shelter command center commands and controls the underwater glider through satellite communication, receives the state information and the stored data of the underwater glider returned by the space communication satellite communication system;
the N underwater gliders are respectively provided with a Tiantong terminal 1-N, and the third Tiantong commander is arranged in the shelter command center and is bound with the Tiantong terminal 1-N; the underwater glider organizes the parameters of the sensor, the task information and the navigation state into data streams according to a pre-agreed data transmission protocol, and then adds frame heads and frame tails according to a Tiantong data transmission format, and sends the data streams to a Tiantong terminal through a serial port of a main control board of the underwater glider; the Tiantong terminal sends the data to a third Tiantong command machine of the shore-based command center through a Tiantong satellite communication system; the third day communication director transmits the received data to a third industrial personal computer, and the third industrial personal computer analyzes the data and restores the state information, the task information and the navigation state of the underwater glider;
when the underwater glider is controlled or instructed by a task, the third industrial personal computer organizes data according to a data transmission protocol agreed in advance, and then adds a frame head, a frame tail and a sending target according to the Tiantong data transmission protocol, and sends the data to the third Tiantong director through a serial port; the same piece of data can be selectively sent to 1 or more underwater gliders; the third Tiantong director sends the data to Tiantong terminals 1-N through a Tiantong satellite communication system; the main control board in the underwater glider reads out data from a serial port connected with the Tiantong terminal and analyzes the data to execute corresponding actions or tasks;
(3) Second Tiantong command machine-Tiantong terminal
The function of the communication link is to enable the shore-based command center to have communication capability with the shelter command center, the shore-based command center and the shelter command center communicate through short messages, and the communication content comprises: short message content, shelter/shore-based GPS positioning data, AIS ship data and environment data.
3. The method for transmitting data of the communication system of the underwater glider with the cooperation of the shore-based shelter according to claim 2, wherein the content of the short message is in units of bytes, supporting ASCII and Unicode coding, and supporting English, digital and Chinese;
when the shore-based command center sends a short message to the shelter command center, the second industrial personal computer organizes the content of the short message into a byte stream according to a coding format; the second Tiantong director changes the sending target into a Tiantong terminal, adds the frame head and the frame tail of Tiantong communication, and sends byte streams to the Tiantong terminal; the Tiantong terminal receives the data packet, removes the head and the tail of the frame, and sends the data packet to the fourth industrial personal computer through the serial port, and the fourth industrial personal computer analyzes the data content according to the coding format for the bank-based commander to check;
when the shelter command center sends a short message to the shore-based command center, the fourth industrial personal computer organizes the content of the short message into byte streams according to a coding format; the Tiantong terminal changes the sending target into a second Tiantong director, adds the frame head and the frame tail of Tiantong communication, and sends byte streams to the second Tiantong director; the second communication director receives the data packet, removes the head and the tail of the frame, and sends the data packet to the second industrial personal computer through the serial port, and the second industrial personal computer analyzes the data content according to the coding format for the bank-based director to check.
4. The data transmission method of the underwater glider heaven communication system cooperated with the shore-based shelter according to claim 2, wherein the AIS ship data can display the ship information near the current point in real time, and the shelter command center does not have networking capability, so that the request and reply process of the shore-based command center are as follows:
s1: the shelter command center determines GPS positioning information of the shelter command center, requests radius and time, and organizes data flow according to a agreed communication protocol;
s2: the Tiantong terminal sends the data stream to a second Tiantong director and requests data from a shore-based command center;
s3: the second Tiantong director receives the data stream, sends a confirmation acceptance short message to the Tiantong terminal, and the Tiantong terminal 0 receives the confirmation short message and waits for the shore-based command center to send AIS data;
s4: the shore-based command center organizes AIS data according to json format and sequences the AIS data into data streams, the second Tiantong command machine sends the data streams to the Tiantong terminal by adding frame head and frame tail according to Tiantong communication protocol, and the AIS data comprise heading, longitude, latitude, target port and positioning time of n ships;
s5: the shelter command center receives and analyzes the data packet to obtain AIS ship information near the position of the shelter command center; and is also provided with
The Tiantong terminal sends a confirmation short message to the shore-based command center;
s6: and the second director of the shore-based command center receives the confirmation message sent by the Tiantong terminal to finish data transmission.
5. The method for transmitting data of the communication system of the underwater glider on the sky with the cooperation of the shore-based shelter according to claim 2, wherein the environmental data can display the environmental data near the current point in real time, and the shelter command center does not have networking capability, so that the request to the shore-based command center is required, and the request and reply processes are as follows:
s1: the shelter command center determines GPS positioning information of the shelter command center, requests time and organizes data flow according to a agreed communication protocol;
s2: the Tiantong terminal sends the data stream to a Tiantong commander and requests data from a shore-based command center;
s3: the second Tiantong director receives the data stream, sends a confirmation acceptance short message to the Tiantong terminal, and waits for the shore-based command center to send environmental data;
s4: the shore-based command center organizes AIS data according to a Json format and sequences the AIS data into a data stream, the second day communication command machine sends the data stream to a day communication terminal according to a day communication protocol in a frame-adding head-frame-tail mode, and the environmental data comprises typhoon information, hydrological information and meteorological information;
s5: the shelter command center receives and analyzes the data packet to obtain environmental information near the position of the shelter command center; and the Tiantong terminal sends a confirmation short message to the shore-based command center;
s6: and the second director of the shore-based command center receives the confirmation message sent by the Tiantong terminal to finish data transmission.
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