CN116400408B - Intelligent submarine seismograph with online data transmission and underwater positioning functions - Google Patents
Intelligent submarine seismograph with online data transmission and underwater positioning functions Download PDFInfo
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Abstract
An intelligent submarine seismograph with online data transmission and underwater positioning functions relates to underwater acoustic communication and marine seismic observation. The underwater ball body and the water surface plate machine are in data interaction in an underwater sound communication mode; the instrument cabin of the underwater sphere is internally integrated with a data acquisition module, an intelligent acoustic module and the like; the intelligent acoustic module integrates a time synchronization algorithm and an intelligent demodulation algorithm; based on the neural network design CE and SD subnetworks, the deep learning is utilized to replace the traditional communication module, and the water surface plate machine comprises a man-machine interface control module, an intelligent transmission positioning module, a main control processor and the like; the intelligent transmission positioning module modulates and demodulates the underwater sound signal sent by the intelligent acoustic module, the obtained information is displayed on a human-computer interface, an intelligent denoising algorithm is integrated by an intelligent ranging submodule in the intelligent transmission positioning module, and blind denoising of the signal can be completed without any priori information; and a positioning and resolving operator module of the main control processor utilizes a resolving algorithm to perform positioning and resolving to obtain the position of the seismograph, and the ranging and positioning performance is obviously improved.
Description
Technical Field
The invention relates to the field of underwater acoustic communication and marine seismic observation, in particular to an intelligent submarine seismograph with online data transmission and underwater positioning functions.
Background
The ocean bottom seismograph is a seismic data acquisition system placed on the ocean bottom and can be used for recording natural seismic events and geological section exploration (Li Zhubo, pan Feiru. The state of the ocean bottom seismograph technology and prospect [ J ]. North China earthquake science, 2015,33 (03): 56-63). Because the instrument is positioned on the sea floor, P wave and S wave signals can be received simultaneously, the environmental noise is low, the submarine seismic data acquisition with high signal to noise ratio, high resolution and high precision can be realized, and the instrument is widely applied to the fields of oil and gas exploration, earth deep structure detection, natural seismic forecasting and the like (Guo Lei, wang Cheng, yang Xiuqing, xue Gang, meng Yuanku, liu Yanjun. Submarine seismograph deployment recoverer and method [ P ]. Shandong province: CN112462429B, 2022-03-25).
The existing submarine seismograph adopts an operation mode of acquiring data offline, a scientific staff puts the submarine seismograph connected with a submerged coupling frame on the sea surface according to a planned point, the submarine seismograph freely falls to the sea bottom to record data under the action of the gravity of the submerged coupling frame, and the submarine seismograph sitting on the bottom is recovered by the scientific staff after a plurality of months (generally three months) (Meng Ken. Design and research [ D ] Hangzhou electronic and technological university, 2021). During recovery, a scientific staff operates a matched deck machine on a ship, an acoustic instruction is sent by the deck machine, after an acoustic release instruction is received by an underwater acoustic transducer of the submarine seismograph, the fused steel wire is subjected to electrochemical fusing, the submarine seismograph is separated from the decoupling frame, and the submarine seismograph floats to the sea surface by utilizing own buoyancy (Dong An, peng Guangrong and Lin Yufeng. A submarine seismograph device and system [ P ]. Guangdong province: CN215953874U, 2022-03-04).
Although the operation mode is carried out for decades, the problems which are relatively troublesome are not solved effectively, firstly, the existing earthquake table network observation adopts an observation mode of arranging and offline data analysis in advance, and in the arranging period, the staff cannot acquire the observation data and can not know the working state of the submarine seismograph, and in severe cases, the observation voyage is possibly meaningless, and the observation cost is wasted; secondly, under the influence of ocean current movement or submarine topography, the actual position of the bottom of the traditional submarine seismograph is deviated from the position recorded by the sea surface during throwing, and the inaccurate observation position can reduce the inversion performance of a geological structure during later data processing; thirdly, the clock of the existing submarine seismograph depends on a local crystal oscillator, and after long-term working, the crystal oscillator can generate frequency drift and time offset, so that the time stamp of the acquired data of each acquisition point of the earthquake line has deviation, and the data analysis precision is affected; finally, the acoustic releaser required by the prior observation operation ocean bottom seismograph during recovery depends on foreign import, and the imported acoustic releaser and the corresponding acoustic module are far behind the prior art, but are subject to equipment which is not domestic, and the updating iteration of the product is not easy on the prior basis.
Disclosure of Invention
The invention aims to provide an intelligent submarine seismograph (hereinafter referred to as an intelligent submarine seismograph) with on-line data transmission and underwater positioning functions, aiming at the problems that the traditional submarine seismograph does not have on-line data transmission capability, and the throwing operation fails due to the fact that constructors cannot acquire the state of the submarine seismograph, and provides the intelligent submarine seismograph which has the on-line data transmission and underwater positioning functions.
The underwater ball body and the water surface plate machine perform data interaction in an underwater sound communication mode;
the underwater sphere part comprises an instrument cabin and a submerged coupling frame; the instrument cabin is internally integrated with a data acquisition module, an intelligent acoustic module, a battery pack and a main control module;
the data acquisition module comprises a detector, a data acquisition device, a hydrophone, an internal memory card and a universal serial port III; the detector is positioned in the instrument cabin and is used for converting the seismic signals into measurable electrical signals, and the detector comprises a vertical component and two horizontal components; the data acquisition device is used for recording the electric signals acquired by the detector on an internal memory card after filtering, amplifying and analog-to-digital conversion processing; the hydrophone is used for recording low-frequency sound signals; the data acquisition module interacts with the intelligent acoustic module through a universal serial port III control signal; the data acquisition module adopts a general serial port III to interact information with the main control module;
The intelligent acoustic module comprises a signal preprocessing sub-module I, an intelligent modulation and demodulation sub-module I, an acoustic beacon, an acoustic emission sub-module I and a universal serial port II; the intelligent acoustic module reads the state of the data acquisition module and the data of a specific period through a universal serial port II and transmits the states back to the water surface plate machine; the signal preprocessing submodule I integrates a time synchronization algorithm and is used for carrying out clock calibration on the intelligent submarine seismograph periodically; the intelligent modulation and demodulation sub-module I integrates an intelligent demodulation algorithm and is used for realizing the intelligent demodulation function of the underwater sound signal; the acoustic beacon is used for generating a positioning request pulse signal and transmitting the positioning request signal to the water surface plate machine through the transducer; the acoustic emission submodule I consists of a power amplifying circuit, a matching circuit and a transducer; the transducer is positioned at the right upper part of the instrument cabin and is an important part for transmitting and receiving underwater sound signals; the acoustic emission submodule I is used for driving the power amplifying circuit after filtering the received underwater acoustic signals, sending the signals into the matching circuit, and finally driving the transducer to convert the electric signals into acoustic signals and transmitting the acoustic signals into an underwater acoustic channel;
the battery pack is used for providing a 48V power supply for the main control module;
The main control module comprises a power management sub-module I, a system control sub-module and a general serial port I; the main control module obtains a 48V power supply from the battery pack, and the power supply management submodule I reduces the 48V power supply into three direct current power supplies which respectively supply power for the data acquisition module and the intelligent acoustic module; the system control submodule utilizes a general serial port I to carry out dormancy control on the intelligent acoustic module; the main control module is externally connected with a strobe lamp, a flag and an antenna, and the strobe lamp, the flag and the antenna are arranged at the upper right part of the instrument cabin; the strobe light and the flag are respectively used for effectively indicating the position of the instrument cabin in the night and the daytime and are convenient to recycle;
the water surface plate-plating machine is placed on the deck and comprises a box body part; the box body part consists of a bottom plate, a power supply module, a human-computer interface control module, an intelligent transmission positioning module and a main control processor; the base plate is provided with a plurality of power interfaces and a plurality of data interfaces, and the power module supplies power to the human-computer interface control module, the main control processor and the intelligent transmission positioning module through the power interfaces of the base plate; the human-computer interface control module is used for conveniently checking the health state of the intelligent submarine seismograph and the monitored real-time data such as earthquake waves and the like; the intelligent transmission positioning module is used for modulating and demodulating the underwater sound signal sent by the intelligent acoustic module of the underwater sphere part, and displaying the information obtained by demodulation on a human-computer interface so as to realize online data transmission; the main control processor is used for processing the signals after the denoising of the intelligent transmission positioning module to obtain the position of the intelligent submarine seismograph, and displaying the position in a man-machine interface of the man-machine interface control module; and the man-machine interface control module, the intelligent transmission positioning module and the main control processor realize data interaction through a data interface of the bottom plate.
The instrument cabin is fixedly arranged on the submerged coupling frame, and the instrument cabin is fixed with the submerged coupling frame by adopting an acoustic release fuse wire; and after the intelligent acoustic module of the underwater sphere part receives the acoustic release instruction sent by the water surface plate machine, controlling the acoustic release fuse to fuse, separating the instrument cabin from the submerged coupler frame, enabling the instrument cabin to float to the water surface, and discarding the submerged coupler frame on the sea bottom.
Further, the intelligent demodulation algorithm is integrated in the intelligent modulation and demodulation sub-module i, and the intelligent demodulation algorithm may be designed based on a neural network, where the neural network includes a channel estimation (Channel Estimation, CE) sub-network and a Signal Detection (SD) sub-network, and an input Signal of the CE sub-network is a baseband frequency domain SignalY D Obtaining the linear minimum mean square error (Linear Minimum Mean Squared, LMMSE) estimated value output after CE sub-network processingAnd serves as one of the inputs to the SD subnetwork; SD subnet simultaneously receives baseband frequency domain signalsY D As input, and output a demodulation signal +.>。
The acoustic beacon can transmit pulse signals by receiving external acoustic trigger signals or synchronously triggering by an internal high-precision clock; when the intelligent submarine seismograph is positioned, the acoustic beacon generates a positioning request pulse signal, and the positioning request signal is transmitted to the water surface plate machine through the transducer.
The power management submodule I reduces the 48V power supply to three direct current power supplies of 12V, 5V and 3.3V respectively, wherein the 12V supplies power to the data acquisition module, and the 5V and 3.3V supply power to the intelligent acoustic module.
The battery pack can be 18650 industrial lithium battery packs with higher energy density.
Further, the man-machine interface control module comprises a man-machine interface module, a display screen interface and an SPI interface I/USB interface/serial port; the man-machine interface control module receives an output signal of the intelligent transmission positioning module and positioning resolving information of the main control processing module through the SPI interface I/USB interface/serial port, and displays state information and positioning information on the man-machine interface; the display screen interface can be used for connecting external equipment, so that the external equipment can conveniently interact with the information of the water deck machine.
Further, the intelligent transmission positioning module comprises an analog signal processing module, a signal preprocessing module and an intelligent sound signal processing module;
the analog signal processing module comprises a transducer and hydrophone array interface, a signal preprocessing sub-module II and an acoustic emission sub-module II; the acoustic signals sent by the intelligent submarine seismograph are received by the transducer and hydrophone array interface, and the signal preprocessing submodule II amplifies and filters the frequency bands of the received signals; the acoustic emission submodule II has the same structure as the acoustic emission submodule I and consists of a power amplifying circuit, a matching circuit and a transducer; the water surface plate machine sends signals to the intelligent submarine seismograph, the signals are filtered and then drive the power amplifying circuit, the signals are sent to the matching circuit, and finally the transducer is driven to convert the electrical signals into acoustic signals and transmit the acoustic signals to the underwater acoustic channel.
The signal preprocessing module comprises a signal preprocessing sub-module III, an analog-to-digital conversion sub-module and an SPI interface III; the signal preprocessing module is used for receiving the output signal of the analog signal processing module, the signal preprocessing sub-module III is used for preprocessing, the analog-to-digital conversion sub-module is used for converting the analog signal into a digital signal, the digital signal is output through the SPI interface III, and the digital signal is received by the intelligent sound signal processing module.
The intelligent acoustic signal processing module comprises an intelligent modulation and demodulation sub-module II, an intelligent ranging sub-module and an SPI interface IV; the intelligent acoustic signal processing module and other modules realize information interaction through an SPI interface IV;
the intelligent modulation and demodulation sub-module II integrates an intelligent demodulation algorithm which is the same as the intelligent demodulation algorithm integrated by the intelligent modulation and demodulation sub-module I, and the output signal of the signal preprocessing module is intelligently demodulated by adopting a deep learning-based method;
the intelligent distance measurement submodule integrates an intelligent denoising algorithm, and the output signal of the intelligent modulation and demodulation submodule II is subjected to blind denoising treatment by using a deep learning-based method; the intelligent denoising algorithm is based on the design of a neural network, and the neural network comprises a noise characteristic extraction subnet and a noise removal subnet; the input signal of the noise characteristic extraction sub-network is the output signal of the intelligent modulation and demodulation sub-module II, the noise of the input signal is obtained after the noise characteristic extraction sub-network is processed, and the input signal is used as an input end of the noise removal sub-network; the noise removing sub-network receives the output signal of the intelligent modulation and demodulation sub-module II as input and outputs the denoised signal.
Further, the main control processor comprises a power management sub-module II, a positioning solution sub-module and an SPI interface II; the power management sub-module II is used for realizing distribution and control of the electric quantity of each module; the positioning solution operator module integrates a weighted least square method positioning solution method and is used for processing the signals after the noise is removed by the intelligent ranging submodule so as to obtain the position of the intelligent submarine seismograph;
furthermore, the power supply module comprises an external direct current power supply and an internal battery pack, each module can be powered in two modes, and when the intelligent submarine seismograph is positioned on the seabed, the internal battery pack is generally used for power supply;
the man-machine interface control module comprises a man-machine interface, a display screen interface and an SPI interface I/USB interface/serial port; the man-machine interface control module is used for conveniently checking the health state of the intelligent submarine seismograph and monitoring real-time data such as earthquake waves.
The intelligent transmission positioning module is composed of an analog signal processing module, a signal preprocessing module and an intelligent acoustic signal processing module;
the analog signal processing module comprises a transducer and hydrophone array interface, a signal preprocessing sub-module II and an acoustic emission sub-module II; the acoustic signals sent by the intelligent submarine seismograph are received by the transducer and hydrophone array interface, and the signal preprocessing submodule II amplifies and filters the frequency bands of the received signals;
The acoustic emission submodule II consists of a power amplifying circuit, a matching circuit and a transducer; the water surface plate machine sends signals to the intelligent submarine seismograph, the signals are filtered and then drive the power amplifying circuit, the signals are sent to the matching circuit, and finally the transducer is driven to convert the electrical signals into acoustic signals and transmit the acoustic signals to the underwater acoustic channel.
The signal preprocessing module comprises a signal preprocessing sub-module III, an analog-to-digital conversion sub-module and an SPI interface III; the signal preprocessing module receives the output signal of the analog signal processing module, the signal preprocessing sub-module III preprocesses the output signal, the analog signal is converted into a digital signal by the analog-to-digital conversion sub-module, the digital signal is output through the SPI interface III, and the digital signal is received by the intelligent sound signal processing module.
The intelligent acoustic signal processing module comprises an intelligent modulation and demodulation sub-module II, an intelligent ranging sub-module and an SPI interface IV; the intelligent acoustic signal processing module and other modules realize information interaction through the SPI interface IV.
The intelligent modulation and demodulation sub-module II integrates an intelligent demodulation algorithm and intelligently demodulates an output signal of the signal preprocessing module by adopting a deep learning-based method;
the intelligent demodulation algorithm is based on a neural network design, the neural network comprises a channel estimation (Channel Estimation, CE) subnet and a Signal Detection (SD) subnet, and the input Signal of the CE subnet is a baseband frequency domain Signal Y D Obtaining the linear minimum mean square error (Linear Minimum Mean Squared, LMMSE) estimated value output after CE sub-network processingAnd serves as one of the inputs to the SD subnetwork; SD subnet simultaneously receives baseband frequency domain signalsY D As input, and output a demodulation signal +.>。
And the intelligent ranging submodule integrates an intelligent denoising algorithm, and blind denoising processing is performed on the output signal of the intelligent modulation and demodulation submodule II by using a deep learning-based method.
The intelligent denoising algorithm is based on the design of a neural network, and the neural network comprises a noise characteristic extraction subnet and a noise removal subnet. The input signal of the noise characteristic extraction sub-network is the output signal of the intelligent modulation and demodulation sub-module II, the noise of the input signal is obtained after the noise characteristic extraction sub-network is processed, and the input signal is used as an input end of the noise removal sub-network; the noise removing sub-network receives the output signal of the intelligent modulation and demodulation sub-module II as input and outputs the denoised signal.
The main control processor comprises a power management sub-module II, a positioning and resolving sub-module and an SPI interface II. The power management sub-module II is used for realizing distribution and control of the electric quantity of each module; the positioning solution operator module integrates a weighted least square method positioning solution method and is used for processing the signals after the noise is removed by the intelligent ranging submodule so as to obtain the position of the intelligent submarine seismograph; the main control processor receives the output signal of the intelligent acoustic signal processing module through the SPI interface II, and the positioning resolving operator module performs positioning resolving through a resolving algorithm.
The decoupling frame is made of steel materials with rust-proof paint attached to the surface, and a stable and reliable base is provided for the intelligent submarine seismograph to work on the seabed.
The invention has the functions of on-line data transmission, intelligent acoustic positioning, on-line time synchronization and seabed release.
1. On-line data transmission function: the intelligent submarine seismograph comprises a data acquisition module, an acoustic emission submodule I, an intelligent transmission positioning module, a man-machine interface and an on-line data transmission module, wherein the data acquisition module acquires seismic wave data, the signal is transmitted to the water surface plate machine through the acoustic emission submodule I through modulation and demodulation of the intelligent submarine seismograph, the intelligent transmission positioning module of the water surface plate machine carries out modulation and demodulation on the signal, and information obtained through demodulation is displayed on the man-machine interface to realize on-line data transmission.
2. Acoustic positioning function: the intelligent acoustic beacon of the intelligent submarine seismograph transmits a positioning request signal to a water surface plate machine through an acoustic emission submodule I, the water surface plate receives the positioning request signal, a modulation and demodulation submodule II of the intelligent transmission positioning module demodulates the signal, the demodulated signal enters an intelligent ranging submodule, blind denoising of the signal is achieved through an intelligent denoising algorithm, the position of the intelligent submarine seismograph is calculated by a positioning and demodulation submodule in a main control processor, and the position is displayed on a human-computer interface.
3. On-line time synchronization function: the signal preprocessing sub-module I of the intelligent submarine seismograph integrates a time synchronization algorithm and is used for carrying out clock calibration on the intelligent submarine seismograph periodically.
4. Subsea release function: the sound release instruction sent by the water surface plate machine reaches the intelligent submarine seismograph through the underwater sound channel, the intelligent acoustic module receives the sound release instruction and controls the sound release fuse to fuse, the instrument cabin is separated from the submerged coupling frame, and the instrument cabin floats to the water surface.
Compared with the prior art, the invention has the following outstanding advantages:
1. the invention provides an intelligent demodulation algorithm, which is based on a neural network to design a Channel Estimation (CE) and a Signal Detection (SD) sub-network, and adopts the CE sub-network to initially estimate the channel information on the time benefit through the design of a cascade sub-network, so that the convergence speed of the whole network is accelerated, and the problem of long model training time is solved. In terms of performance benefit, the SD subnetwork comprises a BiLSTM network, and can continuously correct the output of the current time step by utilizing the context information of the receiving sequence, so that the problem of interference among underwater subcarriers is solved. The intelligent demodulation algorithm is used for replacing a traditional communication module by deep learning aiming at a complex underwater environment, and has great advantages in effectiveness and reliability.
2. The invention provides an intelligent denoising algorithm, which is based on a neural network design noise characteristic extraction subnet and a noise removal subnet. In the training stage, a plurality of collected positioning signals can be used for training a noise characteristic subnet in a data driving mode to learn and extract noise interference contained in a received signal and other forms of implicit interference characteristics, and then the extracted noise characteristics and the received signal are sent into a noise removal subnet together to further separate noise and signals, and noise removal signals are extracted and output. The intelligent ranging submodule can complete blind denoising of the output signal of the intelligent modulation and demodulation submodule II without any priori information, and has strong fitting capacity, so that complex characteristics can be processed; the system has the capability of extracting and removing the characteristics of the interference of the complex marine environment, and the ranging and positioning performance of the system is obviously improved.
3. The intelligent submarine seismograph can work in an underwater environment for a long time by supplying power by the battery pack under the water, can collect and transmit seismic wave signals continuously on the seabed for a long time in real time, can accurately acquire the position of the intelligent submarine seismograph when the intelligent submarine seismograph is recovered, and improves recovery rate.
Drawings
Fig. 1 is a schematic general structure of the present invention.
Fig. 2 is a schematic block diagram of a portion of an underwater ball according to the present invention.
Fig. 3 is a schematic block diagram of a portion of a water board machine according to the present invention.
Fig. 4 is an overall structure diagram of the intelligent demodulation algorithm according to the present invention.
Fig. 5 is a schematic diagram of a network structure of a channel estimation subnet according to the present invention.
Fig. 6 is a schematic diagram of a network structure of a subnetwork of the signal detection module according to the present invention.
Fig. 7 is a schematic diagram of a network structure of the intelligent denoising algorithm according to the present invention.
Fig. 8 is a schematic diagram of performance of the intelligent demodulation algorithm under a time-frequency dual selection channel according to the present invention.
Fig. 9 is a schematic diagram of the original signal transmitted by the underwater ball section according to the present invention.
Fig. 10 is a schematic diagram of a noisy signal received by the intelligent ranging submodule according to the present invention.
Fig. 11 is a graph of the result of the processing of the intelligent denoising algorithm according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the following examples. 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.
Underwater sphere portion:
As shown in fig. 1 (a) and 2, the present invention provides an intelligent ocean bottom seismometer with on-line data transmission and underwater positioning functions, which includes an underwater sphere portion and a surface plate machine. The underwater sphere part comprises an instrument cabin and a submerged coupling frame. And a battery pack, a data acquisition module, an intelligent acoustic module and a main control module are integrated in the instrument cabin. The water surface plate machine is placed on the deck and comprises a box body part; the box body part consists of a bottom plate, a power supply module, a human-computer interface control module, an intelligent transmission positioning module and a main control processor; the decoupling frame is made of steel materials with rust-proof paint attached to the surface, a stable and reliable base is provided for the intelligent submarine seismograph to work on the seabed, and the authenticity of the recorded data of the intelligent submarine seismograph is improved. The heavy coupling frame belongs to a non-recycling part, and in consideration of the working property of the heavy coupling frame, standard angle iron can be selected as a main processing raw material, so that the heavy coupling frame not only meets the rigidity and hardness of a working base, but also greatly reduces the processing cost. The intelligent acoustic module receives an acoustic release command, controls the acoustic release fuse to fuse through the state control interface I, the instrument cabin is separated from the sinking coupling frame, and the sinking coupling frame is discarded in the sea water after the instrument cabin floats upwards.
The instrument cabin is internally provided with a strobe lamp, and the strobe lamp is positioned at the upper part of the instrument cabin so as to facilitate observation and night positioning. When the instrument cabin floats upwards, the strobe lamp can effectively indicate the position of the instrument cabin in the night and is convenient to recycle.
The flag and the antenna are positioned at the upper part of the instrument cabin, and when the intelligent submarine earthquake floats upwards, the flag is used for effectively indicating the position of the instrument cabin in the daytime, so that the recovery is convenient; the antenna is used for communicating and positioning with the Beidou satellite after the instrument cabin floats upwards.
The battery pack adopts 18650 industrial lithium battery pack with higher energy density to provide 48V power for the main control module.
As shown in FIG. 2, the data acquisition module is powered at 12V and has a current of 50mA, and consists of a data acquisition device, a hydrophone, a geophone, an internal memory card and a universal serial port III. The data collector is used for collecting seismic wave data. The detector comprises a vertical component and two horizontal components, can convert the earth motion signal into a measurable electric signal, and records P waves and converted S waves generated after the P waves are incident on a medium interface and subjected to wave mode conversion. The hydrophone is used to record low frequency signals. S-wave signals are extracted by comparing signals collected by the hydrophone and the geophone, and the collected electric signals are recorded on an internal memory card after being processed by filtering, amplifying, analog-to-digital conversion and the like.
The intelligent acoustic module comprises a signal preprocessing sub-module I, an intelligent modulation and demodulation sub-module I, an acoustic beacon, an acoustic emission sub-module I and a general serial port II. The signal preprocessing sub-module I comprises signal preprocessing, awakening and time synchronization, and performs filtering amplification on the underwater sound signals acquired by the data acquisition module. The intelligent modulation and demodulation sub-module I integrates an intelligent demodulation algorithm, and the output signal of the signal preprocessing sub-module I is intelligently demodulated based on a deep learning method; the demodulated signal is sent by the transducer after passing through the power amplifying circuit and the matching circuit of the acoustic emission submodule I, and the signal is received by the water surface deck machine. The acoustic beacon is used for receiving an acoustic release signal sent by the intelligent transmission positioning module in the water deck machine, generating a release command by the received acoustic release signal, electrifying the acoustic release fuse to fuse the acoustic release fuse, separating the instrument cabin from the decoupling frame, and lifting the instrument cabin to the sea surface under the buoyancy effect, and realizing positioning by using an antenna to communicate with the Beidou satellite.
The acoustic emission submodule I consists of a power amplifying circuit, a matching circuit and a transducer. The acoustic emission system was powered at 3.3V. The transducer adopts a half-space type underwater acoustic transducer as an acoustic communication component of the invention to satisfy three communication scenes: horizontal communication between intelligent sea seismographs; the intelligent submarine seismograph is in oblique communication with the water surface plate machine; vertical or diagonal communications of intelligent ocean bottom seismographs and submerged buoy (relays). The detector collects seismic wave signals, converts the signals into electric signals, stores the electric signals in the internal memory card, transmits the electric signals to the intelligent acoustic module through the universal interface III, and the intelligent acoustic module performs preprocessing and modulation demodulation on the signals, performs power amplification and filtering matching, and finally transmits the signals to the water surface plate machine through the transducer to realize online data transmission. The power amplification circuit is realized by selecting a class D successful amplification chip and matching with an external circuit, and the signal input end carries out band-pass filtering on the signal and converts the filtered signal into a differential signal for adapting to the input of the power amplification chip; the external MOS switch is used for controlling the power amplifier to supply power. The matching circuit adopts a series and parallel mixed mode, the efficiency maximization is realized by a method of debugging the matching network parameters, and the flatness of not more than 2dB is realized in the bandwidth of 6KHz, so that the impedance mismatch problem of the transducer and the power amplifying circuit is solved.
The main control module comprises an antenna, a power management sub-module I, a system control sub-module and a general serial port I. The battery pack supplies power to the main control module by using a 48V power supply, the power supply management submodule I reduces the 48V power supply to three paths of direct current power supplies, and 12V, 5V and 3.3V respectively supply power to the data acquisition module and the intelligent acoustic module. And the system control submodule utilizes the universal serial port I to carry out dormancy control on the intelligent acoustic module.
The power supply module is powered by using a 18650 industrial lithium battery pack with higher energy density, so that the submarine seismograph can work on the seabed for a long time.
Surface deck machine section (as shown in fig. 1 (b) and fig. 3):
as shown in fig. 3, the surface deck machine includes a box section; the box body part consists of a bottom plate, a power supply module, a human-computer interface control module, an intelligent transmission positioning module and a main control processor;
the base plate is provided with a plurality of power interfaces and a plurality of data interfaces, and the power module supplies power to the human-computer interface control module, the main control processor and the intelligent transmission positioning module through the power interfaces of the base plate; the modules realize signal interaction through the data interface of the bottom plate;
the power module comprises an external direct current power supply and an internal battery pack, and the water surface plate machine can supply power to each module by adopting the external direct current power supply and the internal battery pack.
The intelligent transmission positioning module comprises an analog signal processing module, a signal preprocessing module and an intelligent acoustic signal processing module. The analog signal processing module has a filtering and amplifying function. The intelligent submarine seismograph sends signals to a water surface plate machine through a transducer, the signals are transmitted into an analog signal processing module through a transducer and hydrophone array interface, and the signals are filtered and amplified by a signal preprocessing sub-module II; the signal enters a signal preprocessing module, automatic gain control and synchronization are realized by a signal preprocessing submodule III, analog signals are converted into digital signals by an analog-to-digital conversion submodule, and finally the digital signals are output through an SPI interface III and enter an intelligent acoustic signal processing module;
the intelligent sound signal processing module comprises: the intelligent modulation and demodulation sub-module II, the intelligent ranging sub-module and the SPI interface IV. The intelligent modulation and demodulation sub-module II integrates an intelligent demodulation algorithm and is used for intelligent demodulation of signals output by the signal preprocessing module; the intelligent distance measuring sub-module integrates an intelligent denoising algorithm and is used for removing noise of an output signal of the intelligent modulation and demodulation sub-module II. The signal received by the intelligent acoustic signal processing module enters an intelligent modulation and demodulation sub-module II, and the signal is demodulated by using a deep learning-based method, and the demodulated signal is output; the demodulation signal is input into an intelligent ranging sub-module, noise is removed by using a deep learning-based method, and finally the denoised signal is output.
The main control processor comprises a power management sub-module II, a positioning solution operator module and an SPI interface II. The power management sub-module II is used for realizing management, distribution and control of the electric quantity of each module. The main control processor receives the output signal of the intelligent acoustic signal processing module through the SPI interface II, and the positioning resolving operator module performs positioning resolving through a resolving algorithm.
The man-machine interface and the display screen interface are designed in man-machine interface control, and the SPI interface I/USB interface/serial port is convenient for checking the health state of the intelligent submarine seismograph: air pressure, dip angle, battery capacity, etc., noise performance data, accurate position after floating, and monitored real-time data, such as seismic waves, etc. And the SPI I is transmitted into a resolving result of the positioning resolving operator module, and the human-computer interface control module displays the three-dimensional coordinates of the intelligent submarine seismograph on a human-computer interface.
The invention improves the traditional submarine seismograph and adds two innovative modules: an intelligent acoustic module and an intelligent transmission positioning module. The intelligent modulation and demodulation sub-module I and the intelligent modulation and demodulation sub-module II are integrated with an intelligent demodulation algorithm based on deep learning. The intelligent distance measurement sub-module integrates an intelligent denoising algorithm based on deep learning, so that blind denoising of signals is realized, and direct path signals are obtained.
Intelligent demodulation algorithm:
the invention provides an intelligent demodulation algorithm based on Deep Learning (DL), which is called Demod-Net. The Demod-Net does not consider the deep learning network as a black box, but replaces the channel estimation and signal detection subnets of the conventional demodulation module with different network models, respectively. The intelligent demodulation algorithm is integrated in the intelligent modulation and demodulation sub-module I and the intelligent modulation and demodulation sub-module II and is used for realizing the intelligent demodulation function of the underwater sound signal.
Fig. 4 shows a neural network structure of Demod-Net, including a channel estimation (Channel Estimation, CE) subnet and a Signal Detection (SD) subnet. The input signal of the CE sub-network is a baseband frequency domain signalY D Processing by CE sub-network to obtain linear minimum mean square error (Linear Minimum Mean Squared, LMMSE) estimated value outputAnd serves as one of the inputs to the SD subnetwork; SD subnet simultaneously receives baseband frequency domain signalsY D As input, and output a demodulation signal +.>。
As shown in fig. 5, the CE subnetwork is composed of multiple full-connect (Dense) layers, batch normalization (BatchNormalization, BN) layers, and random inactivation (Dropout) layers. And adding a BN layer in the CE sub-network to accelerate the network training and convergence speed, and adding a Dropout layer in order to prevent the model from exceeding the fitting network. Receiving baseband frequency domain signals Y D As an input to the CE sub-network,as output of the CE subnetwork.
FIG. 6 is a SD subnetwork comprising two Bi-directional long-term memory (BiLSTM) networks, a Dense layer and a modified Linear Unit (ReLU). Each BiLSTM network has 20, 10 and 6 hidden units per layer, the Dense layer has 48 neurons, and uses the ReLU as an activation function for the output of the final result. Assuming that the training of the CE subnetwork is finished, splicing the CE subnetwork with the SD subnetwork, inputting the SD subnetwork into the CE subnetwork, and outputting an estimated value obtained after the processing of the CE subnetworkAnd baseband frequency domain signalsY D Outputting a demodulation signal->。
The Demod-Net adopts the CE sub-network to initially estimate the channel information in terms of time benefit through the design of the cascade sub-network, so that the convergence speed of the whole network is accelerated, and the problem of long model training time is solved. In terms of performance benefit, the SD subnetwork comprises a BiLSTM network, and can continuously correct the output of the current time step by utilizing the context information of the receiving sequence, so that the problem of interference among underwater subcarriers is solved. The Demod-Net has great advantages in effectiveness and reliability by using deep learning to replace a traditional communication module aiming at a complex underwater environment, and fig. 8 shows performance of the intelligent demodulation algorithm provided by the invention under a time-frequency double-selection channel.
Intelligent denoising algorithm:
the invention provides an intelligent denoising algorithm which is integrated in an intelligent ranging submodule. The intelligent denoising algorithm is based on the design of a neural network, and the neural network comprises a noise characteristic extraction subnet and a noise removal subnet. The input signal of the noise characteristic extraction sub-network is the output signal of the intelligent modulation and demodulation sub-module II, noise interference carried on the noise characteristic extraction sub-network and other hidden interference which cannot be modeled are extracted by the noise characteristic extraction sub-network, and the noise of the input signal is obtained and is used as an input end of the noise removal sub-network; the noise removing sub-network receives the output signal of the intelligent modulation and demodulation sub-module II as input and outputs the denoised signal.
As shown in fig. 7, the noise feature extraction subnet is composed of four cascaded feature extraction modules, where the four feature extraction modules are respectively: the device comprises a feature extraction module 1, a feature extraction module 2, a feature extraction module 3 and a feature extraction module 4; each feature extraction module consists of multiple fully connected layers (Fully connected layer, FC), a batch normalization (BatchNormalization, BN) layer, and a modified linear element (ReLU).
The noise removal sub-network comprises three layers of signal enhancement modules: a signal enhancement module 1, a signal enhancement module 2, a signal enhancement module 3, a one-dimensional convolution (Convolution layer, conv) layer (abbreviated as Conv1 d), and an FC layer. Each reinforcement module consists of a plurality of dimension customized Conv layers, BN layers and ReLU layers, wherein the dimension customized convolution layers adopt a 1-dimensional convolution kernel with 32 channels, a length of 10 and a width of 1. The noise removal sub-network comprehensively considers signal components and noise characteristics thereof, and the performance of the noise removal sub-network is superior to that of a common residual error accumulation type denoising network.
The intelligent denoising algorithm skillfully designs a noise characteristic extraction sub-network and a noise removal sub-network, so that the intelligent ranging sub-module can complete blind denoising of the output signal of the intelligent modulation and demodulation sub-module II without any priori information, and the intelligent ranging sub-module has strong fitting capacity, so that complex characteristics can be processed; the system has the capability of extracting and removing the characteristics of the interference of the complex marine environment, and the ranging and positioning performance of the system is obviously improved. Fig. 9 is an original signal sent by an underwater ball to a water surface plate machine, fig. 10 is a noisy signal received by a ranging submodule of the underwater sound channel water surface plate machine, fig. 11 shows a result processed by an intelligent denoising algorithm, and comparing fig. 11 with the original signal of fig. 9, it can be concluded that the intelligent denoising algorithm has a remarkable denoising effect.
Claims (8)
1. The intelligent submarine seismograph with the functions of on-line data transmission and underwater positioning is characterized by comprising an underwater sphere part and a water surface plate machine, wherein data interaction is carried out between the underwater sphere and the water surface plate machine in an underwater sound communication mode;
the underwater sphere part comprises an instrument cabin and a submerged coupling frame; the instrument cabin is internally integrated with a data acquisition module, an intelligent acoustic module, a battery pack and a main control module;
The data acquisition module comprises a detector, a data acquisition device, a hydrophone, an internal memory card and a universal serial port III; the detector is positioned in the instrument cabin and is used for converting the seismic signals into measurable electrical signals, and the detector comprises a vertical component and two horizontal components; the data acquisition device is used for acquiring seismic wave data, filtering, amplifying and analog-to-digital converting the electric signals acquired by the detectors, and recording the electric signals on the internal memory card; the hydrophone is used for recording low-frequency sound signals; the data acquisition module interacts with the intelligent acoustic module through a universal serial port III control signal; the data acquisition module adopts a universal serial port II to interact information with the main control module;
the intelligent acoustic module comprises a signal preprocessing sub-module I, an intelligent modulation and demodulation sub-module I, an acoustic beacon, an acoustic emission sub-module I and a universal serial port II; the intelligent acoustic module reads the state of the data acquisition module and the data of a specific period through a universal serial port II and transmits the states back to the water surface plate machine; the signal preprocessing submodule I integrates a time synchronization algorithm and is used for carrying out clock calibration on the intelligent submarine seismograph periodically; the intelligent modulation and demodulation sub-module I integrates an intelligent demodulation algorithm and is used for realizing the intelligent demodulation function of the underwater sound signal; the acoustic beacon is used for generating a positioning request pulse signal and transmitting the positioning request signal to the water surface plate machine through the acoustic emission submodule I;
The acoustic emission submodule I consists of a power amplifying circuit, a matching circuit and a transducer; the transducer is positioned at the right upper part of the instrument cabin and is an important part for transmitting and receiving underwater sound signals; the acoustic emission submodule I is used for driving the power amplifying circuit after filtering the received underwater acoustic signals, sending the signals into the matching circuit, and finally driving the transducer to convert the electric signals into acoustic signals and transmitting the acoustic signals into an underwater acoustic channel;
the battery pack is used for providing a 48V power supply for the main control module;
the main control module comprises a power management sub-module I, a system control sub-module and a general serial port I; the main control module obtains a 48V power supply from the battery pack, and the power supply management submodule I reduces the 48V power supply into three direct current power supplies which respectively supply power for the data acquisition module and the intelligent acoustic module; the system control submodule utilizes a general serial port I to carry out dormancy control on the intelligent acoustic module; the main control module is externally connected with a strobe lamp, a flag and an antenna, and the strobe lamp, the flag and the antenna are arranged at the upper right part of the instrument cabin; the strobe light and the flag are respectively used for effectively indicating the position of the instrument cabin in the night and the daytime and are convenient to recycle;
the water surface plate-plating machine is placed on the deck and comprises a box body part; the box body part consists of a bottom plate, a power supply module, a human-computer interface control module, an intelligent transmission positioning module and a main control processor; The base plate is provided with a plurality of power interfaces and a plurality of Data interface, power module passes through each power interface pair of bottom plateMan-machine interface control module, main control processor and intelligent transmission positioning moduleSupplying power;the human-computer interface control module is used for conveniently checking the health state of the intelligent submarine seismograph and the monitored real-time data; the intelligent transmission positioning module is used for modulating the underwater acoustic signal of the positioning request sent by the intelligent acoustic module of the underwater sphere partDemodulation, namely displaying the information obtained by demodulation on a human-computer interface so as to realize online data transmission; the main control processor is used for processing the signals after the denoising of the intelligent transmission positioning module to obtain the position of the intelligent submarine seismograph, and displaying the position in a man-machine interface of the man-machine interface control module; the man-machine interface control module, the intelligent transmission positioning module and the main control processor are connected with each otherRealizing signal interaction through a data interface of the bottom plate;
the instrument cabin is fixedly arranged on the submerged coupling frame, and the instrument cabin is fixed with the submerged coupling frame by adopting an acoustic release fuse wire; the underwater sphere part intelligent acoustic module receives the acoustic release instruction sent by the underwater sphere part acoustic panel machine and controls the acoustic release fuse to fuse, the instrument cabin is separated from the submerged coupler frame, the instrument cabin floats to the water surface, and the submerged coupler frame is abandoned on the sea floor;
The intelligent demodulation algorithm is integrated in an intelligent modulation demodulation sub-module I, the intelligent demodulation algorithm is based on a neural network design, the neural network comprises a channel estimation sub-network and a signal detection sub-network, and an input signal of the channel estimation sub-network is a baseband frequency domain signalY D Obtaining a Linear Minimum Mean Square Error (LMMSE) estimated value output after processing a channel estimation sub-networkAnd serves as one of the inputs to the signal detection subnetwork; the signal detection sub-network receives the baseband frequency domain signals simultaneouslyY D As input, and output a demodulation signal +.>。
2. The intelligent ocean bottom seismograph with on-line data transmission and underwater positioning functions according to claim 1, characterized in that the acoustic beacon transmits pulse signals by receiving external acoustic trigger signals or synchronously triggered by internal high-precision clocks; when the intelligent submarine seismograph is positioned, the acoustic beacon generates a positioning request pulse signal, and the positioning request signal is transmitted to the water surface plate machine through the transducer in the acoustic emission submodule I.
3. The intelligent ocean bottom seismograph with on-line data transmission and underwater positioning functions according to claim 1, characterized in that the power management sub-module i steps down 48V power into three paths of direct current power, 12V, 5V and 3.3V respectively, wherein 12V power the data acquisition module and 5V and 3.3V power the intelligent acoustic module.
4. The intelligent ocean bottom seismograph with on-line data transmission and underwater positioning functions according to claim 1, characterized in that the battery pack is a 18650 industrial lithium battery pack with higher energy density.
5. The intelligent submarine seismograph with the functions of on-line data transmission and underwater positioning according to claim 1, wherein the man-machine interface control module comprises a man-machine interface, a display screen interface and an SPI interface I; the man-machine interface control module receives an output signal of the intelligent transmission positioning module and positioning resolving information of the main control processing module through the SPI interface I, and displays state information and positioning information on the man-machine interface; the display screen interface is used for connecting external equipment, so that the external equipment can conveniently interact information with the water surface plate machine.
6. The intelligent ocean bottom seismograph with on-line data transmission and underwater positioning functions as claimed in claim 1, characterized in that the intelligent transmission positioning module comprises an analog signal processing module, a signal preprocessing module and an intelligent acoustic signal processing module;
the analog signal processing module comprises a transducer and hydrophone array interface, a signal preprocessing sub-module II and an acoustic emission sub-module II; the acoustic signals sent by the intelligent submarine seismograph are received by the transducer and hydrophone array interface, and the signal preprocessing submodule II amplifies and filters the frequency bands of the received signals; the acoustic emission submodule II consists of a power amplifying circuit, a matching circuit and a transducer; the water surface plate machine sends signals to the intelligent submarine seismograph, the signals are filtered and then drive the power amplifying circuit, the signals are sent to the matching circuit, and finally the transducer is driven to convert the electrical signals into acoustic signals and transmit the acoustic signals to the underwater acoustic channel;
The signal preprocessing module comprises a signal preprocessing sub-module III, an analog-to-digital conversion sub-module and an SPI interface III; the signal preprocessing module is used for receiving the output signal of the analog signal processing module, the signal preprocessing sub-module III is used for preprocessing, the analog-to-digital conversion sub-module is used for converting the analog signal into a digital signal, the digital signal is output through the SPI interface III, and the digital signal is received by the intelligent acoustic signal processing module;
the intelligent acoustic signal processing module comprises an intelligent modulation and demodulation sub-module II, an intelligent ranging sub-module and an SPI interface IV; the intelligent acoustic signal processing module and other modules realize information interaction through an SPI interface IV;
the intelligent modulation and demodulation sub-module II integrates an intelligent demodulation algorithm and intelligently demodulates an output signal of the signal preprocessing module by adopting a deep learning-based method; the intelligent modulation and demodulation sub-module II demodulates the received signal, and the demodulated signal enters the intelligent ranging sub-module;
the intelligent distance measurement submodule integrates an intelligent denoising algorithm, and the output signal of the intelligent modulation and demodulation submodule II is subjected to blind denoising treatment by using a deep learning-based method; the intelligent denoising algorithm is based on the design of a neural network, and the neural network comprises a noise characteristic extraction subnet and a noise removal subnet; the input signal of the noise characteristic extraction sub-network is the output signal of the intelligent modulation and demodulation sub-module II, the noise of the input signal is obtained after the noise characteristic extraction sub-network is processed, and the input signal is used as an input end of the noise removal sub-network; the noise removing sub-network receives the output signal of the intelligent modulation and demodulation sub-module II as input and outputs the denoised signal.
7. The intelligent submarine seismograph with the functions of on-line data transmission and underwater positioning according to claim 1, wherein the main control processor comprises a power management sub-module II, a positioning solution sub-module and an SPI interface II; the power management sub-module II is used for realizing distribution and control of the electric quantity of each module; the positioning solution operator module integrates a weighted least square method positioning solution method and is used for processing the signals after the noise is removed by the intelligent ranging submodule so as to obtain the position of the intelligent submarine seismograph; the main control processor receives an output signal of the intelligent acoustic signal processing module through the SPI interface II, and the positioning resolving operator module performs positioning resolving through a resolving algorithm; and displaying the position on a human-computer interface to realize acoustic positioning.
8. The intelligent ocean bottom seismograph with on-line data transmission and underwater positioning functions according to claim 1, wherein the power supply module comprises an external direct current power supply and an internal battery pack, each module can be powered in two modes, and the intelligent ocean bottom seismograph is powered by the internal battery pack when located on the ocean bottom.
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