CN116929540A - Marine environment noise observation system based on wave glider - Google Patents
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Abstract
The invention discloses a marine environment noise observation system based on a wave glider, and relates to the field of marine observation equipment. Aiming at the situation that hidden danger exists in towing operation, a matched underwater sound data redundancy storage scheme is provided based on a wave glider carrying platform and an underwater sound acquisition system, so that the quality and reliability of marine environment noise observation data acquisition are ensured; besides the conventional underwater sound acquisition and storage function, the functions of data return and remote control can be realized through satellite communication, so that the intelligent level and practicability of the system are further improved; the low-power-consumption underwater acoustic acquisition system is developed based on an artificial semiconductor product STM32, can store underwater self-contained single-channel underwater acoustic data with low power consumption and transmit back in real time, and ensures smooth performance of marine environmental noise measurement work.
Description
Technical Field
The invention relates to the technical field of marine observation equipment, in particular to a marine environment noise observation system based on a wave glider.
Background
The sound propagation in the sea water has the characteristics of reduced attenuation, long distance and the like, so that the marine environment can be observed by utilizing the underwater sound. Whereas underwater acoustic observation requires underwater acoustic data as a support, the underwater acoustic data is generally acquired by laying acoustic sensors under water. Due to the complex and changeable environment under water, the working requirements are difficult to meet by simply relying on an underwater acoustic sensor system. Therefore, the common marine environmental noise system is generally required to be used with a marine mobile observation platform, such as a scientific investigation ship, an underwater unmanned robot and the like. Because the cost of operating a scientific investigation ship is high, a large amount of manpower and material resources are needed, and more acoustic observation systems are selected to be carried on an unmanned mobile observation platform for operation. By being carried on the unmanned mobile observation platform, the marine environment noise observation system can develop environment noise observation work in a safer and more flexible way with longer endurance.
Currently, there are commonly known ocean unmanned mobile observation platforms including Buoys, underwater gliders (Underwater Glider), wave gliders (Wave gliders), and the like. The platforms can be provided with an underwater sound acquisition system for observing and measuring marine environmental noise. The buoy platform carrying the acoustic load can carry out multi-section mobile observation, and can also utilize the satellite communication module to communicate with a remote shore base when the section floats to the water surface, so that the buoy platform has long-time multi-section acoustic observation capability, but the floating and submerging stages of the section buoy depend on the operation of an oil pump motor, and certain interference can be brought to acoustic observation. The underwater glider realizes floating and submerging by changing the buoyancy of the underwater glider, obtains hydrodynamic force by utilizing hydrofoils at two sides, realizes gliding motion by changing the gravity center, has large-scale ocean movement observation capability, and also needs to consider the interference of motor operation in the floating and submerging stage on acoustic measurement after carrying the acoustic load. The wave glider is used as a novel unmanned sea-air interface observation platform and has the advantages of high controllability, long endurance time, large range and the like. Because wave glider platform navigation power comes from the wave, the interference of platform self motion to acoustic measurement is less to available solar energy is continuous the power supply for acoustic load, makes the platform very suitable for being used for long-time, extensive underwater sound measurement work. Therefore, there is a need to design an intelligent marine environmental noise observation system based on a wave glider, which is helpful for obtaining high-quality marine environmental noise data.
Disclosure of Invention
Aiming at the problems in the background technology, the invention provides a marine environment noise observation system based on a wave glider, so as to improve the quality and reliability of marine environment noise observation data acquisition and reduce the system power consumption.
In order to achieve the above object, the present invention provides the following.
The invention provides a marine environment noise observation system based on a wave glider, wherein the wave glider comprises a surface ship and a tractor; the marine environmental noise observation system includes: the system comprises an acoustic acquisition electronic cabin and a single-channel hydrophone which are positioned under water, and a signal processing module, a main control module and a satellite communication module which are positioned on a water surface ship; when the wave glider moves, the tractor drags the acoustic acquisition electronic cabin and the single-channel hydrophone to move forwards.
An underwater acquisition circuit is mounted in the acoustic acquisition electronic cabin; the underwater acquisition circuit and the single-channel hydrophone form an underwater sound acquisition system; the underwater acquisition circuit comprises a front-end analog-digital mixed signal circuit and a rear-end storage transmission circuit; the front-end analog-digital mixed signal circuit comprises an RC filter circuit, a fully differential operational amplifier circuit, an analog-digital converter and a crystal oscillator circuit; the back-end storage transmission circuit comprises an SD card, a main control unit and an Ethernet communication unit; the RC filter circuit is respectively connected with the single-channel hydrophone and the fully-differential operational amplifier circuit; the analog-to-digital converter is respectively connected with the full-differential operational amplifier circuit, the crystal oscillator circuit and the main control unit; the main control unit is also respectively connected with the SD card and the Ethernet communication unit; the Ethernet communication unit is in communication connection with the main control module; the main control module is respectively connected with the signal processing module and the satellite communication module.
The single-channel hydrophone converts the acquired acoustic signals into analog signals, the analog signals are transmitted to the underwater acquisition circuit, the analog signals are filtered through an RC filter circuit of a front-end analog-digital mixed signal circuit in the underwater acquisition circuit, then the analog-digital converter is driven through a fully differential operational amplifier circuit, a clock signal is generated through a crystal oscillator circuit to provide clock input required by sampling for the analog-digital converter, the analog-digital converter carries out analog-digital conversion on the filtered analog signals, converted acoustic information is obtained, and the converted acoustic information is stored in an SD card of a rear-end storage transmission circuit; meanwhile, the main control unit transmits the converted acoustic information to a main control module on the surface ship through the Ethernet communication unit, the main control module transmits the acoustic information to the signal processing module, and the signal processing module converts the acoustic information into an ocean environment noise spectrum and stores the received acoustic information in an SD card of the signal processing module for a second time; the main control module transmits the ocean environment noise spectrum and the acoustic information to a platform shore-based system through the satellite communication module via a communication satellite; and the platform shore-based system processes and displays the marine environment noise spectrum and the acoustic information and stores the marine environment noise spectrum and the acoustic information to a cloud server again.
Optionally, the platform shore-based system issues an instruction to a main control module on the water surface ship through a communication satellite, the main control module issues the instruction to a main control unit of the underwater acquisition circuit through the Ethernet communication unit after receiving the instruction through the satellite communication module, and the main control unit performs marine environmental noise observation data acquisition according to the instruction content.
Optionally, a gravity chain is additionally arranged between the acoustic acquisition electronic cabin and the tractor.
Optionally, the fully differential operational amplifier circuit adopts an ADA4945 series chip.
Optionally, the analog-to-digital converter adopts an ADS131a04 series chip.
Optionally, the front-end analog-digital mixed signal circuit further comprises a voltage conversion DCDC unit; the voltage conversion DCDC unit is respectively connected with the full-differential operational amplifier circuit, the analog-to-digital converter, the main control unit and the Ethernet communication unit for power supply.
Optionally, the master control unit adopts STM32F407 series chips.
Alternatively, the ethernet communication unit employs a LAN8720 serial chip.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the marine environment noise observation system based on the wave glider, a matched underwater sound data redundancy storage scheme is provided based on the wave glider carrying platform and the underwater sound acquisition system aiming at the situation that hidden danger exists in dragging operation, so that the quality and reliability of marine environment noise observation data acquisition are ensured; besides the conventional underwater sound acquisition and storage function, the functions of data return and remote control can be realized through satellite communication, so that the intelligent level and practicability of the system are further improved; the low-power-consumption underwater acoustic acquisition system is developed based on an artificial semiconductor product STM32, can store underwater self-contained single-channel underwater acoustic data with low power consumption and transmit back in real time, and ensures smooth performance of marine environmental noise measurement work. According to the marine environment noise observation system, the marine environment noise observation system is carried on the black pearl wave glider, and an offshore test is carried out, so that the test result shows that the system is stable and reliable in operation, low in power consumption and capable of guaranteeing data safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a marine environmental noise observation system based on a wave glider.
Fig. 2 is a schematic diagram of the underwater acquisition circuit of the present invention.
FIG. 3 is a schematic diagram of the overall electrical workflow of the marine environmental noise observation system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a marine environment noise observation system based on a wave glider, so as to improve the quality and reliability of marine environment noise observation data acquisition and reduce the system power consumption.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a schematic structural diagram of a marine environmental noise observation system based on a wave glider. Referring to fig. 1, the marine environmental noise observation system of the present invention uses a wave glider as a mounting platform, the wave glider including a surface vessel and a tractor connected to each other. The marine environmental noise observation system includes: the system comprises an acoustic acquisition electronic cabin and a single-channel hydrophone which are positioned under water, and a signal processing module, a main control module and a satellite communication module which are positioned on a water surface ship. When the wave glider moves, the tractor drags the acoustic acquisition electronic cabin and the single-channel hydrophone which are positioned under water to move forwards. In order to reduce the self-noise of the platform and the interference of the motion of the platform on the acoustic acquisition, a heavy buoyancy chain is additionally arranged in front of an acoustic acquisition electronic cabin to perform vibration reduction.
The underwater sound collecting system main body is positioned below the water surface and comprises a single-channel hydrophone and an underwater collecting circuit protected by an acoustic collecting electronic cabin body. Fig. 2 is a schematic diagram of the underwater acquisition circuit of the present invention. Referring to fig. 2, the underwater acquisition circuit is divided into two parts, wherein the first part is a front-end analog-digital mixed signal circuit and mainly performs analog-digital conversion on acoustic signals; the second part is a back-end storage transmission circuit, and mainly stores and transmits the original acoustic data.
Specifically, the front-end analog-digital mixed signal circuit comprises an RC filter circuit, a fully differential operational amplifier circuit, an analog-digital converter, a crystal oscillator circuit and a voltage conversion DCDC unit. The back-end storage transmission circuit comprises an SD card, a main control unit and an Ethernet communication unit. Referring to fig. 2, the RC filter circuit is connected to the single-channel hydrophone and the fully differential operational amplifier circuit, respectively; the analog-to-digital converter is respectively connected with the full-differential operational amplifier circuit, the crystal oscillator circuit and the main control unit; the main control unit is also respectively connected with the SD card and the Ethernet communication unit; the Ethernet communication unit is in communication connection with the main control module; the main control module is respectively connected with the signal processing module and the satellite communication module.
The single-channel hydrophone probe is an acoustic sensor taking piezoelectric ceramics as a main functional device; the piezoelectric ceramic can convert external sound vibration into analog electric signals by utilizing the piezoelectric effect; the hydrophone is connected with the RC filter circuit through a cable.
In the front-end analog-digital mixed signal circuit, the RC filter circuit is used for performing front-end analog filtering on underwater sound signals acquired by the single-channel hydrophone; the fully differential operational amplifier circuit is used for driving the analog-to-digital converter; the crystal oscillator circuit generates a clock signal to provide a clock input required by sampling for the analog-to-digital converter; the voltage conversion DCDC unit is used for converting the voltage provided by the wave glider into the voltage required by the power supply of the chip. The front-end analog-digital mixed signal circuit adopts a low-power-consumption and high-performance single-channel fully differential operational amplifier ADA4945 and a four-channel analog-digital converter ADS131A04 to form an analog mixed signal path, and the typical power consumption is lower than 100 mW when single-channel analog-digital signal conversion is carried out. And constructing RC active high-pass filtering based on an operational amplifier, wherein the filtering frequency band is 20-20KHz, and the amplification factor is 1. The voltage conversion DCDC unit is respectively connected with the full-differential operational amplifier circuit, the analog-to-digital converter, the main control unit and the Ethernet communication unit for power supply.
In the back-end storage transmission circuit, a main control unit adopts an STM32F407ZGT6 chip, and compared with a conventional digital signal processing chip TMS320C6748, the power consumption is typically lower; the peripheral Ethernet communication unit adopts LAN8720 series chips, the power consumption is not higher than 159 and mW in hundred megaEthernet full duplex communication, and compared with the common low-power consumption Ethernet chips, the peripheral Ethernet communication unit has better power consumption performance. The main control unit plays a role in controlling signal transmission on-off and controlling signal transmission direction in the rear end storage transmission circuit; when the signals are transmitted to the SD card, the SD card stores the signals, so that a storage function is embodied; when the signal is transmitted to the Ethernet communication unit, the Ethernet communication unit transmits the signal to the upper computer, so that the transmission function is embodied.
The overall electrical workflow of the marine environmental noise observation system is shown in fig. 3, and the acquisition and storage of acoustic data are completed through a set of complete redundant storage modes.
Referring to fig. 3, an upstream channel of acoustic information includes: the single-channel hydrophone converts the acquired acoustic signals into analog signals, the analog signals are transmitted to the underwater acquisition circuit, the analog signals are filtered through an RC filter circuit of a front-end analog-digital mixed signal circuit in the underwater acquisition circuit, then the analog-digital converter is driven through a fully differential operational amplifier circuit, a clock signal is generated through a crystal oscillator circuit to provide clock input required by sampling for the analog-digital converter, the analog-digital converter carries out analog-digital conversion on the filtered analog signals, converted acoustic information is obtained, and the converted acoustic information is stored in an SD card of a rear-end storage transmission circuit; meanwhile, the main control unit transmits the converted acoustic information to a main control module on the surface ship through the Ethernet communication unit, the main control module transmits the acoustic information to the signal processing module, and the signal processing module converts the acoustic information into an ocean environment noise spectrum and stores the received acoustic information in an SD card of the signal processing module for a second time; the main control module transmits the ocean environment noise spectrum and the acoustic information to a platform shore-based system through the satellite communication module via a communication satellite; and the platform shore-based system processes and displays the marine environment noise spectrum and the acoustic information and stores the marine environment noise spectrum and the acoustic information to a cloud server again.
The downlink channel of the control instruction comprises: the platform shore-based system transmits an instruction to a main control module on a water surface ship through a communication satellite, the main control module receives the instruction through the satellite communication module, then transmits the instruction to a main control unit of an underwater acquisition circuit through the Ethernet communication unit, and the main control unit acquires marine environmental noise observation data according to the instruction content. The main control module has the functions of platform control, sensor data recording, satellite communication relay and the like, and can transmit information such as marine environment noise spectrum and the like back to the wave glider shore-based system by utilizing satellite communication. Besides data return, the wave glider navigation system can send instructions to the wave glider main control module through satellite communication, perform platform navigation obstacle avoidance control or forward acquisition instructions to the underwater acoustic acquisition system, start or close the underwater acoustic acquisition system, set the working mode of the underwater acoustic acquisition system and the like, and enable the wave glider underwater acoustic acquisition system to be well suitable for various marine environment noise sampling scenes through remote control and adjustment.
Furthermore, in order to ensure successful recovery of data and long-term stable cruising of the system and improve the intelligent level of the system, the invention provides a redundant data storage scheme which is suitable for a platform and a low-power-consumption underwater sound acquisition system based on a wave glider platform. As shown in fig. 3, the final direction of acoustic data is divided into three: SD card in the underwater acoustic acquisition electronic cabin, SD card of signal processing module on the surface ship and cloud server. When the acoustic data acquisition is started, the underwater acoustic acquisition electronic cabin preferentially transmits acoustic data to an SD card on a signal processing module of the surface ship for storage, and periodically performs Fourier transform and spectrum level conversion on the data by utilizing the multi-core multi-thread characteristic of the main control module to obtain a marine environment noise spectrum, and transmits the marine environment noise spectrum to a shore-based server by utilizing a satellite; after the signal processing module SD card is full, the flow direction of data is converted to a large-capacity SD card in the underwater acquisition circuit, and the network is started at fixed time to transmit the data back to the water surface ship main control module, and the data is transmitted back to the server after the marine environment noise spectrum is obtained.
The invention designs a marine environment noise observation system with the advantages of low power consumption, redundant storage, data safety, remote control and the like based on a wave glider. When underwater self-contained storage is carried out, the average power consumption of the underwater sound acquisition system is not higher than 405 and mW, and the total power consumption of the whole machine is 2205 and mW; when the network communication is carried out and acoustic data is returned, the average power consumption of the underwater sound acquisition system is not higher than 765 and mW, and the total power consumption of the whole machine is 2565 and mW; under a sunny day condition, the acquisition duration is determined by a local storage medium of the platform; after the local storage medium is full, the marine environment noise spectrum with a certain point number can be returned through the satellite to continue the measurement work; the redundant storage mode has the advantage of convenient storage, and can ensure that the marine environment noise observation activity is smoothly carried out. Indoor test and sea test results show that the bottom noise of the marine environmental noise observation system based on the wave glider is lower than zero-order sea condition, marine environmental noise can be reflected in a fidelity manner, actual measurement data in sea test are basically consistent with the marine environmental noise measured by the literature, and the marine environmental noise observation system has certain practicability, can meet the marine environmental noise observation requirement and has good application prospect.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. A marine environmental noise observation system based on a wave glider, the wave glider comprising a surface vessel and a tractor, the marine environmental noise observation system comprising: the system comprises an acoustic acquisition electronic cabin and a single-channel hydrophone which are positioned under water, and a signal processing module, a main control module and a satellite communication module which are positioned on a water surface ship; when the wave glider moves, the tractor drags the acoustic acquisition electronic cabin and the single-channel hydrophone to move forwards;
an underwater acquisition circuit is mounted in the acoustic acquisition electronic cabin; the underwater acquisition circuit and the single-channel hydrophone form an underwater sound acquisition system; the underwater acquisition circuit comprises a front-end analog-digital mixed signal circuit and a rear-end storage transmission circuit; the front-end analog-digital mixed signal circuit comprises an RC filter circuit, a fully differential operational amplifier circuit, an analog-digital converter and a crystal oscillator circuit; the back-end storage transmission circuit comprises an SD card, a main control unit and an Ethernet communication unit; the RC filter circuit is respectively connected with the single-channel hydrophone and the fully-differential operational amplifier circuit; the analog-to-digital converter is respectively connected with the full-differential operational amplifier circuit, the crystal oscillator circuit and the main control unit; the main control unit is also respectively connected with the SD card and the Ethernet communication unit; the Ethernet communication unit is in communication connection with the main control module; the main control module is respectively connected with the signal processing module and the satellite communication module;
the single-channel hydrophone converts the acquired acoustic signals into analog signals, the analog signals are transmitted to the underwater acquisition circuit, the analog signals are filtered through an RC filter circuit of a front-end analog-digital mixed signal circuit in the underwater acquisition circuit, then the analog-digital converter is driven through a fully differential operational amplifier circuit, a clock signal is generated through a crystal oscillator circuit to provide clock input required by sampling for the analog-digital converter, the analog-digital converter carries out analog-digital conversion on the filtered analog signals, converted acoustic information is obtained, and the converted acoustic information is stored in an SD card of a rear-end storage transmission circuit; meanwhile, the main control unit transmits the converted acoustic information to a main control module on the surface ship through the Ethernet communication unit, the main control module transmits the acoustic information to the signal processing module, and the signal processing module converts the acoustic information into an ocean environment noise spectrum and stores the received acoustic information in an SD card of the signal processing module for a second time; the main control module transmits the ocean environment noise spectrum and the acoustic information to a platform shore-based system through the satellite communication module via a communication satellite; and the platform shore-based system processes and displays the marine environment noise spectrum and the acoustic information and stores the marine environment noise spectrum and the acoustic information to a cloud server again.
2. The marine environmental noise observation system according to claim 1, wherein the platform shore-based system transmits the instruction to a main control module on the water surface vessel through a communication satellite, the main control module transmits the instruction to a main control unit of the underwater acquisition circuit through the ethernet communication unit after receiving the instruction through the satellite communication module, and the main control unit acquires marine environmental noise observation data according to the instruction content.
3. The marine environmental noise observation system according to claim 1, wherein a gravity chain is additionally arranged between the acoustic collection electronic cabin and the tractor.
4. The marine environmental noise observation system according to claim 1, wherein the fully differential operational amplifier circuit employs an ADA4945 series chip.
5. The marine environmental noise observation system according to claim 1, wherein the analog-to-digital converter employs an ADS131a04 series chip.
6. The marine environmental noise observation system of claim 1, wherein the front-end analog-to-digital mixed signal circuit further comprises a voltage conversion DCDC unit; the voltage conversion DCDC unit is respectively connected with the full-differential operational amplifier circuit, the analog-to-digital converter, the main control unit and the Ethernet communication unit for power supply.
7. The marine environmental noise observation system according to claim 1, wherein the master control unit employs an STM32F407 series chip.
8. The marine environmental noise observation system according to claim 1, wherein the ethernet communication unit employs a LAN8720 series chip.
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| CN117227899A (en) * | 2023-11-16 | 2023-12-15 | 中国海洋大学 | Wave glider opposite-air section viewing and passing instrument |
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