CN117715137B - Self-adaptive communication method, device and system for underwater robot - Google Patents

Self-adaptive communication method, device and system for underwater robot Download PDF

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Publication number
CN117715137B
CN117715137B CN202410161116.7A CN202410161116A CN117715137B CN 117715137 B CN117715137 B CN 117715137B CN 202410161116 A CN202410161116 A CN 202410161116A CN 117715137 B CN117715137 B CN 117715137B
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communication
underwater robot
network
current
microwave
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CN117715137A (en
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崔庆佳
马志远
王广才
徐彪
秦兆博
谢国涛
王晓伟
秦洪懋
秦晓辉
丁荣军
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Wuxi Institute Of Intelligent Control Hunan University
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Wuxi Institute Of Intelligent Control Hunan University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/14—Reselecting a network or an air interface
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
    • H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18513—Transmission in a satellite or space-based system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H04W36/0085—Hand-off measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/18—Selecting a network or a communication service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/06—Terminal devices adapted for operation in multiple networks or having at least two operational modes, e.g. multi-mode terminals
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention relates to the technical field of underwater robot communication, and particularly discloses an underwater robot self-adaptive communication method, device and system, which comprises the following steps: acquiring current depth information of an underwater robot; determining a first communication type of a communication network of the underwater robot according to the current depth information of the underwater robot, wherein the first communication type comprises underwater acoustic communication or wireless communication; when the communication network of the underwater robot is determined to be wireless communication, acquiring the connection state of the current microwave communication network; determining a second communication type of the communication network of the underwater robot according to the connection state of the current microwave communication network, wherein the second communication type comprises satellite communication or microwave communication; when the communication network of the underwater robot is determined to be microwave communication, the communication mode of the underwater robot under the microwave communication is determined according to the current microwave communication state monitoring result of the underwater robot. The self-adaptive communication method of the underwater robot can be suitable for communication mode selection in a complex communication environment.

Description

Self-adaptive communication method, device and system for underwater robot
Technical Field
The present invention relates to the field of underwater robot communication technologies, and in particular, to an underwater robot adaptive communication method, an underwater robot adaptive communication device, and an underwater robot adaptive communication system.
Background
The existing communication terminal has single function and cannot meet the data transmission requirement of an AUV (Autonomous Underwater Vehicle ), so that multimode communication combining the advantages of various different communication technologies is a necessary trend of development. AUV communication systems are generally composed of various communication devices such as underwater acoustic communication, satellite communication, microwave communication, etc. to satisfy data transmission in different working environments and communication ranges. In multimode communication composed of a plurality of communication terminals, how to select an appropriate communication network to transmit data is a problem to be solved in multimode communication. Compared with the land environment, the marine wireless signal transmission loss is large; at the same time, the sea wave fluctuation causes rapid changes in the height and angle of the AUV antenna, which can cause frequent link interruption. To solve the above problem, the AUV communication system should have an adaptive selection mechanism. The adaptive selection mechanism of the AUV communication system selects the current optimal communication mode according to the real-time status of each communication mode and transmits data, so as to improve the reliability and data transmission capability of the AUV communication link.
The adaptive selection mechanism of the AUV communication system in the prior art mainly considers the influence of a single factor on the communication network selection result based on the adaptive selection mechanism of a single attribute. For example, the received signal strength is used as an evaluation index, and which network is used for transmitting the data to be transmitted is determined according to the signal strength of each wireless communication network detected in real time. The quality of the received signal of the terminal is good and bad, not only depends on the strength of the received signal, but also is influenced by the propagation environment in the signal propagation process; it is not comprehensive to measure the received signal quality by taking the received signal strength as a factor.
Therefore, the adaptive selection mechanism based on the single attribute has low complexity and easy implementation, but the selection result of the adaptive selection mechanism is often limited, and the selected communication network is often not the network which most meets the AUV data transmission requirement, and is not suitable for the situation that multiple network parameters need to be considered in a complex communication environment.
In summary, how to enable an underwater vehicle to realize adaptive underwater communication in a complex communication environment is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides an underwater robot self-adaptive communication method, an underwater robot self-adaptive communication device and an underwater robot self-adaptive communication system, which solve the problem that the communication mechanism of an underwater vehicle in the related technology cannot be suitable for a complex communication environment.
As a first aspect of the present invention, there is provided an underwater robot adaptive communication method, including:
acquiring current depth information of an underwater robot;
Determining a first communication type of a communication network of the underwater robot according to the current depth information of the underwater robot, wherein the first communication type comprises underwater sound communication or wireless communication;
When the communication network of the underwater robot is determined to be wireless communication, acquiring the connection state of the current microwave communication network;
determining a second communication type of a communication network of the underwater robot according to the connection state of the current microwave communication network, wherein the second communication type comprises satellite communication or microwave communication;
when the communication network of the underwater robot is determined to be microwave communication, the communication mode of the underwater robot under the microwave communication is determined according to the current microwave communication state monitoring result of the underwater robot.
Further, determining a first communication type of a communication network of the underwater robot according to the current depth information of the underwater robot, wherein the first communication type comprises underwater sound communication or wireless communication and comprises:
judging whether the current depth information of the underwater robot is larger than a preset depth threshold value or not;
If the current depth information of the underwater robot is greater than a preset depth threshold value, determining that the communication network of the underwater robot is underwater acoustic communication;
And if the current depth information of the underwater robot is not greater than the preset depth threshold value, determining that the communication network of the underwater robot is wireless communication.
Further, the underwater robot adaptive communication method further comprises the step of performing the step of judging whether the current depth information of the underwater robot is greater than a preset depth threshold value or not:
Judging whether the current depth information of the underwater robot is within a preset waiting time or not;
if the current depth information of the underwater robot is within the preset waiting time, returning to acquire the current depth information of the underwater robot again;
If not, executing the step of judging whether the current depth information of the underwater robot is larger than the preset depth threshold value.
Further, determining a second communication type of the communication network of the underwater robot according to the connection state of the current microwave communication network, including:
Judging whether the current microwave communication network is in a connection state or not;
If the current microwave communication network is in a connection state, determining that the communication network of the underwater robot is microwave communication;
and if the current microwave communication network is in a non-connection state, determining that the communication network of the underwater robot is satellite communication.
Further, the underwater robot adaptive communication method further includes:
when the communication network of the underwater robot is satellite communication, the transmission and the reception of the SBD data packet are realized according to the AT command.
Further, when the communication network of the underwater robot is determined to be microwave communication, determining a communication mode of the underwater robot under the microwave communication according to the current state monitoring result of the underwater robot, including:
when the communication network of the underwater robot is determined to be microwave communication, judging the type of microwave communication equipment which can be connected with the current underwater robot;
if the type of the microwave communication equipment which can be connected with the current underwater robot is one type, determining that the type of the microwave communication equipment which can be connected with the underwater robot is the optimal communication mode;
If the types of the microwave communication equipment which can be connected with the current underwater robot are at least two, acquiring a microwave communication state monitoring result of the current underwater robot, and determining a communication mode of the underwater robot under microwave communication according to the microwave communication state monitoring result of the current underwater robot.
Further, determining a communication mode of the underwater robot under microwave communication according to a current monitoring result of the microwave communication state of the underwater robot, including:
performing network evaluation according to the communication network attribute information of the microwave communication equipment which can be connected with the current underwater robot, and determining the communication mode of the underwater robot under microwave communication according to the network evaluation result, wherein the communication network attribute information at least comprises bandwidth, received signal strength, time delay and jitter.
Further, performing network evaluation according to the communication network attribute information of the microwave communication device that the current underwater robot can be connected to, and determining a communication mode of the underwater robot under microwave communication according to a network evaluation result, including:
Constructing a network attribute normalization decision matrix according to the communication network attribute information;
Performing entropy weight method real-time calculation according to the network attribute normalization decision matrix, and determining the weight of each communication network attribute information;
Calculating the comprehensive weight of the network attribute according to the weight of each communication network attribute information;
Obtaining a weighted normalized decision matrix according to the network attribute comprehensive weight and the network attribute normalized decision matrix;
And determining positive and negative ideal networks, and determining the communication mode of the underwater robot under microwave communication according to the weighted normalized decision matrix and the positive and negative ideal networks.
As another aspect of the present invention, there is provided an underwater robot adaptive communication apparatus for implementing the underwater robot adaptive communication method described above, wherein the underwater robot adaptive communication apparatus includes:
the first acquisition module is used for acquiring current depth information of the underwater robot;
the first determining module is used for determining a first communication type of a communication network of the underwater robot according to the current depth information of the underwater robot, wherein the first communication type comprises underwater sound communication or wireless communication;
the second acquisition module is used for acquiring the connection state of the current microwave communication network when the communication network of the underwater robot is determined to be wireless communication;
The second determining module is used for determining a second communication type of the communication network of the underwater robot according to the connection state of the current microwave communication network, wherein the second communication type comprises satellite communication or microwave communication;
And the third determining module is used for determining the communication mode of the underwater robot under the microwave communication according to the current microwave communication state monitoring result of the underwater robot when the communication network of the underwater robot is determined to be the microwave communication.
As another aspect of the present invention, there is provided an underwater robot adaptive communication system, including: the depth monitoring device is in communication connection with the underwater robot self-adaptive communication device, the depth monitoring device is used for monitoring current depth information of the underwater robot, and the underwater robot self-adaptive communication device is used for determining the communication type of a communication network of the underwater robot at least according to the current depth information of the underwater robot.
According to the self-adaptive communication method of the underwater robot, the first communication type of the underwater robot is determined through the depth information of the underwater robot, when the underwater robot is determined to be in wireless communication, the second communication type of the underwater robot is determined through the connection state of the microwave communication network, and finally when the communication network of the underwater robot is determined to be in microwave communication, the communication mode of the underwater robot under the microwave communication is determined based on the monitoring result of the microwave communication state. The self-adaptive communication method of the underwater robot can be used for determining the communication type of the communication network of the underwater robot in a well-defined level, and the self-adaptive communication method of the underwater robot can be used for carrying out self-adaptive selection according to the environment and has the advantages of easiness in implementation and higher accuracy.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention.
Fig. 1 is a flowchart of an adaptive communication method of an underwater robot provided by the invention.
Fig. 2 is a flowchart for determining a first communication type of an underwater robot according to the present invention.
Fig. 3 is a specific flowchart of the selection of underwater acoustic communication and wireless communication provided by the present invention.
Fig. 4 is a flowchart for determining a second communication type of an underwater robot according to the present invention.
Fig. 5 is a flowchart of satellite communication and microwave communication selection provided by the present invention.
Fig. 6 is a flowchart of sending and receiving an SBD packet according to the present invention.
Fig. 7 is a schematic diagram of the TOPSIS algorithm mid-vertical blind zone problem.
Fig. 8 is a flowchart illustrating a communication method of microwave communication according to the present invention.
FIG. 9 is a block diagram of a hierarchical model provided by the present invention.
Fig. 10 is a block diagram of the underwater robot adaptive communication device according to the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this embodiment, there is provided an adaptive communication method for an underwater robot, and fig. 1 is a flowchart of the adaptive communication method for an underwater robot provided in an embodiment of the present invention, as shown in fig. 1, including:
S100, acquiring current depth information of the underwater robot;
in the embodiment of the invention, the current depth information of the underwater robot can be monitored in real time through the depth monitoring device. The depth monitoring device may specifically be a depth gauge.
S200, determining a first communication type of a communication network of the underwater robot according to the current depth information of the underwater robot, wherein the first communication type comprises underwater sound communication or wireless communication;
And determining the communication type of the passing network of the underwater robot according to the obtained current depth information of the underwater robot.
It should be appreciated that the communication network in the underwater acoustic communication working environment is single, and the communication network can be properly selected to transmit data based on a single attribute. Because electromagnetic waves in wireless communication decay rapidly under water, whether underwater acoustic communication is adopted is selected based on depth information, and when the depth information is larger than a depth threshold value, data are transmitted by adopting the underwater acoustic communication, so that the data transmission capability can be effectively improved.
S300, when the communication network of the underwater robot is determined to be wireless communication, acquiring the connection state of the current microwave communication network;
in the embodiment of the present invention, it should be understood that when the depth information is greater than the depth threshold, data is transmitted by using underwater acoustic communication, and when the depth information is not greater than the depth threshold, wireless communication may be specifically used. Therefore, when it is determined that the communication network of the underwater robot is wireless communication, it is necessary to further determine the communication type of the wireless communication according to the connection state of the microwave communication network.
S400, determining a second communication type of a communication network of the underwater robot according to the connection state of the current microwave communication network, wherein the second communication type comprises satellite communication or microwave communication;
in the embodiment of the invention, the connection state of the current microwave communication network of the underwater robot needs to be acquired, namely when the underwater robot is currently connected with the microwave communication network, the microwave communication is preferentially selected, and if the current microwave communication network is in an unconnected state, the satellite communication is selected.
It should be understood that since the network performance indexes such as bandwidth, delay, etc. of the satellite communication are far inferior to those of the microwave communication, it is first determined whether the satellite communication is in a connection state of the microwave communication, and when the microwave communication is not connected, the satellite communication is selected.
S500, when the communication network of the underwater robot is determined to be microwave communication, determining a communication mode of the underwater robot under the microwave communication according to the current microwave communication state monitoring result of the underwater robot.
In the embodiment of the invention, when the communication network of the underwater robot is determined to be microwave communication, the communication modes under the microwave communication need to be determined according to the current monitoring result of the microwave communication state because the communication modes of the microwave communication can be more particularly.
According to the self-adaptive communication method of the underwater robot, the first communication type of the underwater robot is determined through the depth information of the underwater robot, when the underwater robot is determined to be in wireless communication, the second communication type of the underwater robot is determined through the connection state of the microwave communication network, and finally when the communication network of the underwater robot is determined to be in microwave communication, the communication mode of the underwater robot under the microwave communication is determined based on the monitoring result of the microwave communication state. The self-adaptive communication method of the underwater robot can be used for determining the communication type of the communication network of the underwater robot in a well-defined level, and the self-adaptive communication method of the underwater robot can be used for carrying out self-adaptive selection according to the environment and has the advantages of easiness in implementation and higher accuracy.
Specifically, a first communication type of a communication network of the underwater robot is determined according to current depth information of the underwater robot, wherein the first communication type comprises underwater sound communication or wireless communication, as shown in fig. 2, and comprises:
s210, judging whether the current depth information of the underwater robot is larger than a preset depth threshold value or not;
when the underwater robot floats to the water surface, if the underwater sound communication is adopted to send data, the underwater sound communication machine is extremely easy to damage; when an underwater robot performs a task underwater, electromagnetic waves are rapidly attenuated in water, and underwater acoustic communication is the only reliable underwater communication mode. The underwater acoustic communication and wireless communication selection mechanism can ensure the safety of equipment and improve the data transmission efficiency.
S220, if the current depth information of the underwater robot is larger than a preset depth threshold value, determining that the communication network of the underwater robot is underwater sound communication;
it should be appreciated that if the current depth information of the underwater robot is greater than the preset depth threshold within the preset wait time, the communication network of the underwater robot is determined to be underwater acoustic communication.
And S230, if the current depth information of the underwater robot is not greater than the preset depth threshold, determining that the communication network of the underwater robot is wireless communication.
It should be appreciated that if none of the current depth information of the underwater robot is greater than the preset depth threshold within the preset wait time, the communication network of the underwater robot is determined to be wireless communication.
In an embodiment of the present invention, as shown in fig. 3, the adaptive communication method for an underwater robot further includes, before the step of determining whether the current depth information of the underwater robot is greater than a preset depth threshold, performing:
Judging whether the current depth information of the underwater robot is within a preset waiting time or not;
if the current depth information of the underwater robot is within the preset waiting time, returning to acquire the current depth information of the underwater robot again;
If not, executing the step of judging whether the current depth information of the underwater robot is larger than the preset depth threshold value.
In the embodiment of the invention, the depth of the current underwater robot is obtained by using the depth gauge, the depth threshold is set, and the underwater robot is switched to the water surface wireless communication or the underwater acoustic communication according to the depth of the underwater robot. Because the underwater robot continuously swings along with waves, the depth of the underwater robot also fluctuates along with the waves, frequent switching can be caused, and the data transmission efficiency is reduced. Therefore, the embodiment of the invention sets the switching waiting time so as to avoid frequent switching of the communication on water and underwater. If the AUV depth is greater than the threshold value in the waiting time, adopting underwater acoustic communication to transmit data; if the AUV depth is smaller than the threshold value in the waiting time, adopting water surface wireless communication to transmit data; otherwise, the switching is not performed.
In the embodiment of the present invention, determining the second communication type of the communication network of the underwater robot according to the connection state of the current microwave communication network, as shown in fig. 4, includes:
S410, judging whether the current microwave communication network is in a connection state or not;
In the embodiment of the invention, because the satellite communication has delay compared with the microwave communication, when the satellite communication is determined to be the wireless communication, whether the current microwave communication network of the underwater robot is in a connection state is firstly judged, and if the current microwave communication network is in the connection state, the microwave communication is preferably used.
S420, if the current microwave communication network is in a connection state, determining that the communication network of the underwater robot is microwave communication;
and S430, if the current microwave communication network is in a non-connection state, determining that the communication network of the underwater robot is satellite communication.
Specifically, as shown in fig. 5, in the embodiment of the present invention, satellite communication carried by the underwater robot is mainly an iridium communication module, and an iridium 9602 module is adopted here; because the maximum sending length of an iridium SBD (Short Burst Data) Data packet is 340 bytes, and the maximum receiving length is 270 bytes; the communication delay is several seconds to several tens of seconds. The transmission performance of the iridium communication data is far inferior to that of communication modes such as a wireless data transmission radio station, 4G, wiFi and the like, so that when the microwave communication is not communicated, the iridium communication data is adopted.
In an embodiment of the present invention, the underwater robot adaptive communication method further includes:
when the communication network of the underwater robot is satellite communication, the transmission and the reception of the SBD data packet are realized according to the AT command.
Specifically, as shown in fig. 6, the industrial personal computer of the underwater robot sends an AT instruction to the iridium 9602 module through a serial port, so as to realize sending and receiving of the SBD data packet. 9602 module executes corresponding operation according to the received instruction and replies feedback information; the feedback information is transmitted to the industrial personal computer, and the feedback information is analyzed and the operation correspondingly executed next is determined.
TABLE 1 partial AT command and feedback information table
In the embodiment of the present invention, in the feedback of the instruction at+ SBDI, < MO status > and < MT status > respectively represent the data transmission status of the transmission buffer and the data reception status of the reception buffer of the 9602 module, and other feedback contents are not used in the embodiment of the present invention, and are not explained here.
Specifically, possible values of MO status are:
0: indicating that no SBD data packet needs to be sent to the iridium network; 1: indicating successful sending of the SBD data packet to the iridium network; 2: indicating an error in sending the SBD packets to the iridium network.
Possible values for MT status are:
0: indicating that no SBD data packet from the Iridium network is received; 1: indicating successful receipt of an SBD data packet from the Iridium network; 2: indicating an error in receiving an SBD packet from the iridium network.
In addition, because the iridium satellite terminal is always listening to the iridium satellite in the area, once the iridium satellite signal is detected to be strong enough, the SBD data transmission can be started, and the transmission can be completed in a short time. If the iridium signal is weak, even if the SBD transmission is started, it is necessary to wait a relatively long time (for example, 60 seconds or more) for the transmission to be completed until the signal is strong. Therefore, it is preferable to set AT+CSQ.gtoreq.3 here.
In the embodiment of the present invention, when determining that the communication network of the underwater robot is microwave communication, determining a communication mode of the underwater robot under the microwave communication according to the current state monitoring result of the underwater robot, as shown in fig. 8, includes:
when the communication network of the underwater robot is determined to be microwave communication, judging the type of microwave communication equipment which can be connected with the current underwater robot;
if the type of the microwave communication equipment which can be connected with the current underwater robot is one type, determining that the type of the microwave communication equipment which can be connected with the underwater robot is the optimal communication mode;
If the types of the microwave communication equipment which can be connected with the current underwater robot are at least two, acquiring a microwave communication state monitoring result of the current underwater robot, and determining a communication mode of the underwater robot under microwave communication according to the microwave communication state monitoring result of the current underwater robot.
It should be understood that, in the embodiment of the present invention, when the communication network of the underwater robot is determined to be microwave communication, since there may be multiple communication modes of microwave communication, such as WiFi, 4G, wireless data radio station, etc., each communication mode of microwave communication has advantages and disadvantages, and the adaptive selection mechanism based on a single performance index only considers the influence of a single factor, and the selection result often has a relatively large limitation. Therefore, when only one microwave communication device is communicated, the communication mode is the current optimal communication mode; when two or more microwave communication devices are communicated, the communication network is comprehensively evaluated by four attributes of bandwidth, received signal strength, time delay and jitter.
Specifically, determining a communication mode of the underwater robot under microwave communication according to a current monitoring result of the microwave communication state of the underwater robot includes:
performing network evaluation according to the communication network attribute information of the microwave communication equipment which can be connected with the current underwater robot, and determining the communication mode of the underwater robot under microwave communication according to the network evaluation result, wherein the communication network attribute information at least comprises bandwidth, received signal strength, time delay and jitter.
Further specifically, performing network evaluation according to communication network attribute information of microwave communication equipment capable of being connected with the current underwater robot, and determining a communication mode of the underwater robot under microwave communication according to a network evaluation result, wherein the method comprises the following steps:
Constructing a network attribute normalization decision matrix according to the communication network attribute information;
Performing entropy weight method real-time calculation according to the network attribute normalization decision matrix, and determining the weight of each communication network attribute information;
Calculating the comprehensive weight of the network attribute according to the weight of each communication network attribute information;
Obtaining a weighted normalized decision matrix according to the network attribute comprehensive weight and the network attribute normalized decision matrix;
And determining positive and negative ideal networks, and determining the communication mode of the underwater robot under microwave communication according to the weighted normalized decision matrix and the positive and negative ideal networks.
Conventional TOPSIS algorithms use euclidean distance to measure the distance between the candidate network and the positive and negative ideal networks, and thus have significant drawbacks. The relative proximity of all candidate networks on the vertical line in the positive and negative ideal network connection lines is 0.5, and the algorithm cannot correctly order according to the network evaluation value, which is the problem of dead zone of the vertical line in the TOPSIS algorithm.
As shown in figure 7 of the drawings,AndRespectively positive and negative ideal networks,AndIs located atTwo candidate networks on the middle vertical,ToAndThe Euclidean distance of (2) is significantly less thanToAndBut at this time, the relative proximity is equal, and the advantages and disadvantages of the two candidate networks cannot be resolved.
The relative entropy (Relative Entropy) can be used for measuring the difference degree of two probability distributions, is an asymmetric measurement and does not satisfy the triangular inequality, so that the problem of dead zone of the perpendicular bisector can be effectively solved.
For example for analysing probability distributionAndThe degree of difference between them, since the relative entropy is an asymmetric measure, i.e.ToIs generally not equal to the slaveToThe calculation formula is as follows:
，
Wherein, Representing probability distributionAndRelative entropy ofAlways greater than or equal to 0,The smaller the probability distribution/>, theAndThe smaller the difference in (2), the more and only if the two distributions are identical, the relative entropy is equal to 0.
Because of the influence of different factors such as modulation modes adopted by different microwave communication modes, the received signal strength threshold values and the received signal strength range are different, and therefore, the problem that the received signal strengths of different communication networks cannot be directly compared exists. And carrying out normalization processing on the acquired RSS values of the candidate networks, wherein the calculation formula is as follows:
，
Wherein, (RELATIVE SIGNAL INTENSITY) represents the relative signal intensity,Representing the received signal strength threshold,Maximum received signal strength.
According to the working scene of the underwater robot, network attributes such as network bandwidth, relative signal strength (RSI), transmission delay, jitter, cost and the like are selected to evaluate the candidate network. The multi-attribute decision matrix is defined as follows:
，
Wherein, Representing the number of candidate networks,Representing the number of network attributes,Represents theFirst/>, in a personal wireless communication networkThe numerical value of the individual attributes.
In the embodiment of the invention, the bandwidth and the received signal strength belong to benefit type indexes, the time delay and the jitter belong to cost type indexes, all indexes are converted into benefit type indexes, and a network attribute normalization decision matrix is constructed.
Specifically, the normalization of the decision matrix adopts a range transformation method, benefit type attributes such as bandwidth, relative signal strength and the like are normalized by using benefit type normalization formulas, and cost type attributes such as time delay, jitter and the like are normalized by using cost attribute normalization formulas.
The normalization formula based on the benefit type attribute is calculated by the range transformation method:
，
the normalization formula based on the cost attribute calculated by the range transformation method is as follows:
，
Wherein, 。
As shown in fig. 8, after the normalized decision matrix construction is completed, the calculation of the comprehensive weight is performed, wherein the comprehensive weight is obtained according to the calculation of the objective weight and the subjective weight.
(1) Specifically, a hierarchical model is first built.
A hierarchical model comprising a target layer, a criterion layer and a scheme layer is constructed by analyzing the relation of decision attribute parameters and the influence of each attribute on wireless communication. The target layer is an optimal communication network, the criterion layer is each performance attribute parameter, and the scheme layer is a candidate wireless network. A hierarchical model of an embodiment of the present invention is shown in fig. 9.
(2) Next, a decision matrix is constructed.
And evaluating the importance degree among different wireless communication attributes according to experience and subjective feeling of a user by adopting an analytic hierarchy Process (ANALYTIC HIERARCHY Process, AHP), wherein the importance degree among different wireless communication attributes is qualitatively and quantitatively represented by adopting a 1-9-level scale table, and the specific scale is shown in a table 2.
Table 2 AHP method 1-9 Scale
Because the real-time communication bandwidth is difficult to acquire, the real-time communication bandwidth is replaced by a fixed value; under the condition that only the current data conditions of the underwater robot such as command message transmission, feedback state information and the like are considered, the communication bandwidths of WiFi, a radio station and 4G are considered to completely meet the data transmission requirements; the communication bandwidth is considered to have less influence on the network evaluation result. According to the knowledge of the characteristics of the data transmission service of the offshore wireless communication environment and the underwater robot, the importance degree of the decision attribute is as follows in sequence: RSI > delay > jitter > bandwidth, and constructing a preference decision matrix according to importance degree comparison values between any two attributes of the networkPreference decision matrixSatisfy diagonal symmetry, i.e.。
(3) And calculating the attribute weight again.
Network attributes are calculated using the following formulaNormalized weight。
，
，
Wherein,Representing preference decision matrixThe value in (a) represents the/>, in the decision matrixThe individual attributes are compared to theImportance value of each attribute,Representing attributesIs used for the geometric weight value of (1).
(4) And (5) consistency inspection.
Due to limited subjective awareness and the practical complexity of microwave communication network attributes, the constructed decision matrix is inevitably contradictory and unreasonable, resulting in inaccurate final results. It is therefore necessary to verify through consistency checks whether the preference decision matrix errors are within reasonable limits. The consistency index is generally used as a standard for checking a decision matrix, and the calculation steps are as follows:
The consistency index CI (Consistency Index) is calculated as follows:
，
Wherein, Representing the decision matrixMaximum feature root ofRepresenting the dimension of the decision matrix.
The consistency ratio CR (Consistency Ratio) is calculated as follows:
。/>
Wherein, the random consistency index Specific values of (Random Index) are shown in Table 3.
TABLE 3 random consistency index
When (when)And when the importance degree comparison value between any two network attributes is considered to meet the consistency, the calculated network attribute weight is reasonable. Otherwise, the error is beyond the allowable range, and the preference decision matrix needs to be reconstructed.
Specifically, objective weights are calculated next.
And using the information entropy as an index for measuring the intrinsic difference degree of the system, and calculating the weight of a certain network attribute in each candidate network according to the characteristic of the information entropy. The greater the degree of dispersion of the attribute in each candidate network, the greater the amount of information the attribute is considered to contain, and the greater the weight of the attribute. Conversely, the smaller the degree of dispersion of the attribute in each candidate network, the smaller the amount of information the attribute is considered to contain, and the smaller the weight of the attribute.
The step of calculating the objective weight of the wireless communication network attribute by using the entropy weight method comprises the following specific steps:
(1) Normalizing the attributes and calculating the proportion of each attribute in the candidate network The calculation formula is as follows:
，
Wherein, Representing the normalized attribute values.
(2) Find the firstInformation entropy of individual attributesThe calculation formula is as follows:
，
Wherein when Time,I.e.。
(3) The weight of each attribute is calculated, and the calculation formula is as follows:
。
The objective weight obtained by the entropy weight method is easy to calculate and more accurate; the influence of the network attribute value on the network selection result is analyzed from an objective angle, and the change of the network attribute parameter value can be dynamically reflected in real time.
And determining the comprehensive weight according to the objective weight.
The one-sidedness of a single weight may lead to unreasonable results in the selection of a wireless communication network, and thus the final weight should be a composite weight combining the two weights in a certain way. And calculating the comprehensive weight by adopting normalized multiplication, and fully realizing the complementary advantages of subjective weight and objective weight. The calculation formula is as follows:
，
Wherein, Representing the comprehensive weight,Representing subjective weights,Representing objective weights.
The comprehensive weight effectively combines the advantages of subjective and objective weights, makes full use of the actual measurement value of objective attribute parameters, and dynamically reflects the change of the network attribute parameter values; on the premise of embodying the wish of a decision maker, the subjective randomness is avoided. The method overcomes the unilateral property existing in the single weighting method to a certain extent, and can improve the comprehensiveness, scientificity and reliability of the network selection result.
Therefore, in the embodiment of the present invention, for the microwave communication connection, the selection process of the communication mode of the microwave communication may specifically include the following implementation process:
(1) Constructing a weighted normalized decision matrix
Subjective weight and objective weight are obtained by AHP method and entropy weight method respectively, and comprehensive weight is obtained by the following methodMultiplying the comprehensive weight by the normalization matrix to obtain a weighted normalization decision matrix。
。
(2) Determining positive and negative ideal networks
The positive ideal network is expressed as:
，
the negative ideal network is expressed as:
，
Wherein, 。
(3) Calculating relative entropy
Is provided withRepresenting the relative entropy of each candidate network and the positive ideal network,Representing the relative entropy of each candidate network to the negative ideal network. Considering the logarithmic function requirement/>, in the relative entropy calculation formulaNormalized matrix/> for positive values and weightsAfter the value range of (2), the/>, is adopted in the divisionSubstitutionCan ensure that the calculation result is hardly influenced and avoidAnd (3) the problem of incapacity of calculation. The calculation formula is as follows:
，
，
，
。
(4) Calculating the relative proximity of each candidate network to the ideal network
。
(5) Ranking selection
The relative proximity of the current best wireless communication network is maximized by descending order according to the relative proximity of the candidate networks.
In summary, the underwater robot self-adaptive communication method provided by the invention monitors the state of the communication network in real time, selects the optimal communication network transmission data, and solves the problem of selecting the proper communication network transmission data in multimode communication; and the selected network has higher reliability, so that the breaking frequency of a communication link can be effectively reduced, and the data transmission capacity of the underwater robot communication system is improved.
As another embodiment of the present invention, there is provided an underwater robot adaptive communication apparatus for implementing the underwater robot adaptive communication method described above, wherein, as shown in fig. 10, the underwater robot adaptive communication apparatus 100 includes:
a first obtaining module 110, configured to obtain current depth information of the underwater robot;
A first determining module 120, configured to determine a first communication type of a communication network of the underwater robot according to current depth information of the underwater robot, where the first communication type includes underwater acoustic communication or wireless communication;
a second obtaining module 130, configured to obtain a connection state of the current microwave communication network when it is determined that the communication network of the underwater robot is wireless communication;
A second determining module 140, configured to determine a second communication type of the communication network of the underwater robot according to a connection state of the current microwave communication network, where the second communication type includes satellite communication or microwave communication;
And the third determining module 150 is configured to determine, when determining that the communication network of the underwater robot is microwave communication, a communication mode of the underwater robot under the microwave communication according to a current microwave communication state monitoring result of the underwater robot.
According to the underwater robot self-adaptive communication device provided by the embodiment of the invention, the first communication type of the underwater robot is determined through the depth information of the underwater robot, the second communication type of the underwater robot is determined through the connection state of the microwave communication network when the underwater robot is determined to be in wireless communication, and finally, when the communication network of the underwater robot is determined to be in microwave communication, the communication mode of the underwater robot under the microwave communication is determined based on the monitoring result of the microwave communication state. The underwater robot self-adaptive communication device can be used for determining the communication type of the communication network of the underwater robot in a well-defined level, can perform self-adaptive selection according to the environment, and has the advantages of easiness in implementation and higher accuracy.
The working principle of the adaptive communication device for the underwater robot provided by the invention can refer to the description of the adaptive communication method for the underwater robot, and the description is omitted here.
As another embodiment of the present invention, there is provided an underwater robot adaptive communication system including: the depth monitoring device is in communication connection with the underwater robot self-adaptive communication device, the depth monitoring device is used for monitoring current depth information of the underwater robot, and the underwater robot self-adaptive communication device is used for determining the communication type of a communication network of the underwater robot at least according to the current depth information of the underwater robot.
In an embodiment of the present invention, the underwater robot adaptive communication system may further include a communication network status monitoring device for monitoring a communication status of the communication network so as to determine a communication type of the communication network.
In summary, the underwater robot self-adaptive communication system provided by the invention can monitor the state of the communication network in real time and select the optimal communication network transmission data due to the adoption of the underwater robot self-adaptive communication device, so that the problem of selecting the proper communication network transmission data in multimode communication is solved; and the selected network has higher reliability, so that the breaking frequency of a communication link can be effectively reduced, and the data transmission capacity of the underwater robot communication system is improved.
The working principle of the adaptive communication system of the underwater robot provided by the invention can refer to the description of the adaptive communication method of the underwater robot, and the description is omitted here.
It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.

Claims (9)

1. An underwater robot adaptive communication method, comprising:
acquiring current depth information of an underwater robot;
Determining a first communication type of a communication network of the underwater robot according to the current depth information of the underwater robot, wherein the first communication type comprises underwater sound communication or wireless communication;
When the communication network of the underwater robot is determined to be wireless communication, acquiring the connection state of the current microwave communication network;
determining a second communication type of a communication network of the underwater robot according to the connection state of the current microwave communication network, wherein the second communication type comprises satellite communication or microwave communication;
When the communication network of the underwater robot is determined to be microwave communication, determining a communication mode of the underwater robot under the microwave communication according to the current microwave communication state monitoring result of the underwater robot;
When the communication network of the underwater robot is determined to be microwave communication, determining a communication mode of the underwater robot under the microwave communication according to the current state monitoring result of the underwater robot, wherein the method comprises the following steps:
when the communication network of the underwater robot is determined to be microwave communication, judging the type of microwave communication equipment which can be connected with the current underwater robot;
if the type of the microwave communication equipment which can be connected with the current underwater robot is one type, determining that the type of the microwave communication equipment which can be connected with the underwater robot is the optimal communication mode;
If the types of the microwave communication equipment which can be connected with the current underwater robot are at least two, acquiring a microwave communication state monitoring result of the current underwater robot, and determining a communication mode of the underwater robot under microwave communication according to the microwave communication state monitoring result of the current underwater robot.
2. The underwater robot adaptive communication method according to claim 1, wherein a first communication type of the communication network of the underwater robot is determined according to the current depth information of the underwater robot, the first communication type including underwater sound communication or wireless communication, comprising:
judging whether the current depth information of the underwater robot is larger than a preset depth threshold value or not;
If the current depth information of the underwater robot is greater than a preset depth threshold value, determining that the communication network of the underwater robot is underwater acoustic communication;
And if the current depth information of the underwater robot is not greater than the preset depth threshold value, determining that the communication network of the underwater robot is wireless communication.
3. The underwater robot adaptive communication method of claim 2, further comprising, before the step of judging whether the current depth information of the underwater robot is greater than a preset depth threshold value:
Judging whether the current depth information of the underwater robot is within a preset waiting time or not;
if the current depth information of the underwater robot is within the preset waiting time, returning to acquire the current depth information of the underwater robot again;
If not, executing the step of judging whether the current depth information of the underwater robot is larger than the preset depth threshold value.
4. The underwater robot adaptive communication method according to claim 1, wherein determining the second communication type of the communication network of the underwater robot according to the connection state of the current microwave communication network comprises:
Judging whether the current microwave communication network is in a connection state or not;
If the current microwave communication network is in a connection state, determining that the communication network of the underwater robot is microwave communication;
and if the current microwave communication network is in a non-connection state, determining that the communication network of the underwater robot is satellite communication.
5. The underwater robot adaptive communication method of claim 4, further comprising:
when the communication network of the underwater robot is satellite communication, the transmission and the reception of the SBD data packet are realized according to the AT command.
6. The underwater robot adaptive communication method according to claim 1, wherein determining a communication mode of the underwater robot under microwave communication according to a current monitoring result of the state of the microwave communication of the underwater robot comprises:
performing network evaluation according to the communication network attribute information of the microwave communication equipment which can be connected with the current underwater robot, and determining the communication mode of the underwater robot under microwave communication according to the network evaluation result, wherein the communication network attribute information at least comprises bandwidth, received signal strength, time delay and jitter.
7. The underwater robot adaptive communication method according to claim 6, wherein the network evaluation is performed according to the communication network attribute information of the microwave communication device to which the current underwater robot can be connected, and the communication mode of the underwater robot under the microwave communication is determined according to the network evaluation result, comprising:
Constructing a network attribute normalization decision matrix according to the communication network attribute information;
Performing entropy weight method real-time calculation according to the network attribute normalization decision matrix, and determining the weight of each communication network attribute information;
Calculating the comprehensive weight of the network attribute according to the weight of each communication network attribute information;
Obtaining a weighted normalized decision matrix according to the network attribute comprehensive weight and the network attribute normalized decision matrix;
And determining positive and negative ideal networks, and determining the communication mode of the underwater robot under microwave communication according to the weighted normalized decision matrix and the positive and negative ideal networks.
8. An underwater robot adaptive communication device for implementing the underwater robot adaptive communication method according to any one of claims 1 to 7, characterized in that the underwater robot adaptive communication device comprises:
the first acquisition module is used for acquiring current depth information of the underwater robot;
the first determining module is used for determining a first communication type of a communication network of the underwater robot according to the current depth information of the underwater robot, wherein the first communication type comprises underwater sound communication or wireless communication;
the second acquisition module is used for acquiring the connection state of the current microwave communication network when the communication network of the underwater robot is determined to be wireless communication;
The second determining module is used for determining a second communication type of the communication network of the underwater robot according to the connection state of the current microwave communication network, wherein the second communication type comprises satellite communication or microwave communication;
And the third determining module is used for determining the communication mode of the underwater robot under the microwave communication according to the current microwave communication state monitoring result of the underwater robot when the communication network of the underwater robot is determined to be the microwave communication.
9. An underwater robot adaptive communication system, comprising: the depth monitoring device is in communication connection with the underwater robot adaptive communication device, the depth monitoring device is used for monitoring current depth information of the underwater robot, and the underwater robot adaptive communication device is used for determining the communication type of a communication network of the underwater robot at least according to the current depth information of the underwater robot.
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