DE102021208108A1 - Watercraft with a plurality of sensor arrays - Google Patents

Abstract

A watercraft (20) is shown with a plurality of sensor arrangements (22), each of which includes a plurality of sensors (24). The sensors are designed to record sensor data (58) and convert them into an electrical signal corresponding to the sensor data (58), the sensor arrangements (22) or the sensors (24) being designed to provide the electrical signals in the form of a data packet (29). , wherein the data packet (29) has an identification number which uniquely characterizes the data packets (29). Furthermore, the watercraft includes a first and a second packet switching unit. The first packet switching unit (26a) maintains a first sensor Ethernet connection (30a, 30c) per sensor (24) or per sensor arrangement (22) in order to receive the data packets (29) from the sensors (24). The second packet switching unit (26b) maintains a second sensor Ethernet connection (30b, 30d) per sensor (24) or per sensor arrangement (22) in order to receive the data packets (29) from the sensors (24). A signal receiver processes the sensor data (58). The first and the second packet switching unit (26) are each designed to buffer the data packets (29) from the sensors (24) and to transmit them to the signal receiver (28), the signal receiver (28) being designed when two data packets (29) arrive with the same identification number to discard one of the two data packets (29).

Description

The invention relates to the redundant connection of sensors of an underwater vehicle.

Sensor data on underwater vehicles deliver large amounts of data at high data rates, often in large clocked bursts, which must reach the interior of the underwater vehicle for evaluation and use. This must be done reliably and efficiently so that the information obtained is not lost and the number of lines (and the associated number of shipboard breaches) is minimized. For this purpose, the data sources (e.g. the sensors in the underwater area) are connected to the data sink (e.g. data processing computer, signal processing computer, data recorder) with two data connections, so that there are two separate transmission paths for the sensor data.

The data connections contain a packet switching unit (e.g. a network infrastructure including, for example, switches and/or routers and/or firewalls), which can switch the data traffic from a defective line to a redundant line in the event of a failure. Due to the resulting deterministic switching times (network convergence time, application convergence time), data is lost during the time that elapses to switch between the transmission paths.

Furthermore, all physical data transmissions inherently involve bit error rates that can lead to packet loss. In addition, data storage on the sensors (embedded systems) is not technically feasible to a large extent. For example, when using a protocol that allows lost data packets to be requested again, the bandwidth for the transmission of the sensor data is inevitably reduced due to the protocol overhead. With a protocol that does not allow the re-request of lost data packets, the data packets are irretrievably lost.

Neither is desirable, since the signal processing requires the data for processing within a defined period of time after the data has been generated (real-time capability in data transport for data processing).

The object of the present invention is therefore to create an improved concept for underwater vehicles.

The object is solved by the subject matter of the independent patent claims. Further advantageous embodiments are the subject matter of the dependent patent claims.

Exemplary embodiments show a watercraft with a plurality of sensor arrangements, each of which includes a plurality of sensors, a first and a second packet switching unit, and a signal receiver. The large number of sensors record sensor data, in particular outside of the watercraft, and convert this into an electrical signal corresponding to the sensor data. The electrical signal can be packed into a data telegram by the sensors in order to transmit the electrical signal. The first and the second packet switching unit can operate independently of each other. The first and the second packet switching unit can each have a network infrastructure which, in any number, includes one of the following components or any selection of the following components: switches, routers, firewalls, intrusion detection systems, intrusion prevention systems, domain transitions (cross domain security solutions such as data diodes, bidirectional security gateway, etc.).

Accordingly, the sensors have a sensory material. The sensors can be waterborne sound transducers, also referred to as hydrophones. Here the sensory material is typically a piezoceramic. Water sound transducers can record the sound pressure as sensor data. Other sensors are, for example, pressure sensors that record the hydrostatic pressure as sensor data, e.g. to determine the current diving depth if the watercraft is an underwater vehicle.

The signal receiver can process the sensor signals. For example, the signal receiver can process the sensor signals and forward them to a direction generator. The direction generator can skilfully apply time delays to sensor signals from the same sensors compared to sensor signals from other sensors in order to have the sensors virtually look in one direction. This creates directional sensor signals that are returned to the signal receiver. Based on this directional sensor data, the signal receiver can detect and localize targets in the vicinity of the watercraft. The signal receiver can also be redundantly connected to the direction generator at the same data switching units by means of two Ethernet lines. The data transmission between the signal receiver and the direction generator can be transmitted based on the same principle as the sensor data from the sensors to the signal receiver.

The sensor arrangement now combines a large number of sensors. There are various options for this.

A first option consists in sensor electronics controlling the multiplicity of sensors. The sensor electronics can, for example, have any selection of the following components: an amplifier to amplify the electrical signal, an analog/digital converter to digitize the electrical signal, a computing unit (e.g. application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or microcomputer) to convert the (digitized) electrical signal into a data packet. The sensor electronics can take over these tasks for the large number of sensors.

A second option is that the sensor electronics are already part of the sensor. This means that each sensor already has the sensor electronics. In order to form the sensor arrangement, the sensors can then be connected to one another, e.g. by means of a (ring) bus system. A bus master, e.g. terminal adapter or a switch, can operate the (ring) bus system and e.g. retrieve the data packets from the sensors.

A third option is that the sensor arrangement offers a purely functional overview of the sensors. Thus, various sonar antennas are typically arranged on a watercraft, for example a hull mounted sonar, a towed array sonar, a flank array sonar, etc Antennas then form the sensor arrangement, while the individual waterborne sound converters (or hydrophones) of the antennas form the sensors.

The sensor arrangements (e.g. in the first and second option) or the sensors (e.g. in the third option) provide the electrical, in particular converted and digitized, signal in the form of a data packet. In other words, a data packet can be generated by the associated sensor arrangement or the corresponding sensor for each sensory material and measurement. The data packet has an identification number for each sensor, which uniquely characterizes the data packets. This means that the data packet, which also contains the electrical signal, contains the identification number. The data packet, which also has the electrical signal, is therefore not inserted into a new data packet. In other words, the protocol for data transmission of the sensor data already contains the identification number. This does not first have to be added by a separate protocol, superordinate protocol.

The first packet switching unit maintains a first sensor Ethernet connection per sensor or per sensor arrangement in order to receive the data packets from the sensors of the plurality of sensors. The second packet switching unit maintains a second sensor Ethernet connection per sensor or per sensor arrangement in order to receive the data packets from the sensors of the plurality of sensors. Whether the sensor Ethernet connection is maintained to the sensor arrangement or to the sensor depends on which unit provides the data packets. A switch, router, firewall, intrusion detection, intrusion prevention, cross-domain security solutions or any combination of the aforementioned network components (in any number) can be used as the (first and/or second) packet switching unit.

The signal receiver processes the sensor data. The signal receiver is connected to the first packet switching unit by a first receiver Ethernet connection and to the second packet switching unit by a second receiver Ethernet connection. The first and the second packet switching unit each buffer the incoming data packets from the sensors. Furthermore, the packet switching units transmit the data packets to the signal receiver in each case via the first or the second receiver Ethernet connection. The data can be transmitted sequentially per transmission channel. This means that there is a (quasi) parallel transmission of the data packets via two separate channels to the signal receiver. The probability of packet loss is thus significantly reduced.

The various data packets that can arrive (quasi) in parallel at the packet switching units due to the connection of the packet switching units to the plurality of sensor arrangements or to the plurality of sensors are then forwarded sequentially, ie one after the other, to the signal receiver.

If two data packets with the same identification number arrive, the signal receiver now discards one of the two data packets, in particular based on rules.

The idea is to set up parallel data transmission between the sensors and the signal receiver. The sensors each send the measurement data (in parallel) via two different data transmission paths to the signal receiver. This means that there are two identical data packets in the overall system. The hardware with the two data transmission links is often already available. In this existing architecture, however, the two data transmission paths are not operated in parallel, but only as a backup, so that with the failure of a data transmission path can be switched to the other data transmission path. Normally, the signal receiver then receives two identical data packets. So that the signal receiver then does not process the sensor data twice, the data packets with the sensor data have an identification number, for example a time stamp or a counter. This means that the two identical data packets have the same identification number. Based on the identification number, the signal receiver then discards a data packet, typically the data packet that arrived last.

In embodiments, the sensors of the plurality of sensors or the sensor arrays of the plurality of sensor arrays use a counter. The meter reading is used as an identification number to uniquely characterize the data packets. The counter is reset cyclically, but is selected at least so large that a data packet with any counter reading cannot be overtaken by another data packet with the same counter reading. This means that the counter reading is clear for the packet runtime of the data packets. In other words, the size of the counter can be selected in such a way that at most the two same data packets with the same identification number can always be on the transmission path, but not another data packet with the same identification number.

Furthermore, the signal receiver only discards one of the two data packets if both data packets arrive with the same counter reading within a predetermined time window. This time window is smaller than the (minimum) time in which two different data packets with the same counter reading can arrive at the signal receiver. In exemplary embodiments, the counter has a size of at least 16 bits, in particular at least 32 bits. This means that the sensor data from a large number of sensors can also be transmitted without problems resetting the counter. In particular, at least 128 sensors, preferably at least 256 sensors, particularly preferably at least 512 sensors of the watercraft can send their sensor data to the signal receiver. The sensors can record sensor data at least 256, preferably at least 512, particularly preferably at least 1024 times per second.

The identification number, in particular the counter, is a sync counter, for example. The sync counter is, for example, a circuit or a software module that is incremented with each clock, i.e. counted up. If the sync counter overflows, it starts counting again from the beginning. For example, the sync counter can be synchronized with a non-acoustic telegram (e.g. UDP). The non-acoustic telegram can be the telegram with which the data packets of the sensors are sent. The clock, for example from the non-acoustic telegrams, can also be used to control when the sensors record sensor data. Alternatively, the clock can be used to control when the sensors or the sensor arrangement are allowed to send data packets to the packet switching units. The clock can be obtained from an electrical clock signal, a time signal (e.g. absolute time from the precision time protocol) or a synchronous Ethernet clock (synchronous Ethernet - SyncE).

In exemplary embodiments, the sensor arrays or the sensors are designed to send data packets of sensor data, which were obtained at the same measurement time (i.e. the same sampling time), at different times. The points in time can be defined, for example, by a predetermined time interval in which the data packets are to be sent. The predetermined time interval may divide the duration of a clock into smaller units of time. It is thus possible to extend the sending of the data packets provided by the sensors at approximately the same time, so that the risk of the two packet switching units being overloaded by the quantity of data packets arriving at the same time is reduced. In other words, the sending of the data packets (the bursts) that result from this method can be stretched over time using a time slot method. This reduces the interrupt load.

In exemplary embodiments, the sensors of the multiplicity of sensors or the sensor arrangements of the multiplicity of sensor arrangements use UDP (User Datagram Protocol) as the protocol for transporting the data packets. UDP has the advantage that it only has a low overhead (engl.: administrative data). This means that the control and protocol information required for data transmission of the sensor signals only takes up a small part of the data packet. Thus, the transmission path, in particular the receiver Ethernet connections, is used efficiently for the transmission of the sensor data and is not unnecessarily occupied by additional data that would be necessary for other protocols. Furthermore, the acknowledgment of receipt of the data packets by the signal receiver, as is necessary with other protocols for data transmission, such as TCP, is no longer necessary. This also increases the bandwidth of the receiver Ethernet connection available for the sensor data. The IP protocol, for example, is used to transmit the datagrams generated by UDP. However, sensor data and identification number are preferably contained in the UDP datagram.

In further exemplary embodiments, the sensors of the multiplicity of sensors insert the identification number, for example the meter reading, into the data packet using the same protocol. This is preferably done directly in the application layer, i.e. the seventh layer of the ISO/OSI reference model. This means that the sensor data and the identification number are inserted into the data packet on the same layer and are not encapsulated separately, i.e. provided with their own header or trailer. Thus, the administration data of at least one protocol is saved.

In further exemplary embodiments, the watercraft is an underwater vehicle. The plurality of sensors and the first and second packet switching units are arranged outside of the underwater vehicle, while the signal receiver is arranged inside the underwater vehicle. Accordingly, the first and the second receiver Ethernet line are routed through a pressure hull of the underwater vehicle in order to route the sensor data to the signal receiver. The aforementioned exemplary embodiments for reducing the data to be transmitted become even more important in view of the need to bring the data through the pressure hull of the underwater vehicle into the interior of the underwater vehicle. The number of passages through the pressure hull must be kept as small as possible and the size of the individual passages as small as possible in order not to adversely affect the stability of the pressure hull.

Analogously, a method for transmitting sensor data from a watercraft to a signal receiver of the watercraft is shown with the following steps: a) recording a large number of sensor data with a large number of sensors; b) converting the sensor data into an electrical signal corresponding to the sensor data; c) providing the electrical signals in the form of a data packet with an identification number that uniquely characterizes the data packets; d) sending the data packets via a first sensor Ethernet connection to a first packet switching unit and via a second sensor Ethernet connection to a second packet switching unit; e) buffering the data packets in the first and the second packet switching unit; f) sending the data packets from the first packet switching unit to the signal receiver via a first receiver Ethernet connection; g) sending the data packets from the second packet switching unit to the signal receiver via a second receiver Ethernet connection; h) discarding one of the two data packets if two data packets with the same identification number arrive at the signal receiver.

The exemplary embodiments also include Industrial Ethernet, e.g., EtherCAT, when reference is made to an Ethernet connection, for example.

• 1: eine schematische Blockdarstellung eines Wasserfahrzeugs, in dem Sensordaten an einen Signalempfänger übermittelt werden;
• 2: eine schematische Darstellung der Protokolle für die Übertragung der Sensordaten anhand des ISO/OSI Schichtenmodells; und
• 3: eine schematische Darstellung eines Ablaufdiagramms für die Übertragung der Sensordaten.

Preferred embodiments of the present invention are explained below with reference to the accompanying drawings. Show it:

• 1 1: a schematic block diagram of a watercraft in which sensor data are transmitted to a signal receiver;
• 2 : a schematic representation of the protocols for the transmission of the sensor data based on the ISO/OSI layer model; and
• 3 : a schematic representation of a flow chart for the transmission of the sensor data.

Before exemplary embodiments of the present invention are explained in more detail below with reference to the drawings, it is pointed out that identical elements, objects and/or structures that have the same function or have the same effect are provided with the same reference symbols in the different figures, so that the elements shown in different exemplary embodiments Description of these elements is interchangeable or can be applied to each other.

1 12 shows a schematic block diagram of a watercraft 20. The watercraft 20 comprises a first sensor arrangement 22a and a second sensor arrangement 22b, each of which has a multiplicity (here three) of sensors 24. The watercraft 24 also includes a first packet switching unit 26a and a second packet switching unit 26b and a signal receiver 28.

The sensors 24 each record sensor data, for example waterborne noise or the hydrostatic pressure, and emit a corresponding electrical signal. In the case shown, the sensor arrangements 22a, 22b provide the electrical signals, ie the sensor data, per sensor in the form of a data packet 29a, 29b. This means that the conversion of the electrical signals to the Ethernet protocol, ie for example the formation of the data packet as an IP packet, takes place outside of the individual sensors in the sensor arrangement. For example, the sensor arrangement has a packet forming module for this purpose, which takes over the formation of the data packet for a number of sensors in the sensor arrangement, in particular all sensors in the sensor arrangement. Alternatively the sensors can also provide the data packet 29a, 29b themselves. This means that the digitization and conversion of the signals to the Ethernet protocol, eg in an IP packet, already takes place in the sensor.

The data packets 29a of the sensors of the first sensor arrangement 22a are sent from the first sensor arrangement 22a to the first packet switching unit 26a by means of a first sensor Ethernet connection 30a.

The same data packets 29a are sent from the first sensor arrangement 22a to the second packet switching unit 26b by means of a second sensor Ethernet connection 30b. Both data packets 29a have the same identification number. The data packets 29b of the sensors of the second sensor arrangement 22b are sent from the second sensor arrangement 22b to the first packet switching unit 26a by means of a further first sensor Ethernet connection 30c. The same data packets 29b are sent from the second sensor arrangement 22b to the second packet switching unit 26b by means of a further second sensor Ethernet connection 30d. These two data packets 29b also have the same identification number, but this differs from the identification number of the two data packets 29a that are sent via the first sensor Ethernet connection. Successive data packets from different sensors or the same sensors with different sensor data also have different identification numbers.

This means that three data packets are transmitted per sensor Ethernet connection at a point in time when the sensors are acquiring sensor data. The total of six data packets each have different identification numbers. If the sensors 24 provide the data packets themselves, each of the sensors is connected to the first packet switching unit with a first sensor Ethernet connection and to the second packet switching unit with a second sensor Ethernet connection.

The two packet switching units 26 buffer the data packets. The first packet switching unit 26a sends the received data packets 29a, 29b, typically sequentially, i.e. one after the other, via a first receiver Ethernet connection 32a to the signal receiver 28. The second packet switching unit 26b sends the received data packets 29a, 29b, typically sequentially, i.e. one after the other, via a second receiver Ethernet connection 32b to the signal receiver 28. If two data packets with the same identification number arrive at the signal receiver 28, the signal receiver 28 discards one of these two data packets, typically the data packet that arrived last.

2 shows a schematic representation of the protocols used for data transmission based on the ISO/OSI layer model. The protocols can run in the sensor or in the sensor arrangement or can be divided between the sensor and the sensor arrangement. The transmitter, ie the sensor 24 or the sensor arrangement 22, is shown on the left-hand side. On the right side of the signal receiver 28.

In layer 7 (application layer) of the transmitter, block 34, the sensor data are received and digitized. The data packet is also generated here, e.g. in an additional instance. For this purpose, a (e.g. proprietary) protocol is used that packs both the sensor data (i.e. the corresponding electrical signal) and the identification number into the data packet. Layers 5 and 6 do not exist in IP-based network protocols. When using UDP, the data packet is packed into a UDP datagram in layer 4 (block 38). The UDP datagram is packed in an IP packet in layer 3 (block 40). In layers 1 and 2 (block 42a, 42b), the IP packet is prepared for data transmission using the Ethernet protocol. Since the data packet is sent in parallel over two different lines, the IP packet can be duplicated in layer 1 or 2.

In other systems, however, two data packets can already be generated based on the sensor data, so that the two data packets are already processed in parallel in layers 3 and 4. This is represented by the dashed line dividing blocks 38 and 40. This is regarding 3 explained again. The ethernet packet of block 42a is sent to the signal receiver 28 over the first sensor ethernet connection and first receiver ethernet connection 44 . The ethernet packet of block 42b is sent to the signal receiver 28 over the second sensor ethernet connection and second receiver ethernet connection 46 . The packet switching units are arranged within the data transmission path, but are not shown here.

In the signal receiver 28, the transmitted data packets run through layers 1 to 4 in parallel (cf. blocks 48a, 48b, 50a, 50b, 52a, 52b). In layer 7 (block 56) the sensor data and the identification number are obtained with knowledge of the (proprietary) protocol. Incoming packets whose identification number was already contained in a data packet can be discarded there before the signal processing gets access to the sensor data.

3 shows a schematic flowchart of the transmission process from the transmitter, ie the sensor 24 or the sensor arrangement 22, to the signal receiver 28. The sensory material of the sensor records the sensor data 58. These are encapsulated, together with the identification number, in a UDP datagram 60 and further packed into an IP stack. The IP stack is duplicated and the (first) IP stack 61a is given to a first network card 62a and the (second) IP stack 61b is given to a second network card 62b. An alternative is in 3 shown dashed. Here the IP stack is not duplicated first, but rather the sensor data. For example, the sensor data can be digitized and duplicated directly in the sensor or in a corresponding downstream processing unit. There is then (particularly digitized) sensor data 58, 58′, which is encapsulated in a UDP datagram 60, 60′ and packed into an IP stack 61a, 61′. The (first) IP stack 61a is passed to the first network card 62a and the (second) IP stack 61' to the second network card 62b.

The first IP stack 61a, in which the data packet is contained, is routed to a first network card 64a of the signal receiver by means of a first network card 62a via the first sensor Ethernet connection 30a and the first receiver Ethernet connection 32a. Physical data transmission takes place on this route, in which, for example, the first packet switching unit also buffers and forwards the data packets (not shown here).

Analogously, the second IP stack (61b, 61'), in which the data packet is contained, is routed to a second network card 64b of the signal receiver by means of a second network card 62b via the second sensor Ethernet connection 30b and the second receiver Ethernet connection 32b. This route is also a physical data transmission route in which, for example, the second packet switching unit also buffers and forwards the data packets (not shown here).

The received first IP pack 61a and the received second IP pack 62a are unpacked to get the first and second UDP maps 60a, 60b. If it is determined during packet processing that a received data packet 29b has an identification for which a data packet 29a has already arrived, this redundant packet 29b is discarded (indicated by the "X" in 3 ). The sensor data 58 from the data packet 29a that arrived first is fed to the signal processing of the receiver 28 .

The disclosed sensors can be (water) sound transducers. These are designed for use under water, especially in the sea. The sound converters are designed to convert waterborne sound into an electrical signal (e.g. voltage or current) corresponding to the sound pressure, the waterborne sound signal. In addition, the sound converters are designed to convert an applied electrical voltage into waterborne sound. Accordingly, the sound converters can be used as waterborne sound receivers and/or as waterborne sound transmitters. The sound transducers have a piezoelectric material, for example a piezoceramic, as the sensory material. The transducers can be used for (active and/or passive) sonar (sound navigation and ranging). The transducers are not suitable for medical applications.

Although some aspects have been described in the context of a device, it is understood that these aspects also represent a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also constitute a description of a corresponding block or detail or feature of a corresponding device.

The embodiments described above are merely illustrative of the principles of the present invention. It is understood that modifications and variations to the arrangements and details described herein will occur to those skilled in the art. Therefore, it is intended that the invention be limited only by the scope of the following claims and not by the specific details presented in the description and explanation of the embodiments herein.

Reference List

20

watercraft

22

sensor arrangement

24

sensor

26

packet switching unit

28

signal receiver

29

data packets

30

Sensor ethernet connection

32

Receiver ethernet connection

34-56

blocks

58

sensor data

60

UDP datagram

61

IP stack

62

Network card of the sender

64

receiver's network card

Claims (8)

Watercraft (20) with the following features: - A plurality of sensor assemblies (22), each comprising a plurality of sensors (24), which are designed to record sensor data (58) and convert it into an electrical signal corresponding to the sensor data (58), the sensor assemblies (22) or the Sensors (24) are designed to provide the electrical signals in each case in the form of a data packet (29), the data packet (29) having an identification number which uniquely characterizes the data packets (29); - A first packet switching unit (26a) which maintains a first sensor Ethernet connection (30a, 30c) per sensor (24) or per sensor arrangement (22) in order to receive the data packets (29) from the sensors (24) of the plurality of sensors ; - A second packet switching unit (26b) which maintains a second sensor Ethernet connection (30b, 30d) per sensor (24) or per sensor arrangement (22) in order to receive the data packets (29) from the sensors (24) of the plurality of sensors ; - a signal receiver which is designed to process the sensor data (58), the signal receiver (28) being connected to the first packet switching unit by means of a first receiver Ethernet connection (32a) and to the second packet switching unit by means of a second receiver Ethernet connection (32b). is; - wherein the first and the second packet switching unit (26) are each designed to buffer the data packets (29) of the sensors (24) and to transmit them to the signal receiver (28) via the first or the second receiver Ethernet connection (32). ; - Wherein the signal receiver (28) is designed to discard one of the two data packets (29) when two data packets (29) arrive with the same identification number. Vessel (20) according to claim 1 , - wherein the sensors (24) of the plurality of sensors or the sensor assemblies (22) of the plurality of sensor assemblies have a counter - the sensors (24) or the sensor assemblies (22) are designed to use the counter reading of the counter as an identification number, wherein the counter reading uniquely characterizes the data packets (29) and resets the counter cyclically, the counter being selected at least so large that a data packet (29) with any counter reading cannot be overtaken by another data packet (29) with the same counter reading; - Wherein the signal receiver (28) is designed to discard one of the two data packets (29) only if both data packets (29) arrive with the same counter reading within a predetermined time window. Vessel (20) according to claim 2 , - wherein the counter has a size of at least 16 bits, in particular at least 32 bits. Watercraft (20) according to one of the preceding claims, - Wherein the sensors (24) of the plurality of sensors (24) or the sensor arrangements (22) of the plurality of sensor arrangements (22) are designed to use UDP (User Datagram Protocol) as a protocol for transporting the data packets (29). Watercraft (20) according to one of the preceding claims, - The sensors (24) of the plurality of sensors (24) being designed to insert the identification number, in particular a meter reading, into the data packet (29) using the same protocol. Watercraft (20) according to one of the preceding claims, wherein the sensor arrangements (22) or the sensors (24) are designed to send data packets (29) of sensor data that have been received at the same measurement time at different times. Watercraft (20) according to one of the preceding claims, - wherein the watercraft is an underwater vehicle; - wherein the plurality of sensors (24) and the first and the second packet switching unit are arranged outside of the underwater vehicle and the signal receiver (28) is arranged inside the underwater vehicle, so that the first and the second receiver Ethernet line are routed through a pressure hull of the underwater vehicle to route the sensor data (58) to the signal receiver (28). Method for transmitting sensor data (58) from a watercraft to a signal receiver (28) of the watercraft, comprising the following steps: a) recording a large number of sensor data (58) with a large number of sensors; b) converting the sensor data (58) into an electrical signal corresponding to the sensor data (58); c) providing the electrical signals in the form of a data packet (29) with an identification number that uniquely identifies the data packets (29). characterized; d) sending the data packets (29) via a first sensor Ethernet connection (30a, 30c) to a first packet switching unit (26a) and via a second sensor Ethernet connection (30b, 30d) to a second packet switching unit (26b); e) buffering the data packets (29) in the first and the second packet switching unit; f) sending the data packets (29) from the first packet switching unit (26a) by means of a first receiver Ethernet connection (32a) to the signal receiver (28); g) sending the data packets (29) from the second packet switching unit (26b) by means of a second receiver Ethernet connection (32b) to the signal receiver (28); h) Discarding one of the two data packets if two data packets (29) with the same identification number arrive at the signal receiver (28).

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