CN104297727B - Integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission - Google Patents
Integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission Download PDFInfo
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- CN104297727B CN104297727B CN201410399265.3A CN201410399265A CN104297727B CN 104297727 B CN104297727 B CN 104297727B CN 201410399265 A CN201410399265 A CN 201410399265A CN 104297727 B CN104297727 B CN 104297727B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- G—PHYSICS
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
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- G—PHYSICS
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention relates to an integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission, which uses equipment including a plurality of positioning submersible buoys, a measured target platform, a wireless relay buoy and a shipborne display and control platform, wherein the plurality of positioning submersible buoys sink to the bottom and arranged to be a subsea measurement matrix, and then measurement is carried out on the position of the positioning submersible buoy matrix. A measured target sails in a measurement region formed by the subsea measurement matrix, the measured target platform sends acoustic inquiry signals continuously in an evenly spaced mode, a positioning submersible buoy within the operating range receives the inquiry signals, waits for fixed delay time and replies answering signals, the measured target platform receives the answering relay signals, carries out self-position calculation according to signal detection results and sends combination of a calculation result and a depth measurement result to the nearest positioning submersible buoy in an underwater acoustic communication mode, the nearest positioning submersible buoy transmits the combination of the calculation result and the depth measurement result to the shipborne display and control platform, and the underwater position of the measured target can be monitored in real time on the display and control platform.
Description
Technical Field
The invention relates to an integrated method for positioning an underwater target and remotely controlling and telemetering data underwater acoustic network transmission, which is suitable for accurate positioning and tracking of the underwater target, underwater remote control and telemetering, underwater monitoring, underwater acoustic communication and the like.
Background
The underwater sound positioning technology refers to the method of determining the existence of a target by using sound waves (including self radiation noise or actively emitted sound signals) emitted by the target or echo signals of the target. The underwater acoustic positioning method mainly refers to a method which can be used for accurate navigation and positioning of local areas. The underwater acoustic positioning method is a method formed by forming a matrix by a plurality of elements (receivers or transponders), the distance between the elements in the matrix is called a base length, and the positioning methods are traditionally divided into 3 types according to the base length of the method: long Base Line (LBL), Short Base Line (SBL), and Ultra Short Base Line (USBL). The various positioning methods can be used alone or combined according to actual requirements to form a combined positioning method, such as a long/ultra-short baseline method (L/USBL), a short/ultra-short baseline method (S/USBL), and the like.
The underwater acoustic positioning technology plays an important role in marine environment observation, marine surveying and mapping, resource exploration and national defense construction. With the deep popularization of underwater application, the existing single underwater sound positioning function cannot meet some specific application requirements. The demand for transmitting data information and positioning information by using ocean channels while positioning underwater targets is greatly increased. Various data information, such as communication links between submarines in military and between the submarines and surface ships, submarine position information in the process of ship-to-ship countermeasure drilling, civil telemetering data, remote control instructions of underwater robots and offshore oil platforms, data acquired by hydrological stations, submarine exploration data and the like, are transmitted by using an underwater acoustic channel and an underwater acoustic communication method. Therefore, the integration of underwater target positioning and remote control and remote measurement data underwater acoustic communication network transmission is realized.
Disclosure of Invention
The invention aims to provide an integrated method for positioning an underwater target in a specific measurement area and transmitting remote control and telemetry data underwater acoustic communication network.
The invention comprises target positioning and remote control telemetering data underwater acoustic network transmission, and equipment for target positioning and remote control telemetering data underwater acoustic network transmission utilization comprises a plurality of positioning submerged beacons, a target platform to be detected, a wireless relay buoy and a shipborne display and control platform; the positioning submerged buoy array is formed by arranging a plurality of positioning submerged buoy arrays on the seabed, after arrangement is finished, the positions of the positioning submerged buoy arrays are measured, and the measurement is performed by selecting a self-array measuring mode or a direct array measuring mode; loading position information of a positioning subsurface buoy array on a measured target platform, continuously sending acoustic inquiry signals to the positioning subsurface buoy by the measured target platform at equal intervals when a measured target navigates in a measurement area formed by the positioning subsurface buoy array, and after receiving the inquiry signals, replying response signals corresponding to self addresses by waiting for fixed delay, wherein the fixed delay is preset by a method and is used for eliminating the influence of inconsistent signal processing time on a positioning result; after receiving the response reply signal, the target platform to be tested performs response signal detection and response signal time delay estimation, and performs self-position calculation by adopting a long baseline positioning method according to response signal time delay estimation results of a plurality of positioning submerged beacons and position information of the positioning submerged beacons; the measured target platform carries out pressure data acquisition and depth calculation according to a pressure sensor arranged on the measured target platform; the measured target platform sends the positioning calculation result and the depth measurement result to the nearest positioning submerged buoy in an underwater acoustic communication mode, the nearest positioning submerged buoy is sequentially transmitted to the shipborne display and control platform along an underwater acoustic communication link and a wireless communication link, and finally the underwater position of the measured target is monitored in real time on the shipborne display and control platform;
the positioning submerged buoy has the functions of inquiry signal receiving, response signal replying and communication signal receiving and forwarding, and is a key node for underwater positioning and communication;
the shipborne display and control platform has the underwater acoustic data communication function with the positioning submerged buoy and the wireless data communication function with the wireless relay buoy, so that the receiving and processing of acoustic signals and the decoding of underwater acoustic communication are realized, and the wireless data transmission communication is also carried out with the wireless relay buoy; that is, the shipborne display and control platform directly performs underwater acoustic data communication with the positioning submerged buoy or indirectly realizes the data communication with the positioning submerged buoy through the wireless relay buoy; during indirect communication, the shipborne display control platform and the wireless relay buoy are communicated in a wireless spread spectrum communication mode, and the wireless relay buoy and the positioning submerged buoy are communicated in an underwater sound communication mode.
The underwater target is positioned by adopting a long baseline positioning method, and on the premise of knowing the position information of the positioning submerged buoy array, the accurate positioning of the target can be realized by measuring the time delay information from the underwater target platform to the positioning submerged buoy array and utilizing the spherical geometry intersection principle; under the condition that the target depth information is known, at least the time delay from the target platform to be measured to three positioning submerged targets needs to be known to obtain a unique solution of the target position.
Setting the coordinates of the measured target position asThe position coordinates of the N positioning submerged beacons are respectively、、、…、The propagation delay from the measured target to the ith positioning subsurface buoy isThen, the long baseline positioning calculation formula is:
，（1）
wherein c is the sound propagation velocity in seawater. Under the condition that the target depth z is known, the 3 spherical surfaces are converged, namely, the target position can be uniquely determined as long as the propagation delay from the target to the 3 positioning subsurface targets is known. If the propagation delay of the target to more than 3 positioning subsurface beacons is known, i.e. redundant array elements appear, the propagation delay of the redundant array elements is knownThe information may be used to implement multiple solution averaging to improve positioning accuracy.
The depth information of the measured target is obtained according to a pressure sensor arranged on the measured target, and the pressure sensor is a voltage type pressure sensor. Setting the output voltage range of the pressure sensor toThe corresponding depth measurement range isIf the pressure sensor outputs a voltage ofThen, the corresponding depth value calculation formula is as follows:
（2）
wherein,the density of the seawater is shown as the density of the seawater,is acceleration of gravity, depthHas the unit of。
The invention is suitable for accurately positioning three underwater targets at most simultaneously in a specific measurement area.
The maximum measurable area of the invention is 30km multiplied by 30km, and the positioning subsurface buoy is arranged in the measurable area according to 4km multiplied by 4km or 5km multiplied by 5km basic measurement and control units. The size of the basic measurement and control unit can be adjusted according to real-time sea conditions and hydrological data.
The working frequency band of the invention is 7.0 kHz-14.0 kHz, each single-frequency signal represents a channel and is totally divided into 34 channels, the frequency point interval between the channels is 200Hz, and the pulse width of the signal is adjustable within 5 ms-10 ms (the adjustment step length is 1 ms). And two channels of the 34 channels are used as wake-up signal channels, the other 32 channels are used as underwater sound communication channels, and pulse signals of 7-12 channels are optimally selected from the 32 channels to carry out frequency hopping coding optimal combination. The number of pulses of the frequency hopping code optimal combination is determined by the number of positioning subsurface beacons which are actually distributed.
The interrogation signal of the present invention is comprised of a wake-up signal and a frequency hopping coded signal. Different target platforms to be tested all use the same wake-up signal and frequency hopping code signal, and different time delay intervals between the wake-up signal and the frequency hopping code signal represent different targets, for example, an interval of 50ms represents target 1, an interval of 100ms represents target 2, and an interval of 150ms represents target 3. The wake-up signal is a fixed single frequency signal CRF1 with a pulse width of 5 ms. The frequency hopping coding signal of the inquiry signal is also in a fixed signal form, and the pulse width of the signal is 7 ms-12 ms. The reply signal of the positioning submerged buoy also adopts a frequency hopping coding signal form, and each positioning submerged buoy is distributed with different frequency hopping coding signals to represent the address code of the positioning submerged buoy.
The underwater sound remote control and remote measurement communication is used for remote control and data transmission between a ship-borne display control platform and a positioning submerged buoy, between a measured target platform and the positioning submerged buoy, between the positioning submerged buoy and between a wireless relay buoy and the positioning submerged buoy. The data contents of the underwater acoustic remote control and remote measurement transmission comprise: positioning submerged buoy self-checking command, positioning submerged buoy releasing command, positioning submerged buoy self-testing starting array, starting target positioning, stopping target positioning, setting positioning submerged buoy routing table, setting positioning submerged buoy position, returning self-checking result, returning self-testing array result and returning target positioning result. The first 7 are downlink commands, and the last three are uplink commands. The format of the underwater acoustic communication protocol is as follows: the method comprises the following steps of a relay node address code (6 bits), a destination node (or source node) address code (6 bits), a remote control and telemetry command code (4 bits), a data content code and a parity check code (2 bits). Wherein the length of the data content code is determined according to different instruction contents. Aiming at a downlink instruction, the first 12bits in the underwater acoustic communication protocol represent a relay node address and a destination node address; aiming at the uplink instruction, the first 12bits in the underwater acoustic communication protocol represent the address of the relay node and the address of the source node. The source node of the downlink instruction is defaulted to be the shipborne display and control platform, and the destination node address of the uplink instruction is also defaulted to be the shipborne display and control platform.
In the invention, the underwater acoustic communication adopts an RZ-OFSK digital communication mode, 32 public communication channels are shared, and the pulse signal of each channel can represent 5bits of information. The underwater acoustic communication signal is composed of a wake-up pulse signal and an underwater acoustic communication pulse train signal, and the underwater acoustic communication pulse train has 12 pulse signals at most, namely, 60bits of information can be transmitted at most each time. The pulse width of each pulse signal is 5ms, the interval between pulses is 50 ms-80 ms, and the total signal length is less than 1.1 s.
The wireless data communication content between the shipborne display and control platform and the wireless relay buoy is the same as the content of the transmission of the underwater acoustic remote control and remote measurement data, but the communication protocol formats are different. The format of the wireless data transmission protocol is as follows: frame header (1 Byte), data length (2 Bytes), destination node address (2 Bytes), data type (1 Byte), data content (NBbytes) and checksum (2 Bytes). The data length refers to the total number of bytes of the data type, the data content and the checksum; the checksum is calculated by the data type and the data content together; when the data occupies 2Bytes, the low bit is sent first, and then the high bit is sent.
The positioning subsurface buoy is used as a key node for underwater positioning and communication, each positioning subsurface buoy is allocated with a node number and a node address code, and the node numbers and the node address codes are in one-to-one correspondence. The node numbers are numbered according to the row-column relationship of the laid nodes in the measurement matrix, for example, the numbers of 5 nodes in the first row are respectively: 11#, 21#, 31#, 41#, 51 #; the numbers of the 5 nodes in the first column are respectively: 11#, 12#, 13#, 14#, 15#, and so on.
The shipborne display control platform, the wireless relay buoy and the target platform to be tested are also distributed with a node number and a node address code, and the node number and the node address code are in one-to-one correspondence.
The data transmission routing table comprises an uplink node number (or address code) and a downlink node number (or address code), and the number of the distributed positioning subsurface buoy nodes is determined according to the measurement range before each measurement, so that the data transmission routing table of each node is determined and set.
The array measuring mode comprises a self-array measuring mode and a direct array measuring mode, wherein the direct array measuring mode is that a measuring ship navigates a circle around one or more positioning submerged buoy, a plurality of proper measuring point positions are selected in the navigation process, an inquiry signal is sent by a ship-borne display control platform to be measured to obtain time delay information from the measuring ship to the positioning submerged buoy, and the geodetic coordinates of the positioning submerged buoy can be obtained according to the spherical geometry intersection principle under the condition that the geodetic coordinates and the propagation sound velocity of the measuring point positions are known. The self-array-measuring mode is that a measuring ship is used for firstly adopting a direct array-measuring mode to measure and obtain the geodetic coordinates of the positioning submerged buoy at the edge of the array, then the geodetic coordinates of the other unknown position submerged buoy are obtained by measuring the time delay information between every two positioning submerged buoys and finally according to the spherical intersection principle. When the self-testing array command is issued, only the time delay information between the two positioning submerged beacons is measured every time, namely, after the specified positioning submerged beacons receive the self-testing array command, the self-testing array command is decoded, if the address of the relay node is the same as that of the target node in the decoding result, an inquiry signal is transmitted, then response signals corresponding to the positioning submerged beacons are detected according to self-testing array address codes, and the time delay information between the two positioning submerged beacons is calculated. And returning the time delay result along the original path after the array is tested. If the decoding result is that the address of the relay node is different from the address of the destination node, the address of the relay node is regenerated according to a preset routing table, and then the self-test array command is sent out, and so on. When the array is self-tested, each positioning subsurface buoy only carries out time delay measurement on the positioning subsurface buoy within a range of 6km from the positioning subsurface buoy. During self-test array, the relay node does not need to perform acknowledgement after decoding the received self-test array command. In order to improve the measurement accuracy of the self-test array, multiple time delay measurements can be selected to be carried out every time a self-test array instruction is received, and then self-test array positioning calculation is carried out according to the time delay average value of the multiple measurements.
The method scheme of the invention has the outstanding characteristics of high use flexibility and strong expandability, and is embodied in the following three aspects: firstly, the number of distributed positioning subsurface buoy nodes can be adjusted in real time according to the measurement range and the number of measured targets. And secondly, the method can be independently suitable for underwater multi-target positioning application and underwater acoustic communication data network transmission. Thirdly, the number of the wireless relay buoys can be adjusted in real time according to the distance between the actual measurement ship and the measurement area and the acting distance of spread spectrum communication.
Drawings
FIG. 1 is a method work process situation diagram.
Fig. 2 is a schematic diagram of the transmission and reception timing of the inquiry signal and the response signal.
Fig. 3 is a schematic diagram of the composition of an underwater acoustic telemetry signal.
Fig. 4 is a schematic diagram of a data transmission link.
Fig. 5 is a schematic diagram of an object locating process.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples, but the present invention is not limited to these examples.
The working process situation diagram of the method of the invention is shown in fig. 1, wherein the dashed line represents an underwater acoustic communication link, and the solid line represents a wireless communication link. The equipment for target positioning and remote control and telemetry data underwater acoustic network transmission and utilization comprises a plurality of positioning submerged beacons, a target platform to be measured, a wireless relay buoy and a shipborne display and control platform. In the invention, a plurality of positioning submerged buoy are distributed on the seabed to form a seabed measurement positioning submerged buoy array, and then the position of the positioning submerged buoy array is measured, including a self-array measuring mode or a direct array measuring mode. The method comprises the steps that position information of a positioning submerged buoy array is loaded on a measured target platform, a measured target sails in a measuring area formed by a submarine measuring array, the measured target platform continuously sends acoustic inquiry signals at equal intervals, after the positioning submerged buoy in an action distance receives the inquiry signals, response signals are replied in a fixed delay mode, the measured target platform resolves the position of the measured target platform according to signal detection results after receiving the response signals, the resolved results and depth measurement results are sent to the nearest submerged buoy in an underwater acoustic communication mode, the nearest submerged buoy sequentially transmits the underwater acoustic communication links and wireless communication links to a shipborne display and control platform, and the shipborne display and control platform displays the position and state information of the measured target in real time.
Fig. 2 is a schematic diagram of the transmission and reception timing of the inquiry signal and the response signal. The inquiry response signal is used for positioning the submerged buoy array to perform long baseline positioning on the target to be measured and positioning the submerged buoy self-testing array. When the measured target or the shipborne display control platform inquires the positioning submerged buoy, the inquiry signal consists of a wake-up signal and a frequency hopping coding signal. The CRF1 in fig. 2 represents the wake-up signal in the interrogation signal, the IFH represents the frequency hopping code signal in the interrogation signal, and the RFH1 represents the response signal of the # 1 positioning target. After receiving the inquiry signal, the positioning submerged buoy needs to wait for a fixed time delay and then replies a response signal. The same wake-up signal and frequency hopping code signal are used for the inquiry signals of different targets, except that the delay interval between the wake-up signal and the frequency hopping code signal is different and represents different targets, for example, the interval 50ms represents target 1, 100ms represents target 2, and 150ms represents target 3. The wake-up signal is a fixed single-frequency signal with a pulse width of 5 ms. The inquiry response frequency hopping coding signal is also in a fixed signal form, and the pulse width of the signal is 7 ms-12 ms. The reply signal of the positioning submerged buoy also adopts a frequency hopping coding signal form, and each positioning submerged buoy is distributed with different frequency hopping coding signals to represent the address code of the positioning submerged buoy.
Fig. 3 is a schematic diagram of the composition of an underwater acoustic telemetry signal. The underwater acoustic remote telemetry signal consists of a wake-up signal CRF2 and a communication burst signal, wherein the wake-up signal is a fixed single frequency signal, but has a different frequency from the wake-up signal in the interrogation signal. The underwater acoustic communication pulse train has 12 pulse signals at most, and each pulse signal can represent 5bits of information, namely, 60bits of information can be transmitted at most each time. The pulse width of each pulse signal is 5ms, the interval between pulses is 50 ms-80 ms, and the total signal length is less than 1.1 s.
The underwater sound remote control and remote measurement communication is used for remote control and data transmission between a shipborne display control platform and a positioning submerged buoy, between a measured target platform and the positioning submerged buoy, between the positioning submerged buoy and between a wireless relay buoy and the positioning submerged buoy. The data communication comprises a downlink instruction and an uplink instruction, and each data communication process is single-path transmission, namely, an acknowledgement signal does not need to be replied. Aiming at the downlink instruction, the first 12bits in the underwater acoustic communication protocol represent the address of the relay node and the address of the destination node. Aiming at the uplink instruction, the first 12bits in the underwater acoustic communication protocol represent the address of the relay node and the address of the source node. The source node of the downlink instruction is defaulted to be the shipborne display and control platform, and the destination node address of the uplink instruction is also defaulted to be the shipborne display and control platform.
Fig. 4 is a data transmission link diagram. In the method, the positioning submerged buoy, the shipborne display control platform, the measured target platform and the wireless relay buoy are all regarded as a positioning or communication node, and a data transmission routing table corresponding to the node is set for each node before equipment is laid. The contents of the data transmission routing table include an upstream node number (or address code) and a downstream node number (or address code). After each node receives the underwater acoustic remote control and remote measurement command, the command content is sequentially recoded according to the command type and the routing sequence of the data transmission routing table and then transmitted to the downlink nodes. The principle of data transmission link in the method is arranged in a column sequence or a row sequence, for example, according to the situation shown in fig. 4, the process of data transmission from the 81# wireless relay buoy to the 14# positioning submerged buoy can only be: the 81# relay buoy-31 # positioning submerged buoy-21 # -11 # -12 # -13 # -14 #, namely, the data are firstly transmitted to the column with the first bit number of the positioning submerged buoy being the same as that of the target positioning submerged buoy, and then are sequentially transmitted to the target positioning submerged buoy along the second bit number. The upstream data is transmitted back to the source node along the original path.
Fig. 5 is a schematic diagram of an object locating process. When a certain target starts to be positioned, a tested target platform on the target starts to transmit an inquiry signal and simultaneously receives a response signal replied by a positioning submerged buoy nearby the target, the tested target platform receives the response signal and calculates time delay information from the tested target to a plurality of positioning submerged buoys according to a signal processing result, target positioning is carried out according to known positioning submerged buoy position information by using a spherical geometry intersection principle, in principle, only the response signals of three positioning submerged buoys are received, a unique solution of a target position can be obtained, and under the condition that the response signals of more than three positioning submerged buoys are received, weighted average of multiple solutions can be realized by using redundant information so as to improve target positioning accuracy. After the measured target platform resolves the position of the target platform, the resolved result is transmitted to two positioning submerged beacons nearest to the target platform through an underwater acoustic communication mode according to a certain time interval, the positioning submerged beacons send the positioning results to a downlink node according to a preset data transmission routing table, the positioning results are transmitted in sequence in a relay mode, finally the target positioning results are transmitted to a ship-borne display and control platform, and the ship-borne display and control platform displays real-time tracks and state information of targets on a display and control software interface. The target positioning data transmission links in the method are two, so that the reliability of data transmission is greatly improved. The transmission process of the object positioning data in the scheme of the method is unidirectional, and confirmation reply is not needed.
Claims (6)
1. An integrated method of underwater target positioning and remote control telemetering data underwater acoustic network transmission comprises the steps of target positioning and remote control telemetering data underwater acoustic network transmission, and is characterized in that equipment used for the target positioning and remote control telemetering data underwater acoustic network transmission comprises a plurality of positioning submerged beacons, a target platform to be measured, a wireless relay buoy and a shipborne display and control platform; the positioning submerged buoy array is formed by arranging a plurality of positioning submerged buoy arrays on the seabed, after arrangement is finished, the positions of the positioning submerged buoy arrays are measured, and the measurement is performed by selecting a self-array measuring mode or a direct array measuring mode; loading position information of a positioning subsurface buoy array on a measured target platform, continuously sending acoustic inquiry signals to the positioning subsurface buoy by the measured target platform at equal intervals when a measured target navigates in a measurement area formed by the positioning subsurface buoy array, and after receiving the inquiry signals, replying response signals corresponding to self addresses by waiting for fixed delay, wherein the fixed delay is preset by a method and is used for eliminating the influence of inconsistent signal processing time on a positioning result; after receiving the response reply signal, the target platform to be tested performs response signal detection and response signal time delay estimation, and performs self-position calculation by adopting a long baseline positioning method according to response signal time delay estimation results of a plurality of positioning submerged beacons and position information of the positioning submerged beacons; the measured target platform carries out pressure data acquisition and depth calculation according to a pressure sensor arranged on the measured target platform; the measured target platform sends the positioning calculation result and the depth measurement result to the nearest positioning submerged buoy in an underwater acoustic communication mode, the nearest positioning submerged buoy is sequentially transmitted to the shipborne display and control platform along an underwater acoustic communication link and a wireless communication link, and finally the underwater position of the measured target is monitored in real time on the shipborne display and control platform; the positioning submerged buoy has the functions of inquiry signal receiving, response signal replying and communication signal receiving and forwarding, and is a key node for underwater positioning and communication; the shipborne display and control platform has the underwater acoustic data communication function with the positioning submerged buoy and the wireless data communication function with the wireless relay buoy, so that the receiving and processing of acoustic signals and the decoding of underwater acoustic communication are realized, and the wireless data transmission communication is also carried out with the wireless relay buoy; that is, the shipborne display and control platform directly performs underwater acoustic data communication with the positioning submerged buoy or indirectly realizes the data communication with the positioning submerged buoy through the wireless relay buoy; during indirect communication, the shipborne display control platform and the wireless relay buoy are communicated in a wireless spread spectrum communication mode, and the wireless relay buoy and the positioning submerged buoy are communicated in an underwater sound communication mode; the method is characterized in that a long baseline positioning method is adopted for positioning an underwater target, and on the premise of knowing the position information of a positioning submerged buoy array, the accurate positioning of the target can be realized by measuring the time delay information from an underwater target platform to the positioning submerged buoy array and utilizing the spherical geometry intersection principle; under the condition that the target depth information is known, the unique solution of the target position can be obtained only by knowing the time delay from the target platform to be measured to the three positioning submerged targets; the method can accurately position three underwater targets at most simultaneously in a specific measurement area; the maximum measurable area is 30km multiplied by 30km, and the positioning submerged buoy is distributed in the measurable area according to 4km multiplied by 4km or 5km multiplied by 5km basic measurement and control units; the size of the basic measurement and control unit can be adjusted according to real-time sea conditions and hydrological data; the working frequency band of the method is 7.0 kHz-14.0 kHz, each single-frequency signal represents a channel and is divided into 34 channels in total, the frequency point interval between the channels is 200Hz, the pulse width of the signal is adjustable within 5 ms-10 ms, and the adjustment step length is 1 ms; two of the 34 channels are used as wake-up signal channels, the other 32 channels are used as underwater sound communication channels, and pulse signals of 7-12 channels are optimally selected from the 32 channels to carry out frequency hopping coding optimal combination; the number of pulses of the frequency hopping coding optimization combination is determined by the number of positioning subsurface beacons which are actually distributed; the method comprises the steps that an inquiry signal consists of a wake-up signal and a frequency hopping coding signal; different target platforms to be tested all adopt the same wake-up signal and frequency hopping coding signal, and different time delay intervals between the wake-up signal and the frequency hopping coding signal represent different targets; the wake-up signal adopts a fixed single-frequency signal CRF1, and the pulse width of the signal is 5 ms; the frequency hopping coding signal of the inquiry signal is also in a fixed signal form, and the pulse width of the signal is 7 ms-12 ms; the reply signal replied by the positioning submerged buoy also adopts a frequency hopping coding signal form, and each positioning submerged buoy is distributed with different frequency hopping coding signals to represent the address code of the positioning submerged buoy; the data contents of the underwater acoustic remote control and remote measurement transmission comprise: positioning submerged buoy self-checking command, positioning submerged buoy releasing command, positioning submerged buoy self-testing starting array, starting target positioning, stopping target positioning, setting positioning submerged buoy routing table, setting positioning submerged buoy position, returning self-checking result, returning self-testing array result and returning target positioning result; the first 7 are downlink instructions, and the last three are uplink instructions; the format of the underwater acoustic communication protocol is as follows: 6bits of a relay node address code, 6bits of a destination node or source node address code, 4bits of a remote control and remote measurement instruction code, a data content code and a parity check code 2 bit; wherein the length of the data content code is determined according to different instruction contents; aiming at a downlink instruction, the first 12bits in the underwater acoustic communication protocol represent a relay node address and a destination node address; aiming at an uplink instruction, the first 12bits in the underwater acoustic communication protocol represent a relay node address and a source node address; the source node of the downlink instruction is defaulted to be the shipborne display and control platform, and the destination node address of the uplink instruction is also defaulted to be the shipborne display and control platform.
2. The integrated method for underwater target positioning and remote control and telemetry data underwater acoustic network transmission according to claim 1, characterized in that the underwater acoustic communication of the method adopts RZ-OFSK digital communication mode, there are 32 public communication channels, and the pulse signal of each channel can represent 5bits information; the underwater acoustic communication signal consists of a wake-up pulse signal and an underwater acoustic communication pulse train signal, wherein the underwater acoustic communication pulse train has at most 12 pulse signals, namely, at most 60bits of information can be transmitted each time; the pulse width of each pulse signal is 5ms, the interval between pulses is 50 ms-80 ms, and the total signal length is less than 1.1 s.
3. The integrated underwater target positioning and remote control and telemetry data underwater acoustic network transmission method according to claim 1, characterized in that the wireless data communication content between the shipborne display and control platform and the wireless relay buoy is the same as the content of the underwater acoustic remote control and telemetry data transmission, except that the communication protocol format is different; the format of the wireless data transmission protocol is as follows: frame header 1 Bytes, data length 2Bytes, destination node address 2Bytes, data type 1Byte, data content NBbytes and checksum 2 Bytes; the data length refers to the total number of bytes of the data type, the data content and the checksum; the checksum is calculated by the data type and the data content together; when the data occupies 2Bytes, the low bit is sent first, and then the high bit is sent.
4. The integrated method for underwater target positioning and remote control and telemetry data underwater acoustic network transmission of claim 1, characterized in that the positioning submerged buoy is used as a key node for underwater positioning and communication, each positioning submerged buoy is assigned a node number and a node address code, and the node numbers and the node address codes are in one-to-one correspondence; the node numbers are numbered according to the row-column relationship of the distributed nodes in the measurement array; the shipborne display control platform, the wireless relay buoy and the measured target platform are also distributed with a node number and a node address code, and the node number and the node address code are in one-to-one correspondence.
5. The integrated method for positioning the underwater target and remotely controlling the data underwater acoustic network transmission according to claim 1, wherein the data transmission routing table comprises an uplink node number or address code and a downlink node number or address code, and the number of the deployed positioning subsurface buoy nodes needs to be determined according to a measurement range before each measurement, so that the data transmission routing table of each node is determined and set.
6. The integrated method of underwater target positioning and remote control and telemetry data underwater acoustic network transmission as claimed in claim 1, characterized in that the direct array measurement mode is that the measuring ship navigates a circle around one or more positioning submerged beacons, in the navigation process, a plurality of suitable measuring point positions are selected, and an inquiry signal is sent by a ship-mounted display and control platform to obtain the time delay information from the measuring ship to the positioning submerged beacons, and under the condition of known measuring point position geodetic coordinates and propagation sound velocity, the geodetic coordinates of the positioning submerged beacons can be obtained according to the spherical geometric intersection principle; the self-array measuring mode is that a measuring ship is used for firstly adopting a direct array measuring mode to measure and obtain the geodetic coordinates of the positioning submerged buoy at the edge of the array, then the geodetic coordinates of the submerged buoy at the other unknown positions are obtained by measuring the time delay information between every two positioning submerged buoys and finally according to the spherical intersection principle; when a self-testing array instruction is issued, only the time delay information between two positioning submerged beacons is measured every time, namely, after the specified positioning submerged beacons receive the self-testing array instruction, the self-testing array instruction is decoded, if the address of a relay node is the same as that of a target node in a decoding result, an inquiry signal is transmitted, then a response signal corresponding to the positioning submerged beacons is detected according to the self-testing array address code, and the time delay information between the two positioning submerged beacons is calculated; returning the time delay result along the original path after the array is tested; if the decoding result is that the address of the relay node is different from the address of the destination node, the address of the relay node is regenerated according to a preset routing table, then the self-test array command is sent out, and so on; during self-testing, each positioning subsurface buoy only carries out time delay measurement on the positioning subsurface buoy within a range of 6km away from the positioning subsurface buoy; during self-test array, the relay node does not need to perform confirmation reply after decoding the received self-test array command; in order to improve the measurement accuracy of the self-test array, each time a self-test array instruction is received, multiple time delay measurements are selected to be carried out, and then self-test array positioning calculation is carried out according to the time delay average value of the multiple measurements.
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