CN112332952B - An underwater acoustic communication method between an underwater glider and a submersible mark - Google Patents
An underwater acoustic communication method between an underwater glider and a submersible mark Download PDFInfo
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- 230000006854 communication Effects 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000006870 function Effects 0.000 claims abstract description 6
- 230000004044 response Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000005070 sampling Methods 0.000 claims description 11
- 230000003993 interaction Effects 0.000 claims description 7
- 238000013500 data storage Methods 0.000 claims description 3
- 230000002618 waking effect Effects 0.000 claims description 3
- 230000003111 delayed effect Effects 0.000 claims description 2
- 230000004048 modification Effects 0.000 claims description 2
- 238000012986 modification Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract 1
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
- H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
- H04L1/1607—Details of the supervisory signal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0078—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location
- H04L1/0083—Formatting with frames or packets; Protocol or part of protocol for error control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
- H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
- H04L1/18—Automatic repetition systems, e.g. Van Duuren systems
- H04L1/1867—Arrangements specially adapted for the transmitter end
- H04L1/188—Time-out mechanisms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- 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
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Abstract
The invention relates to an underwater acoustic communication method, which establishes communication between a submerged buoy platform and an underwater glider through an underwater acoustic communication technology, realizes the function of transmitting observation data of a sensor carried on the submerged buoy platform back to the water surface without recovering the submerged buoy, and simultaneously realizes the monitoring of the working state of the submerged buoy platform. The method is based on an underwater acoustic communication protocol, the communication protocol is transmitted in the form of two protocol data packets of AT Instant Message and BurstData through an evolution OEM underwater acoustic communicator platform, the method has the functions of continuously sending a large amount of data, requesting a plurality of address data AT a time, directly requesting corresponding time range data and the like, and a proper strategy can be selected for communication according to the data processing capacity of two communication parties in the actual communication process.
Description
Technical Field
The invention relates to an underwater acoustic communication protocol, in particular to an underwater acoustic communication protocol between an underwater glider and a submerged buoy.
Background
Since the attenuation effect of radio waves in an underwater environment is very significant and an effective data communication link cannot be formed, the underwater glider cannot interact with other carriers when performing tasks. By carrying the underwater acoustic communication machine on the underwater glider and the submerged buoy, the underwater glider can receive and store effective data uploaded by sensors (CTD, TD, current meter and the like) on the submerged buoy through acoustic transmission in the task execution process, wait for the glider to execute the task and float out of the water surface, and send the received submerged buoy effective data to a shore-based or ship-based monitoring system in real time through a satellite, so that the submerged buoy data is innovatively realized in near real time.
The underwater acoustic data transmission has the characteristics of short distance, slow response, limited bandwidth, certain error rate and the like, so that an underwater acoustic communication protocol needs to be designed for the underwater glider and the underwater buoy acoustic operation scene, the underwater acoustic communication protocol is compatible with the acoustic communication defects, and the efficiency and the reliability of acquiring the underwater buoy data are improved.
Disclosure of Invention
The invention aims to provide an underwater acoustic communication protocol for solving the problem that underwater gliders rely on an acoustic communication machine to efficiently and reliably obtain submerged buoy observation data.
The technical scheme adopted by the invention for realizing the purpose is as follows:
an underwater sound communication method for an underwater glider and a submerged buoy comprises the following steps:
1) waking up an acoustic glider local underwater acoustic communicator;
2) the acoustic glider sends a data request packet to the submerged buoy, and enters a state of waiting for instant message feedback after the acoustic glider sends the current data packet;
3) if the acoustic glider receives the delayed feedback, stopping sending the data request packet, entering a data waiting state, and executing the step 4); if the acoustic glider receives failed feedback or does not receive any feedback within the time threshold, keeping all bytes in the data request packet unchanged, and skipping to the step 2); if the acoustic glider does not receive any feedback information for a plurality of times continuously, the underwater acoustic communicator is restarted, and then the step 1) is skipped;
4) if the data request packet is successfully transmitted within the time threshold, the acoustic glider performs frame check and judgment: if the frame checksum is correct, the data acquired by different sensors on the submerged buoy are respectively distributed to files corresponding to the sensors in the acoustic glider; if the frame checksum is incorrect, the data storage of the data request packet is not performed, all fields in the data request packet are kept unchanged at the moment, and the step 2) is skipped;
and if the transmission time of the data request packet exceeds the time threshold, the current transmission is considered to be disconnected because the acoustic channel condition is not good, all functional bytes in the data request packet are kept unchanged, and the step 2) is skipped.
The data request packet is transmitted in the form of two protocol data packets of AT Instant Message and BurstData through the underwater acoustic communicator.
The protocol data packet content comprises: a packet start flag, a transmitting end flag, a receiving end flag, a packet number, a packet type, an additional data length, an additional data content, a checksum, and a packet end flag; the packet start flag is 4 fixed bytes; the sending end is marked as 2 variable bytes; the receiving end is marked with 2 variable bytes; the packet number is 4 variable bytes with a value range of 0x00000000-0 xFFFFFFFF; the packet type is 2 variable bytes; the additional data is 2 bytes in length and has a value ranging from 0x0000 to 0x 0400; the additional data content is 0 to 1024 variable bytes; the checksum is 4 fixed bytes and is a binary unsigned byte accumulated sum of the additional data content; the end of packet flag is 4 fixed bytes.
The types of the protocol DATA packets comprise a DATA packet, a STATUS packet, a READ packet, a PICK _ INFO packet, a PICK packet and a SETUP packet, each protocol DATA packet is subdivided into a request packet and a response packet according to a sending and receiving end, the request packet is transmitted in the form of AT Instant Message, and the response packet is transmitted in the form of Burst DATA.
The protocol data packet functions are as follows:
STATUS：
the STATUS request packet is used for requesting the working states of the underwater acoustic communicator and the submerged buoy so as to confirm whether the underwater acoustic communicator and the submerged buoy work normally or not;
the STATUS response packet is used for returning the working states of the underwater acoustic communicator and the submerged buoy and confirming whether the underwater acoustic communicator and the submerged buoy work normally;
READ：
the READ request packet is used for requesting transmission of data at a specified address in the data memory;
the READ response packet is used for transmitting the data of the designated address to the data request end;
PICK_INFO：
the PICK _ INFO request packet is used for requesting to transmit a data address range of a specified sensor specified sampling time range in the data memory;
the PICK _ INFO response packet is used for transmitting the address range of the data in the specified time range of the specified sensor to the data request end;
PICK：
the PICK request packet is used for requesting to transmit data of a specified sensor specified sampling time range in the data memory;
the PICK response packet is used for transmitting data in a time range specified by a plurality of sensors in the PICK request packet;
SETUP：
the SETUP request packet is used for configuring the working state of the submerged buoy and the sensor carried by the submerged buoy;
the SETUP response packet is used to feed back the result of the configuration modification.
The acoustic glider and the submerged buoy are integrated with an underwater acoustic communicator for data interaction and are used for various interaction scenes.
The interaction scenario includes: checking the working state of the submerged buoy, acquiring data of a specified time range of a specified sensor, and acquiring the latest sampling data of all sensors.
The invention has the following beneficial effects and advantages:
the invention provides an application scene of underwater real-time data interaction for an underwater glider, the application of the scene completes the physical ocean cooperative observation of an acoustic underwater glider platform and an aging subsurface buoy platform, overcomes the defects of lagged observation data and higher data acquisition cost of traditional fixed observation platforms such as a subsurface buoy and the like, and provides a brand-new solution for solving the real-time problem of subsurface buoy observation data.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the data request end represents an underwater glider, and the data sending end represents a submerged buoy. Is a flow chart of the method of the present invention. The invention firstly aims to provide an underwater acoustic communication protocol, which is transmitted in the form of two protocol data packets of AT Instant Message and BurstData through an evolution OEM underwater acoustic communicator platform, wherein the protocol data packets comprise: a packet start flag, a transmitting end flag, a receiving end flag, a packet number, a packet type, an additional data length, an additional data content, a checksum, and a packet end flag; the packet start flag is 4 fixed bytes; the sending end is marked as 2 variable bytes; the receiving end is marked with 2 variable bytes; the packet number is 4 variable bytes with a value range of 0x00000000-0 xFFFFFFFF; the packet type is 2 variable bytes; the additional data is 2 bytes in length and has a value ranging from 0x0000 to 0x 0400; the additional data content is 0 to 1024 variable bytes; the checksum is 4 fixed bytes and is a binary unsigned byte accumulated sum of the additional data content; the end of packet flag is 4 fixed bytes.
Packet start flag: the length is 4 bytes, the value is constant to 0x7EAA557E, and the value is used for indicating the beginning of the packet and carrying out packet identification.
Identification of a sending end: length 2 bytes, low byte indicates the sending platform type, and the currently defined values are shown in table 1; the high byte indicates the number of different platforms in the unified platform type, and currently available values are 0x30-0x 39. Indicating the platform on which the packet is sent.
Table 1: underwater acoustic communication protocol platform type identifier
(3) Identification of a receiving end: length 2 bytes, low byte indicates the receiving platform type, and the currently defined values are shown in table 1; the high byte indicates the number of different platforms in the unified platform type, and currently available values are 0x30-0x 39. Platform for representing received packets
(4) Packet numbering: 4 bytes in length, with a value from 0x00000000 to 0 xfffffffff, for performing functions such as packet loss and duplicate detection when transmitting or receiving consecutive packets. The packet numbers of the sending end and the receiving end are reset when each transmission starts; the packet numbers sent by the sending end and the receiving end in each transmission are respectively and independently increased from 0.
(5) Packet type: length 2 bytes, the currently defined value is shown in table 2, to indicate the function implemented by the packet.
Table 2: underwater acoustic communication protocol packet type
(6) Additional data length: length 2 bytes, with values from 0x0000-0x0400, are used to indicate the length of the additional data portion in a particular packet.
(7) Additional data: the length is from 0 to 1024 bytes, and the data and the parameters are stored when the data or the parameters are transmitted.
(8) And (4) checking the sum: length 4 bytes, value is binary unsigned byte accumulated sum of additional data, used for checking correctness of additional data.
(9) End of package sign: length 4 bytes, constant value 0x7E55AA7E, to indicate the end of the packet, for packet identification.
The underwater acoustic communication flow of the underwater glider and the submerged buoy comprises the following steps:
step 1: waking up an acoustic glider local acoustic pass device.
Step 2: the acoustic glider sends a request packet to the underwater buoy in an AT Instant Message mode, and enters a state of waiting for Instant Message feedback after the acoustic glider sends the current Instant Message;
step 3: if receiving delivery feedback, stopping sending the data request packet, and entering a data waiting state; if failed feedback is received or no feedback is received within 10 seconds, keeping all functional bytes in the request packet unchanged, and skipping to the step 2; if no feedback information is received for 5 times continuously, restarting the voice communication equipment, and then jumping to the step 1;
step 4: if burst data are successfully transmitted within 64 seconds, judging frame checksum by the glider; if the whole burst transmission is waited for more than 64 seconds, the current transmission is considered to be disconnected because the acoustic channel condition is not good, all functional bytes in the request packet are kept unchanged, and the step 2 is skipped;
step 5: if the frame checksum is correct, distributing the data to a corresponding file of the glider according to the type of the requested sensor, and if all the data are received according to a submerged buoy data transmission strategy configured by a task, enabling the sound communication equipment to sleep, otherwise, updating the additional data and the frame checksum field in the request packet, and skipping to the step 2; and if the frame checksum is incorrect, data storage cannot be carried out on burst transmitted data, all functional fields in the request packet are kept unchanged at the moment, and the step 2 is skipped.
Note:
the time is actually measured as the longest time from the time when the glider is in the sleep state to the time when the AT data request is sent to the time when the AT feedback message is received.
If the time exceeds the critical time obtained by comparing the current Burst Data transmission rate with the AT instant message transmission rate, the current Burst transmission rate is lower than the AT instant message transmission rate, and the whole transmission efficiency is influenced.
The interactive scene mainly comprises the following modes:
(1) checking working state of submerged buoy
And sending a STATUS command to the submerged buoy, comparing the time in the received STATUS response packet with the actual time, considering the communication delay and the synchronization time precision, and if the difference is not large, considering that the underwater acoustic communication equipment and the control system of the submerged buoy work normally.
(2) Acquiring data specifying a sensor specified time range
The method comprises the following steps: and sending a PICK _ INFO command to the submerged buoy, wherein the command parameters are the number of the sensor needing to acquire data and the time range of the sensor. And analyzing after receiving the response packet of the PICK _ INFO, analyzing if an abnormal condition occurs, and retransmitting after modifying the request. And if the data size is proper and the return address is not abnormal, sending a READ command, wherein the command parameters are the starting address and the data length returned by the PICK _ INFO command. Analyzing the received READ response packet together with the PICK _ INFO response packet enables locating data of a given sensor within a given time range.
The method 2 comprises the following steps: and sending a PICK command to the submerged buoy, wherein the command parameters are the serial number of the sensor needing to acquire data and the time range of the sensor. After receiving the response, the data of the specified sensor in the specified time range can be directly extracted.
(3) Acquiring latest sampling data of all sensors
The method comprises the following steps: and sending a PICK _ INFO command to the submerged buoy, wherein the command parameters are sensor requests with the starting time of 0 and the ending time of 0xFFFFFFFF, wherein all the sensor numbers are included. The initial address in the received response packet of the PICK _ INFO is the address of the first sampling of each sensor, and the data length is the total data volume sampled by the sensors. And then sending a READ command, wherein the starting address in the command parameter is the starting address returned by the PICK _ INFO command plus the data length minus the size of one-time sampling of the sensor, and the data length is the size of one-time sampling of the sensor. The received READ response packet is the latest sampled data of all sensors.
The method 2 comprises the following steps: and sending a PICK _ INFO command to the submerged buoy, wherein the command parameters are sensor requests which comprise all sensor numbers and have the starting time of 0xFFFFFFFF and the ending time of 0 xFFFFFFFF. The initial address in the received PICK _ INFO response packet is the last sampling address of each sensor, and the data length is the data volume sampled by the sensor once. Then, a READ command is sent, and the starting address and the data length in the command parameters are consistent with those returned by the PICK _ INFO command. The received READ response packet is the latest sampled data of all sensors.
The method 3 comprises the following steps: and sending a PICK command to the submerged buoy, wherein the command parameters are sensor requests which comprise all sensor numbers and have the starting time of 0xFFFFFFFF and the ending time of 0 xFFFFFFFF. The response packet for the received PICK includes the index and data of the last sample of all sensors.
Claims (4)
1. An underwater acoustic communication method for an underwater glider and a submerged buoy is characterized by comprising the following steps:
1) waking up an acoustic glider local underwater acoustic communicator;
2) the acoustic glider sends a data request packet to the submerged buoy, and enters a state of waiting for instant message feedback after the acoustic glider sends the current data packet;
3) if the acoustic glider receives the delayed feedback, stopping sending the data request packet, entering a data waiting state, and executing the step 4); if the acoustic glider receives failed feedback or does not receive any feedback within the time threshold, keeping all bytes in the data request packet unchanged, and skipping to the step 2); if the acoustic glider does not receive any feedback information for a plurality of times continuously, the underwater acoustic communicator is restarted, and then the step 1) is skipped;
4) if the data request packet is successfully transmitted within the time threshold, the acoustic glider performs frame check and judgment: if the frame checksum is correct, the data acquired by different sensors on the submerged buoy are respectively distributed to files corresponding to the sensors in the acoustic glider; if the frame checksum is incorrect, the data storage of the data request packet is not performed, all fields in the data request packet are kept unchanged at the moment, and the step 2) is skipped;
if the transmission time of the data request packet exceeds a time threshold, the current transmission is considered to be disconnected because the acoustic channel condition is not good, all functional bytes in the data request packet are kept unchanged, and the step 2) is skipped;
the data request packet is transmitted in the form of two protocol data packets of AT Instant Message and BurstData through an evolution OEM underwater acoustic communicator;
the protocol DATA packet types comprise a DATA packet, a STATUS packet, a READ packet, a PICK _ INFO packet, a PICK packet and a SETUP packet, each protocol DATA packet is divided into a request packet and a response packet according to a sending and receiving end, the request packet is transmitted in the form of AT Instant Message, and the response packet is transmitted in the form of Burst DATA;
the protocol data packet functions are as follows:
STATUS：
the STATUS request packet is used for requesting the working states of the underwater acoustic communicator and the submerged buoy so as to confirm whether the underwater acoustic communicator and the submerged buoy work normally or not;
the STATUS response packet is used for returning the working states of the underwater acoustic communicator and the submerged buoy and confirming whether the underwater acoustic communicator and the submerged buoy work normally;
READ：
the READ request packet is used for requesting transmission of data at a specified address in the data memory;
the READ response packet is used for transmitting the data of the designated address to the data request end;
PICK_INFO：
the PICK _ INFO request packet is used for requesting to transmit a data address range of a specified sensor specified sampling time range in the data memory;
the PICK _ INFO response packet is used for transmitting the address range of the data in the specified time range of the specified sensor to the data request end;
PICK：
the PICK request packet is used for requesting to transmit data of a specified sensor specified sampling time range in the data memory;
the PICK response packet is used for transmitting data in a time range specified by a plurality of sensors in the PICK request packet;
SETUP：
the SETUP request packet is used for configuring the working state of the submerged buoy and the sensor carried by the submerged buoy;
the SETUP response packet is used to feed back the result of the configuration modification.
2. The method of claim 1, wherein the protocol packet content comprises: a packet start flag, a transmitting end flag, a receiving end flag, a packet number, a packet type, an additional data length, an additional data content, a checksum, and a packet end flag; the packet start flag is 4 fixed bytes; the sending end is marked as 2 variable bytes; the receiving end is marked with 2 variable bytes; the packet number is 4 variable bytes with a value range of 0x00000000-0 xFFFFFFFF; the packet type is 2 variable bytes; the additional data is 2 bytes in length and has a value ranging from 0x0000 to 0x 0400; the additional data content is 0 to 1024 variable bytes; the checksum is 4 fixed bytes and is a binary unsigned byte accumulated sum of the additional data content; the end of packet flag is 4 fixed bytes.
3. The underwater glider and submerged buoy underwater acoustic communication method as claimed in claim 1, wherein the acoustic glider and the submerged buoy are integrated with an underwater acoustic communicator for data interaction and are used in various interaction scenes.
4. The underwater glider and submerged buoy underwater acoustic communication method of claim 3, wherein the interaction scenario comprises: checking the working state of the submerged buoy, acquiring data of a specified time range of a specified sensor, and acquiring the latest sampling data of all sensors.
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