CN116233817A - A Multipurpose Underwater Emergency Communication and Navigation System - Google Patents

Abstract

The invention discloses a multipurpose underwater emergency communication and navigation system, which relates to the technical field of underwater communication. The system includes: communication and positioning subsystem, command and control subsystem and user terminal subsystem. The communication and positioning subsystem includes: buoy communication and positioning subsystem, submarine buoy communication and positioning subsystem and integrated ultra-short baseline positioning subsystem, command and control subsystem Including: shore-based/shipborne command and control subsystem and radio communication subsystem, user terminal subsystem includes: underwater acoustic communication positioning user terminal equipment, underwater telephone voice communication equipment and portable frogman positioning terminal equipment. The present invention realizes a set of underwater positioning and navigation system to serve various requirements of active and passive positioning and navigation of different underwater targets, realizes high-precision underwater active and passive positioning and navigation capabilities, and realizes the ability of direct voice communication between surface and underwater users .

Description

A multi-purpose underwater emergency communication and navigation system

technical field

The invention relates to the technical field of underwater communication, in particular to a multipurpose underwater emergency communication and navigation system.

Background technique

In order to respond to the national strategy of "deep sea entry, deep sea exploration, and deep sea development", and to meet the needs of underwater UUV and other target data communication and high-precision positioning and navigation in emergency situations, as well as the needs of underwater frogman cross-media voice communication, it is necessary to develop a multi-purpose underwater vehicle. The underwater emergency communication and navigation system realizes the underwater acoustic communication positioning of underwater targets within the scope of the underwater acoustic communication navigation network and the cross-media voice communication capability of underwater frogmen.

The existing underwater communication and navigation systems have the following two problems: (1) It is difficult to provide high-precision active positioning and passive positioning services for various types of marine targets; (2) It is difficult to support underwater frogmen and shore-based personnel to conduct cross-media Voice communication, and shore-based positioning of underwater frogmen.

Contents of the invention

The invention provides a multi-purpose underwater emergency communication and navigation system. In order to solve the problem that the underwater communication and navigation system in the prior art is difficult to provide high-precision active positioning and passive positioning services for various types of marine targets, it is difficult to support underwater frogmen and Shore-based personnel conduct cross-media voice communication, and shore-based positioning of underwater frogmen.

In order to solve the above technical problems, the present invention adopts the following technical solutions:

A multi-purpose underwater emergency communication and navigation system, including: a communication positioning subsystem, a command and control subsystem, and a user terminal subsystem. The communication positioning subsystem includes: a buoy communication positioning subsystem, a submarine buoy communication positioning subsystem and an integrated Ultra-short baseline positioning subsystem, the command and control subsystem includes: shore-based/shipborne command and control subsystem and radio communication subsystem, and the user terminal subsystem includes: underwater acoustic communication positioning user terminal equipment, underwater telephone voice Communication equipment and portable frogman positioning terminal equipment, in which:

The shore-based/shipborne command and control subsystem is connected with the buoy communication and positioning subsystem, the submarine buoy communication and positioning subsystem, the integrated ultra-short baseline positioning subsystem, the radio communication subsystem, the underwater acoustic communication positioning user terminal equipment, and the underwater telephone voice communication The equipment is connected with the portable frogman positioning terminal equipment.

On this basis, the present invention can also be improved as follows:

The buoy communication positioning subsystem and the submersible buoy communication positioning subsystem are respectively used to measure the propagation delay of the inquiry signal transmitted by the user terminal equipment to the buoy and the submersible buoy, and the relative or absolute coordinates of the inquiry signal transmission time are obtained by using the method of spherical intersection, and the alignment is completed. Positioning of buoys and buoys.

On this basis, the present invention can also be improved as follows:

The shore-based/ship-borne command and control subsystem is used to provide a hardware platform for the layout planning, status monitoring, command and dispatch, equipment operation and maintenance and management of various communication equipment such as snorkeling buoys, and provide necessary conditions for debugging and testing in the system.

On this basis, the present invention can also be improved as follows:

The radio communication subsystem is used to connect the buoy communication positioning subsystem, submersible buoy communication positioning subsystem and integrated ultra-short baseline positioning subsystem with the shore-based command and control system through LTE, satellite communication link or ultrashort wave communication link.

On this basis, the present invention can also be improved as follows:

The underwater telephone voice communication device is used to provide voice communication services for the frogman's underwater operation, and the portable frogman positioning terminal device is used to locate the underwater frogman.

The communication and navigation system provided by the present invention can provide data communication and positioning and navigation services for underwater targets in a three-dimensional sea area with an area of 100 square kilometers and a water depth of less than 1000 meters. Provide data communication services for underwater targets within a range, and provide voice communication and positioning services for underwater frogmen within a range of 800 meters from a single buoy. The advantages of the system are as follows:

(1) An active-passive integrated positioning and navigation system based on underwater acoustic communication is designed. Through the joint switching of active and passive modes, as well as various wireless communication methods such as satellite communication and LTE communication, the single underwater positioning and navigation mode has no impact on the system. The problem that the speed of energy consumption and the concealment of underwater targets cannot be taken into account at the same time realizes a set of underwater positioning and navigation system to serve the various needs of active and passive positioning and navigation of different underwater targets.

(2) The positioning accuracy enhancement technology of the underwater positioning and navigation system is designed. Through the design and integration of the Beidou positioning enhancement subsystem and the ultra-short baseline positioning subsystem, the calculation of the initial positioning accuracy of the submerged buoy and the real-time positioning of the buoy in the underwater positioning and navigation system are solved. The problem of precision has achieved high-precision underwater active and passive positioning and navigation capabilities.

(3) The underwater frogman voice communication technology integrating underwater and shore-based is designed, which solves the problem of cross-media voice communication between underwater users and shore-based users, and realizes the ability of direct voice communication between surface and underwater users.

Advantages of additional aspects of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

Fig. 1 is a schematic diagram of the system composition provided by the embodiment of the communication and navigation system of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figure 1, it is a schematic diagram of the system composition provided by the embodiment of the communication and navigation system of the present invention. The multi-purpose underwater emergency communication and navigation system includes: communication and positioning subsystem, command and control subsystem and user terminal subsystem, communication and positioning subsystem Including: buoy communication and positioning subsystem, submersible buoy communication and positioning subsystem and comprehensive ultra-short baseline positioning subsystem. The command and control subsystem includes: shore-based/shipborne command and control subsystem and radio communication subsystem. The user terminal subsystem includes: Underwater acoustic communication positioning user terminal equipment, underwater telephone voice communication equipment and portable frogman positioning terminal equipment, of which:

The shore-based/shipborne command and control subsystem is connected with the buoy communication and positioning subsystem, the submarine buoy communication and positioning subsystem, the integrated ultra-short baseline positioning subsystem, the radio communication subsystem, the underwater acoustic communication positioning user terminal equipment, and the underwater telephone voice communication The equipment is connected with the portable frogman positioning terminal equipment.

It should be noted that the communication positioning subsystem comprehensively utilizes underwater acoustic communication, underwater acoustic networking, buoy Beidou positioning enhancement, underwater acoustic long baseline positioning, ultra-short baseline positioning and other technologies to realize the integrated function of underwater communication and navigation. The underwater acoustic communication network composed of multiple buoyant/submersible buoy nodes has the functions of avoiding data conflicts, establishing routes, autonomous sleep/wake up, etc.; the underwater positioning and navigation function is realized based on the principle of long baseline positioning, measuring user terminal equipment (installed in The propagation delay (or delay difference) of the interrogation signal transmitted from the underwater target to the floating/submarine target, the relative or absolute coordinates of the interrogation signal transmission time are obtained by using the spherical (or hyperboloid) intersection method, and the system is compatible with synchronization and There are two ways of working asynchronously.

The command and control subsystem is the command and control center of the underwater emergency communication and navigation test system, and also the access node between the underwater emergency communication and navigation test system and the superior command and control system. The underwater communication command and control subsystem accepts the command of the command center of the headquarters upwards, and is responsible for the command and dispatch of the underwater emergency communication and navigation test system downwards.

Underwater acoustic communication positioning of user terminal subsystem User terminal equipment modular underwater acoustic communication positioning equipment can be installed on AUV, ship-borne, airborne and other platforms. Frogman voice communication equipment can provide voice communication services for frogman underwater operations. The portable frogman positioning terminal equipment can locate underwater frogmen.

The technology that the present invention adopts mainly comprises:

(1) Active and passive positioning compatible technology

Active positioning technology: During the navigation of UUV and other target terminals, the submersible positioning terminal installed on the target actively transmits signals, and the submersible networking equipment transmits the positioning signals to the shore-based command center through buoys after receiving the positioning signals emitted by the terminals, and then The server calculates the position of UUV and other targets, determines the target position, and then sends the target position to UUV and other targets through underwater acoustics through accusation to complete the active positioning of the target. During the entire positioning process, the submarine networking equipment basically keeps the monitoring state, and the system power consumption is extremely low, which can maintain the long-term battery life of the entire networking system.

Specifically, active positioning technologies include:

a. The submerged mark positioning terminal on UUV and other targets packs the time, depth and terminal ID of the underwater acoustic signal sending time through the protocol processing module; the packaged information is encrypted and encoded by the signal processing module of the submersible mark positioning terminal; the encoded information Send it to the transceiver combined underwater acoustic transducer through the power amplifier module;

b. The transmitting part of the transceiving and displacing transducer converts the electrical signal into an acoustic signal, and transmits pulse signals 1 to 4 to the integrated submersible marking networking system deployed in the surrounding waters through underwater acoustic communication;

c. After receiving the signal, the receiving part of the transceiver and displacement transducer of each network positioning submersible equipment converts the acoustic signal into an electrical signal; the received electrical signal is first processed by the receiving preprocessing circuit, and then processed by the signal processing module The received data is decoded, and the terminal sending time, depth, and terminal ID information are extracted; the extracted terminal sending time, depth, and terminal ID information, together with the receiving time information of the submersible device, are used to locate the protocol processing module of the submersible device through networking carry out packaging processing;

d. Packing information is transmitted to the respective buoy equipment through the communication cable between the buoys;

e. Packing information and buoy position information are sent to the shore-based system server directly or through satellite relay through wireless communication;

f. Use the underwater acoustic network positioning method to solve the position of UUV and other targets, as follows:

Among them, x ₀ , y ₀ , z ₀ are the target position coordinates, x _n , y _n , z _n (n=1, 2, 3, 4) are the position coordinates of the four submerged mark positioning terminals respectively, and d _n are respectively The distance between the four submarine positioning terminals and the target, T ₀ is the time when the submarine positioning terminal on the target such as UUV in the active mode sends out the pulse, T _n is the time when the four submarine positioning terminals receive the transmission pulse, Δt is Pulse transmission time error, v is the underwater sound velocity in the current water area. Since x _n , y _n , z _n , T ₀ , T _n and v are all known conditions, x ₀ , y ₀ , z ₀ and Δt can be obtained after calculation, so as to solve the target position coordinates;

g. The shore-based command and control system sends the location information after shore-based calculation to the submarine mark positioning terminal through the MASTER main equipment in the integrated network submarine mark equipment, and completes the active positioning of UUV and other targets.

Passive positioning technology: During the voyage of one's own underwater specific target, the submersible marking networking equipment deployed in the surrounding waters sends information to the underwater target. After receiving the information, the submersible marking terminal installed on the underwater target sends information to The system calculates its own position and completes passive positioning. During the entire positioning process, the underwater target of one's own side keeps silent, which is conducive to its concealed navigation.

Specifically, passive positioning technologies include:

a. The buoys of the integrated networking system obtain their respective position information and pack them;

b. The packaging information is transmitted to the respective submersible equipment through the communication cable between the snorkeling targets;

c. The integrated network submersible equipment packs the time information of the signal sending time and the ID information of each submersible through its own protocol processing board, and encrypts the packaged information through the signal processing module of the integrated networking system submersible, The coded information is sent to the transceiver combined underwater acoustic transducer through the power amplifier module;

d. The transmitting part of the transceiving and displacing transducer converts the coded information into an acoustic signal, and transmits a pulse signal to the underwater target in a 4-to-1 time-division manner through underwater acoustic communication;

e. After receiving the signal, the receiving part of the submersible mark positioning terminal transceiver and displacement transducer converts the acoustic signal into an electrical signal, and decodes the received encoded data through the signal processing module of the positioning terminal to extract 4 networking The time, location and ID information sent by the system submerged mark, the extracted sending time, location and ID information, together with the time and depth information when the positioning terminal receives the signal, are packaged through the protocol processing module of the positioning terminal, and finally the packaged information is transmitted For the terminal embedded system, the terminal embedded system uses the underwater acoustic network positioning method to solve its own position. details as follows:

Among them, x ₀ , y ₀ , z ₀ are the target position coordinates, x _n , y _n , z _n (n=1, 2, 3, 4) are the position coordinates of the four submerged mark positioning terminals respectively, and d _n are respectively The distance between the 4 submerged mark positioning terminals and the target, T ₀ is the time when the 4 submerged mark positioning terminals transmit pulses in passive mode, T _n is the time when the submerged mark positioning terminals on UUV and other targets receive the transmission pulse, Δt is Pulse transmission time error, v is the underwater sound velocity in the current water area. Since x _n , y _n , z _n , T ₀ , T _n and v are all known conditions, x ₀ , y ₀ , z ₀ and Δt can be obtained through calculation, so as to solve the coordinates of the target position and complete the passive positioning of the target itself .

High-precision target positioning technology: The target is cross-located through buoys and submersible buoys (4 buoys, or 2 buoys and 2 submersibles). The initial position of the submersible is determined by the ultra-short baseline positioning subsystem. Floating on the sea surface, its real-time location is positioned by the Beidou positioning enhancement subsystem in real time. Through the accuracy of the initial position of the system submersible buoy and the real-time position of the buoy, high-precision underwater target positioning is realized.

Specifically, high-precision target positioning technology includes:

a. After the submersible node is deployed in the water, the ultra-short baseline positioning subsystem is used to accurately measure the position of the submersible node into the water, which is used as the initial position of the submersible node.

b. Through the Beidou enhanced positioning equipment, it provides centimeter-level precision maritime positioning and real-time calibration of the position of buoys at sea.

c. Through the precise position setting of 4 buoy nodes or 2 buoy nodes and 2 submerged nodes, the precise target position is calculated by using active positioning technology and passive positioning technology algorithm.

Active and passive positioning compatibility technology: switch between active and passive positioning through the commands of command signals to realize the compatibility of active and passive positioning of the system. The initial default state of the system is active positioning mode, and shore-based users can issue commands through command according to the characteristics of actual application scenarios , to switch between the active and passive positioning modes.

(2) Cross-media frogman voice communication technology

The voice call process initiated by the underwater frogman is that the frogman performs underwater acoustic voice communication with the underwater telephone system connected under the buoy through the underwater telephone terminal equipment, and the underwater telephone system transmits the underwater acoustic analog signal to the buoy for wireless communication through the cable. The integrated gateway of the subsystem, the integrated gateway transmits the analog voice information to the shore-based integrated gateway through the analog signal channel of the satellite communication equipment, and the shore-based integrated gateway transmits the analog signal to the shore-based fixed telephone; the cross-media voice call process initiated by the shore-based Contrary to the foregoing.

Specifically, the technology to realize the communication between underwater and shore-based personnel, and to solve the cross-media voice communication between underwater users and shore-based users includes:

a. The underwater frogman performs simplex underwater voice communication through the wearable underwater telephone terminal, the underwater acoustic communication method and the underwater telephone system mounted under the buoy;

b. The underwater telephone system transmits the underwater voice to the integrated gateway of the buoy's non-system communication subsystem through the wired optical cable, and the integrated gateway transmits the underwater acoustic analog model to the shore-based command and control wireless communication subsystem through the analog signal channel of the satellite communication equipment. The integrated gateway of the system;

c. Through the analog signal channel of the satellite communication equipment of the shore-based integrated gateway, the analog voice signal is connected to the shore-based telephone to realize the cross-media voice communication between the underwater frogman and the shore-based user;

d. Shore-based users can also initiate voice communication with a frogman near a certain buoy by dialing.

(3) Comprehensive wireless communication technology suitable for various scenarios

Utilize general-purpose 4G LTE, dedicated LTE, satellite communication and other integrated wireless communication means to realize system data and voice transmission capabilities covering the offshore and mid-to-far seas, and realize emergency communication and navigation guarantee coverage in global sea areas.

The typical networking mode of the underwater emergency communication and navigation system is a "field" shaped network composed of 5 buoy nodes and 4 submerged buoy nodes:

a. Five buoy nodes are deployed on the four vertices and middle points of the "field";

b. 4 submersibles are deployed at the middle point of the four sides of "Tian";

c. The distance between buoys and submerged buoys is 5 kilometers, and the side length of "Tian" is 10 kilometers;

d. Each of the 5 buoys and 4 submerged buoys is equipped with an underwater acoustic communication device, which can not only transmit underwater acoustic signals, but also receive underwater acoustic signals, and carry out active and passive positioning. The positioning depth is 1000 meters, and the positioning range is 100 square kilometers, the underwater acoustic data communication range is 400 square kilometers;

e. An underwater telephone system is installed under each of the 5 buoys, which is used to carry out cross-media voice communication with underwater frogmen within a circular radius of 800 meters around the buoy;

f. The underwater frogman can carry a positioning terminal, and the shore-based positioning of the underwater frogman can be realized through the ultra-short baseline positioning system;

g. The underwater data received by the submersible buoy is transmitted to the attached buoy through the underwater relay, and the buoy transmits the global underwater data to the shore through the general 4G, dedicated 4G or satellite communication equipment integrated in the wireless subsystem base, or from shore base to underwater equipment.

The communication and navigation system provided in this embodiment can provide data communication and positioning and navigation services for underwater targets in a three-dimensional sea area with an area of 100 square kilometers and a water depth of less than 1000 meters. Provide data communication services for underwater targets within the sea area, and provide voice communication and positioning services for underwater frogmen within 800 meters from a single buoy. The advantages of the system are as follows:

(1) An active-passive integrated positioning and navigation system based on underwater acoustic communication is designed. Through the joint switching of active and passive modes, as well as various wireless communication methods such as satellite communication and LTE communication, the single underwater positioning and navigation mode has no impact on the system. The problem that the speed of energy consumption and the concealment of underwater targets cannot be taken into account at the same time realizes a set of underwater positioning and navigation system to serve the various needs of active and passive positioning and navigation of different underwater targets.

(2) The positioning accuracy enhancement technology of the underwater positioning and navigation system is designed. Through the design and integration of the Beidou positioning enhancement subsystem and the ultra-short baseline positioning subsystem, the calculation of the initial positioning accuracy of the submerged buoy and the real-time positioning of the buoy in the underwater positioning and navigation system are solved. The problem of precision has achieved high-precision underwater active and passive positioning and navigation capabilities.

(3) The underwater frogman voice communication technology integrating underwater and shore-based is designed, which solves the problem of cross-media voice communication between underwater users and shore-based users, and realizes the ability of direct voice communication between surface and underwater users.

Optionally, in some possible implementations, the buoy communication positioning subsystem and the submersible buoy communication positioning subsystem are used to measure the propagation delay of the inquiry signal transmitted by the user terminal equipment to the buoy and the submersible respectively, and the method of spherical intersection is used to obtain Inquire about the relative or absolute coordinates at the moment of signal emission, and complete the positioning of buoys and submersibles.

Optionally, in some possible implementations, the shore-based/shipborne command and control subsystem is used to provide a hardware platform for the layout planning, status monitoring, command and dispatch, equipment operation and maintenance and management of various communication equipment such as snorkeling buoys, Provides prerequisites for in-system debugging tests.

Optionally, in some possible implementations, the radio communication subsystem is used to implement the buoy communication and positioning subsystem, the submarine buoy communication and positioning subsystem and the integrated ultra-short baseline locator through LTE, satellite communication links or ultrashort wave communication links. The system is connected to the shore-based command and control system.

Optionally, in some possible implementations, the underwater telephone voice communication device is used to provide voice communication services for underwater frogman operations, and the portable frogman positioning terminal device is used to locate the underwater frogman.

Optionally, in some possible implementation manners, all or part of the foregoing implementation manners may be included.

It should be understood that in the description of this specification, reference to the terms "one embodiment", "some embodiments", "example", "specific examples" or "some examples" means that specific A feature, structure, material, or characteristic is included in at least one embodiment or example of the invention. In this description, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples and some features of different embodiments or examples described in this specification without conflicting with each other.

Of course, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these changes and modifications should belong to the scope of protection of the claims of the present invention .

Claims (5)

1. A multipurpose underwater emergency communication navigation system, comprising: the communication positioning subsystem, the command control subsystem and the user terminal subsystem, wherein the communication positioning subsystem comprises: buoy communication positioning subsystem, submerged buoy communication positioning subsystem and comprehensive ultrashort baseline positioning subsystem, command control subsystem includes: a shore-based/shipboard command control subsystem and a radio communication subsystem, the user terminal subsystem comprising: the underwater acoustic communication positioning user terminal equipment, the underwater telephone voice communication equipment and the portable frogman positioning terminal equipment, wherein:

the shore-based/shipborne command control subsystem is respectively connected with the buoy communication positioning subsystem, the submerged buoy communication positioning subsystem, the comprehensive ultra-short baseline positioning subsystem, the radio communication subsystem, the underwater acoustic communication positioning user terminal equipment, the underwater telephone voice communication equipment and the portable frogman positioning terminal equipment.

2. The multipurpose underwater emergency communication navigation system of claim 1, wherein the buoy communication positioning subsystem and the submerged buoy communication positioning subsystem are respectively used for measuring propagation delay of an interrogation signal transmitted by the user terminal equipment to reach the buoy and the submerged buoy, and a spherical intersection method is adopted to obtain relative or absolute coordinates of the moment of the transmission of the interrogation signal so as to finish positioning the buoy and the submerged buoy.

3. The multipurpose underwater emergency communication navigation system of claim 1, wherein the shore-based/shipborne command control subsystem is used for providing a hardware platform for layout planning, state monitoring, command scheduling, equipment operation and maintenance and management of various communication equipment such as a buoy and the like, and providing a requisite condition for in-system debugging and testing.

4. The multipurpose underwater emergency communication navigation system of claim 1, wherein the radio communication subsystem is configured to implement a buoy communication positioning subsystem, a submerged buoy communication positioning subsystem, and a comprehensive ultrashort baseline positioning subsystem connected to a shore-based command system via an LTE, satellite communication link, or ultrashort wave communication link.

5. The multipurpose underwater emergency communication navigation system of claim 1, wherein the underwater telephone voice communication device is configured to provide voice communication services for frogman underwater operations, and the portable frogman location terminal device is configured to locate underwater frogman.

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