CN116929540A - A marine environment noise observation system based on wave glider - Google Patents

Abstract

The invention discloses a marine environment noise observation system based on a wave glider, and relates to the field of marine observation equipment. Aiming at the situation that hidden danger exists in towing operation, a matched underwater sound data redundancy storage scheme is provided based on a wave glider carrying platform and an underwater sound acquisition system, so that the quality and reliability of marine environment noise observation data acquisition are ensured; besides the conventional underwater sound acquisition and storage function, the functions of data return and remote control can be realized through satellite communication, so that the intelligent level and practicability of the system are further improved; the low-power-consumption underwater acoustic acquisition system is developed based on an artificial semiconductor product STM32, can store underwater self-contained single-channel underwater acoustic data with low power consumption and transmit back in real time, and ensures smooth performance of marine environmental noise measurement work.

Description

A marine environment noise observation system based on wave glider

Technical field

The invention relates to the technical field of ocean observation equipment, and in particular to an ocean environment noise observation system based on a wave glider.

Background technique

The propagation of sound in seawater has the characteristics of small attenuation and long distance, so water sound can be used to observe the marine environment. Hydroacoustic observation requires hydroacoustic data as support, and hydroacoustic data is generally obtained by deploying acoustic sensors underwater. Due to the complex and changeable underwater environment, it is difficult to meet the work needs solely by relying on underwater acoustic sensor systems. Therefore, common marine environmental noise systems generally need to be used with marine mobile observation platforms, such as scientific research vessels and underwater unmanned robots. Since the operating costs of scientific research ships are high and require a lot of manpower and material resources, more and more acoustic observation systems are chosen to operate on unmanned mobile observation platforms. By being mounted on an unmanned mobile observation platform, the marine environmental noise observation system can carry out environmental noise observation work in a longer-lasting, safer and more flexible manner.

Currently, common ocean unmanned mobile observation platforms include Buoys, Underwater Glider and Wave Glider. These platforms can all be equipped with hydroacoustic acquisition systems to observe and measure marine environmental noise. Among them, the buoy platform equipped with an acoustic load can carry out multi-profile mobile observations. When the profile floats to the water surface, it can also use the satellite communication module to communicate with the remote shore base. It has long-term, multi-profile acoustic observation capabilities, but the float of the profile buoy The diving stage relies on the operation of the oil pump motor, which will cause certain interference to the acoustic observation. The underwater glider achieves buoyancy and dive by changing its own buoyancy, uses the hydrofoils on both sides to obtain hydrodynamic force, and achieves gliding motion by changing the center of gravity. It has large-scale ocean movement observation capabilities. When equipped with an acoustic payload, it also needs to consider buoyancy and dive. Interference of stage motor operation on acoustic measurements. As a new type of unmanned air-sea interface observation platform, the wave glider has the advantages of high controllability, long endurance and long range. Since the sailing power of the wave glider platform comes from waves, the platform's own motion has less interference on acoustic measurements, and solar energy can be used to continuously power the acoustic load, making the platform very suitable for long-term and large-scale hydroacoustic measurements. Therefore, there is an urgent need to design an intelligent marine environmental noise observation system based on wave gliders, which can help obtain high-quality marine environmental noise data.

Contents of the invention

In response to the problems raised in the above background technology, the present invention provides a marine environment noise observation system based on a wave glider to improve the quality and reliability of marine environment noise observation data collection and reduce system power consumption.

In order to achieve the above objects, the present invention provides the following solutions.

The invention provides a marine environment noise observation system based on a wave glider, wherein the wave glider includes a surface ship and a tractor; the marine environment noise observation system includes: an underwater acoustic acquisition electronic cabin and a single-channel water listener, as well as the signal processing module, main control module and satellite communication module located on the surface ship; when the wave glider moves, the tractor drags the acoustic collection electronic cabin and the single-channel hydrophone to move forward.

The acoustic acquisition electronic cabin is equipped with an underwater acquisition circuit; the underwater acquisition circuit and the single-channel hydrophone constitute an underwater acoustic acquisition system; the underwater acquisition circuit includes a front-end analog-digital mixed signal circuit and a back-end Storage transmission circuit; the front-end analog-digital mixed signal circuit includes an RC filter circuit, a fully differential operational amplifier circuit, an analog-to-digital converter and a crystal oscillator circuit; the back-end storage transmission circuit includes an SD card, a main control unit and an Ethernet communication unit ; The RC filter circuit is respectively connected to the single-channel hydrophone and the fully differential operational amplifier circuit; the analog-to-digital converter is respectively connected to the fully differential operational amplifier circuit, the crystal oscillator circuit and the main control unit connection; the main control unit is also connected to the SD card and the Ethernet communication unit respectively; the Ethernet communication unit is communicatively connected to the main control module; the main control module is respectively connected to the signal processing unit. The module is connected to the satellite communication module.

The single-channel hydrophone converts the collected acoustic signals into analog signals and transmits them to the underwater acquisition circuit. The analog signals are filtered by the RC filter circuit of the front-end analog-digital mixed signal circuit in the underwater acquisition circuit. Then the analog-to-digital converter is driven by a fully differential operational amplifier circuit, and a clock signal is generated through the crystal oscillator circuit to provide the clock input required for sampling by the analog-to-digital converter. The analog-to-digital converter performs analog-to-digital conversion on the filtered analog signal to obtain the conversion The resulting acoustic information is stored in the SD card of the back-end storage transmission circuit; at the same time, the main control unit transmits the converted acoustic information to the main control module on the surface ship through the Ethernet communication unit. The main control module The acoustic information is transmitted to the signal processing module, which converts the acoustic information into a marine environment noise spectrum and stores the received acoustic information twice in the SD card of the signal processing module; the main control module then The marine environment noise spectrum and acoustic information are transmitted to the platform shore-based system via the Tiantong communication satellite through the satellite communication module; the platform shore-based system processes and displays the marine environment noise spectrum and acoustic information, and again Store to cloud server.

Optionally, the platform shore-based system issues instructions to the main control module on the surface ship through the Tiantong communication satellite. After the main control module receives the instructions through the satellite communication module, it issues the instructions through the Ethernet communication unit. To the main control unit of the underwater acquisition circuit, the main control unit collects marine environmental noise observation data according to the instruction content.

Optionally, a heavy buoyancy chain is installed between the acoustic collection electronic cabin and the tractor.

Optionally, the fully differential operational amplifier circuit uses ADA4945 series chips.

Optionally, the analog-to-digital converter uses ADS131A04 series chips.

Optionally, the front-end analog-to-digital mixed signal circuit also includes a voltage conversion DCDC unit; the voltage conversion DCDC unit is respectively connected to the fully differential operational amplifier circuit, the analog-to-digital converter, the main control unit and the The Ethernet communication unit is connected for power supply.

Optionally, the main control unit uses STM32F407 series chips.

Optionally, the Ethernet communication unit uses LAN8720 series chips.

According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

The marine environment noise observation system based on the wave glider provided by the present invention proposes a matching hydroacoustic data redundant storage scheme based on the wave glider carrying platform and the hydroacoustic acquisition system in view of the hidden dangers in towed operation, ensuring that It improves the quality and reliability of marine environmental noise observation data collection; in addition to the conventional hydroacoustic collection and storage function, data return and remote control functions can also be realized through satellite communication, further improving the intelligence level and practicality of the system; among them, low The power-consuming underwater acoustic acquisition system is developed based on STMicroelectronics' product STM32. It can perform underwater self-contained storage and real-time return transmission of single-channel underwater acoustic data with low power consumption, ensuring the smooth progress of marine environmental noise measurement work. The marine environmental noise observation system of the present invention was mounted on the "Black Pearl" wave glider and conducted offshore tests. The test results show that the system works stably and reliably, consumes less power, and can ensure data security.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the drawings of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a marine environment noise observation system based on a wave glider provided by the present invention.

Figure 2 is a schematic structural diagram of the underwater acquisition circuit of the present invention.

Figure 3 is a schematic diagram of the overall electrical work flow of the marine environment noise observation system of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

The purpose of the present invention is to provide a marine environment noise observation system based on a wave glider to improve the quality and reliability of marine environment noise observation data collection and reduce system power consumption.

In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Figure 1 is a schematic structural diagram of a marine environment noise observation system based on a wave glider provided by the present invention. Referring to Figure 1, the marine environment noise observation system of the present invention uses a wave glider as a carrying platform. The wave glider includes an interconnected surface vessel and a tractor. The marine environmental noise observation system includes: an underwater acoustic collection electronic cabin and a single-channel hydrophone, as well as a signal processing module, main control module and satellite communication module located on a surface ship. When the wave glider moves, the tractor tows the underwater acoustic collection electronic cabin and the single-channel hydrophone to move forward. In order to reduce the platform's self-noise and the interference of platform motion on acoustic collection, a heavy buoyancy chain is installed in front of the acoustic collection electronic cabin for vibration reduction.

The main body of the underwater acoustic collection system of the present invention is located below the water surface, and includes a single-channel hydrophone and an underwater collection circuit protected by an acoustic collection electronic cabin. Figure 2 is a schematic structural diagram of the underwater acquisition circuit of the present invention. Referring to Figure 2, the underwater acquisition circuit is divided into two parts. The first part is a front-end analog-digital mixed signal circuit, which mainly performs analog-to-digital conversion of acoustic signals; the second part is a back-end storage and transmission circuit, which mainly performs storage of original acoustic data. and transmission.

Specifically, the front-end analog-digital mixed-signal circuit includes an RC filter circuit, a fully differential operational amplifier circuit, an analog-to-digital converter, a crystal oscillator circuit, and a voltage conversion DCDC unit. The back-end storage and transmission circuit includes an SD card, a main control unit and an Ethernet communication unit. Referring to Figure 2, the RC filter circuit is respectively connected to the single-channel hydrophone and the fully differential operational amplifier circuit; the analog-to-digital converter is respectively connected to the fully differential operational amplifier circuit, the crystal oscillator circuit and the The main control unit is connected; the main control unit is also connected to the SD card and the Ethernet communication unit respectively; the Ethernet communication unit is communicatively connected to the main control module; the main control module is respectively connected to the The signal processing module is connected to the satellite communication module.

The single-channel hydrophone probe is an acoustic sensor with piezoelectric ceramics as the main functional device. Using the piezoelectric effect, piezoelectric ceramics can convert external sound vibrations into analog electrical signals; the hydrophone and RC filter circuit are connected by cables .

In the front-end analog-digital mixed signal circuit, the RC filter circuit is used to perform pre-analog filtering on the hydroacoustic signals collected by the single-channel hydrophone; the fully differential operational amplifier circuit is used to drive the analog-to-digital converter; the crystal oscillator circuit generates The clock signal provides the clock input required for sampling by the analog-to-digital converter; the voltage conversion DCDC unit is used to convert the voltage provided by the wave glider into the voltage required for chip power supply. The front-end analog-to-digital mixed-signal circuit uses the low-power, high-performance single-channel fully differential operational amplifier ADA4945 and the four-channel analog-to-digital converter ADS131A04 to form an analog mixed-signal path. When performing single-channel analog-to-digital signal conversion, the typical power consumption is less than 100 mW. Build an RC active high-pass filter based on an operational amplifier, with a filter frequency band of 20-20KHz and an amplification factor of 1. The voltage conversion DCDC unit is respectively connected to the fully differential operational amplifier circuit, the analog-to-digital converter, the main control unit and the Ethernet communication unit to provide power.

In the back-end storage and transmission circuit, the main control unit uses the STM32F407ZGT6 chip. Compared with the conventional digital signal processing chip TMS320C6748, the typical power consumption is lower; the peripheral Ethernet communication unit uses the LAN8720 series chip, which is widely used in 100M Ethernet. The power consumption during duplex communication is no more than 159 mW. Compared with common low-power Ethernet chips, it also has better power consumption performance. The main control unit plays a role in controlling signal transmission on and off and controlling signal transmission direction in the back-end storage transmission circuit; when the signal is transmitted to the SD card, the SD card stores the signal and reflects the storage function; when the signal is transmitted to the Ethernet Communication unit, the Ethernet communication unit transmits signals to the host computer to reflect the transmission function.

The overall electrical work flow of the marine environmental noise observation system of the present invention is shown in Figure 3. Acoustic data collection and storage are completed through a complete set of redundant storage methods.

Referring to Figure 3, the upstream channel of acoustic information includes: the single-channel hydrophone converts the collected acoustic signal into an analog signal, and transmits it to the underwater acquisition circuit, through the front-end analog-digital mixed signal in the underwater acquisition circuit The RC filter circuit of the circuit filters the analog signal, and then drives the analog-to-digital converter through the fully differential operational amplifier circuit. After the clock signal is generated through the crystal oscillator circuit to provide the clock input required for sampling by the analog-to-digital converter, the analog-to-digital converter will filter The resulting analog signal undergoes analog-to-digital conversion to obtain the converted acoustic information, which is stored in the SD card of the back-end storage transmission circuit; at the same time, the main control unit transmits the converted acoustic information to the water surface through the Ethernet communication unit Main control module on the ship. The main control module transmits the acoustic information to the signal processing module. The signal processing module converts the acoustic information into the marine environment noise spectrum and secondary stores the received acoustic information, which is stored in the signal processing module. in the SD card of the module; the main control module then transmits the marine environment noise spectrum and acoustic information to the platform shore-based system through the satellite communication module and the Tiantong communication satellite; the platform shore-based system is responsible for the marine environment noise Spectrum and acoustic information are processed and displayed, and stored to the cloud server again.

The downlink channel of control instructions includes: the platform shore-based system issues instructions to the main control module on the surface ship through the Tiantong communication satellite. After the main control module receives the instructions through the satellite communication module, it sends the instructions through the Ethernet communication unit The instruction is sent to the main control unit of the underwater acquisition circuit, and the main control unit collects marine environmental noise observation data according to the instruction content. Among them, the main control module has functions such as platform control, sensor data recording, and satellite communication relay. It can transmit information such as the marine environment noise spectrum back to the wave glider shore-based system using satellite communication. In addition to data return, instructions can be sent to the main control module of the wave glider through satellite communication to perform platform navigation and obstacle avoidance control or forward acquisition instructions to the underwater acoustic acquisition system, turn on or off the underwater acoustic acquisition system, and set up underwater acoustic acquisition. The working mode of the system, etc., can be adjusted through remote control so that the wave glider hydroacoustic acquisition system can better adapt to various marine environmental noise sampling scenarios.

Furthermore, in order to ensure the successful recovery of data and the long-term stable operation of the system, and improve the intelligence level of the system, the present invention proposes a redundant data storage adapted to the platform and the low-power underwater acoustic acquisition system based on the wave glider platform. plan. As shown in Figure 3, the final destination of the acoustic data is divided into three: the SD card in the underwater acoustic collection electronic cabin, the SD card of the signal processing module on the surface ship, and the cloud server. When acoustic data collection is turned on, the underwater acoustic collection electronic cabin gives priority to transmitting the acoustic data to the SD card on the surface ship signal processing module for storage, and uses the multi-core and multi-thread characteristics of the main control module to perform Fourier transform on the data regularly. After spectral level conversion, the marine environmental noise spectrum is obtained and transmitted to the shore-based server using satellites; after the SD card of the signal processing module is full, the flow of data changes to the large-capacity SD card in the underwater acquisition circuit, and the network is turned on regularly The transmission is sent back to the main control module of the surface vessel, and after the marine environment noise spectrum is obtained, it is sent back to the server.

The present invention designs a marine environment noise observation system based on a wave glider with the advantages of low power consumption, redundant storage, data security and remote control. When performing underwater self-contained storage, the average power consumption of the underwater acoustic acquisition system is not higher than 405 mW, and the total power consumption of the whole machine is 2205 mW; when performing network communication to return acoustic data, the average power consumption of the underwater acoustic acquisition system is not high. At 765 mW, the total power consumption of the whole machine is 2565 mW; under sunny conditions, the acquisition endurance time will be determined by the local storage medium of the platform; after the local storage medium is full, a certain number of points of the marine environment noise spectrum can be sent back through the satellite to continue the measurement work; The redundant storage method has the advantage of convenient storage and can ensure the smooth progress of marine environmental noise observation activities. Indoor test and sea trial results show that the noise floor of the ocean environment noise observation system based on the wave glider of the present invention is lower than the zero-order sea state, and can faithfully reflect the ocean environment noise. The actual measured data in the sea test are also consistent with those measured in the literature. The marine environment noise is basically consistent, indicating that the marine environment noise observation system of the present invention has certain practicability, can meet the needs of marine environment noise observation, and has good application prospects.

Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other.

This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and the core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the present invention There will be changes in the specific implementation methods and application scope of the ideas. In summary, the contents of this description should not be construed as limitations of the present invention.

Claims (8)

1. A marine environmental noise observation system based on a wave glider, the wave glider comprising a surface vessel and a tractor, the marine environmental noise observation system comprising: the system comprises an acoustic acquisition electronic cabin and a single-channel hydrophone which are positioned under water, and a signal processing module, a main control module and a satellite communication module which are positioned on a water surface ship; when the wave glider moves, the tractor drags the acoustic acquisition electronic cabin and the single-channel hydrophone to move forwards;

an underwater acquisition circuit is mounted in the acoustic acquisition electronic cabin; the underwater acquisition circuit and the single-channel hydrophone form an underwater sound acquisition system; the underwater acquisition circuit comprises a front-end analog-digital mixed signal circuit and a rear-end storage transmission circuit; the front-end analog-digital mixed signal circuit comprises an RC filter circuit, a fully differential operational amplifier circuit, an analog-digital converter and a crystal oscillator circuit; the back-end storage transmission circuit comprises an SD card, a main control unit and an Ethernet communication unit; the RC filter circuit is respectively connected with the single-channel hydrophone and the fully-differential operational amplifier circuit; the analog-to-digital converter is respectively connected with the full-differential operational amplifier circuit, the crystal oscillator circuit and the main control unit; the main control unit is also respectively connected with the SD card and the Ethernet communication unit; the Ethernet communication unit is in communication connection with the main control module; the main control module is respectively connected with the signal processing module and the satellite communication module;

the single-channel hydrophone converts the acquired acoustic signals into analog signals, the analog signals are transmitted to the underwater acquisition circuit, the analog signals are filtered through an RC filter circuit of a front-end analog-digital mixed signal circuit in the underwater acquisition circuit, then the analog-digital converter is driven through a fully differential operational amplifier circuit, a clock signal is generated through a crystal oscillator circuit to provide clock input required by sampling for the analog-digital converter, the analog-digital converter carries out analog-digital conversion on the filtered analog signals, converted acoustic information is obtained, and the converted acoustic information is stored in an SD card of a rear-end storage transmission circuit; meanwhile, the main control unit transmits the converted acoustic information to a main control module on the surface ship through the Ethernet communication unit, the main control module transmits the acoustic information to the signal processing module, and the signal processing module converts the acoustic information into an ocean environment noise spectrum and stores the received acoustic information in an SD card of the signal processing module for a second time; the main control module transmits the ocean environment noise spectrum and the acoustic information to a platform shore-based system through the satellite communication module via a communication satellite; and the platform shore-based system processes and displays the marine environment noise spectrum and the acoustic information and stores the marine environment noise spectrum and the acoustic information to a cloud server again.

2. The marine environmental noise observation system according to claim 1, wherein the platform shore-based system transmits the instruction to a main control module on the water surface vessel through a communication satellite, the main control module transmits the instruction to a main control unit of the underwater acquisition circuit through the ethernet communication unit after receiving the instruction through the satellite communication module, and the main control unit acquires marine environmental noise observation data according to the instruction content.

3. The marine environmental noise observation system according to claim 1, wherein a gravity chain is additionally arranged between the acoustic collection electronic cabin and the tractor.

4. The marine environmental noise observation system according to claim 1, wherein the fully differential operational amplifier circuit employs an ADA4945 series chip.

5. The marine environmental noise observation system according to claim 1, wherein the analog-to-digital converter employs an ADS131a04 series chip.

6. The marine environmental noise observation system of claim 1, wherein the front-end analog-to-digital mixed signal circuit further comprises a voltage conversion DCDC unit; the voltage conversion DCDC unit is respectively connected with the full-differential operational amplifier circuit, the analog-to-digital converter, the main control unit and the Ethernet communication unit for power supply.

7. The marine environmental noise observation system according to claim 1, wherein the master control unit employs an STM32F407 series chip.

8. The marine environmental noise observation system according to claim 1, wherein the ethernet communication unit employs a LAN8720 series chip.