CN117288208B - Airborne satellite navigation communication system - Google Patents
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- CN117288208B CN117288208B CN202311587514.7A CN202311587514A CN117288208B CN 117288208 B CN117288208 B CN 117288208B CN 202311587514 A CN202311587514 A CN 202311587514A CN 117288208 B CN117288208 B CN 117288208B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18513—Transmission in a satellite or space-based system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an airborne satellite navigation communication system, which relates to the technical field of navigation communication systems, wherein a satellite navigation module receives satellite data, a sonar module acquires multi-source data of the navigation direction of a submarine in the driving process of the submarine, when the submarine is in shallow sea, a shallow sea analysis module comprehensively analyzes the satellite data and the sonar data and judges whether the submarine is required to be regulated for submerging, when the submarine is in deep sea, a deep sea analysis module comprehensively analyzes health data and the sonar data and judges whether the submarine is required to be regulated for floating, and when a submerging signal or a floating signal is received, a communication display module feeds back the submerging distance or the floating distance to an operator.
Description
Technical Field
The invention relates to the technical field of navigation communication systems, in particular to an airborne satellite navigation communication system.
Background
Submarine satellite navigation communication systems, which use satellite positioning technology (such as GPS or other global satellite navigation systems) to determine the exact position of a submarine, which determine position by receiving satellite signals and calculating signal propagation times, and then provide positional information to a diver to guide the navigation of the submarine, are critical in submarine operation because they allow the diver to contact a command section or other submarine, and which enable the submarine to remain in contact with the ground or other submarine under water, typically include voice communication, data transmission and emergency communication functions;
the submarine satellite navigation communication system is an electronic system specially designed for submarine operation, and plays a vital role in the navigation, communication and positioning of the submarine, so as to help a diver to safely and accurately operate in an underwater environment.
Because satellite signals penetrate through water for a limited distance (i.e., satellite signals cannot be received when a submarine is submerged to a certain depth), existing communication systems generally only provide communication and navigation processing for the submarine, and have the following drawbacks:
1. when the submarine is in shallow sea navigation (namely, the submarine can receive satellite signals at the moment), the navigation communication system cannot monitor the abnormal route and update the navigation depth of the submarine (when the submarine is in abnormal shallow sea, the submarine should submerge a certain distance so as to avoid the abnormal shallow sea area), and the submarine is continuously in shallow sea navigation with a large dangerous coefficient at the moment, so that the safe navigation of the submarine cannot be ensured;
2. when the submarine is in deep sea navigation (namely, the submarine cannot receive satellite signals at the moment), the navigation communication system cannot combine the state of the submarine with the abnormal navigation line to renew the navigation depth of the submarine (when the submarine or the submarine is abnormal, the submarine floats upwards for a certain distance, so that the safety of personnel in the submarine is guaranteed), and the safe navigation of the submarine cannot be guaranteed.
Disclosure of Invention
The invention aims to provide an onboard satellite navigation communication system which aims to solve the defects in the background technology.
In order to achieve the above object, the present invention provides the following technical solutions: an airborne satellite navigation communication system comprises a health evaluation module, a satellite navigation module, a sonar module, a shallow sea analysis module, a deep sea analysis module and a communication display module;
health evaluation module: before the submarine goes out, after the health data of the submarine are acquired, whether the submarine supports sailing is evaluated, and when the submarine is evaluated to support sailing, the satellite navigation module is awakened, and the health state of the submarine in the sailing process is monitored in real time;
satellite navigation module: when the submarine is sailing in shallow sea, the submarine is used for receiving satellite data and determining sailing information of the submarine;
and a sonar module: acquiring multi-source data of the navigation direction of the submarine in the running process of the submarine;
shallow sea analysis module: when the submarine is sailed in shallow sea, satellite data and sonar data are comprehensively analyzed, whether the submarine is required to be regulated or not is judged, and when the submarine is judged to be required to be submerged, a submerged signal and a submerged distance are sent to a display module;
deep sea analysis module: when the submarine is in deep sea navigation, comprehensively analyzing the health data and the sonar data, judging whether the submarine is required to be regulated to float, and sending a float signal and a float distance to a display module when the submarine is required to float;
and the communication display module is used for: when receiving the submerging signal or the floating signal, feeding back the submerging distance or the floating distance to an operator, and sending the operation information to the ground control station through the communication display module by the operator.
Preferably, when the submarine is sailing in shallow sea, the shallow sea analysis module comprehensively analyzes and calculates the vertical height of the obstacle and the submarine, the distance shortening speed between the obstacle and the submarine, the sailing direction cloud index and the sailing direction tide height to obtain the submerging adjustment coefficientThe computational expression is:
in (1) the->For the navigation direction cloud index->For sailing direction tidal height, +.>For the vertical height of the obstacle and the submarine, < +.>Shortening the speed for the distance between obstacle and submarine, < >>The scale factors of the navigation direction Ubbelopsis index, the navigation direction tide height, the vertical height of the obstacle and the submarine, the distance between the obstacle and the submarine shortening speed are respectively, and ∈ ->Are all greater than 0.
Preferably, the shallow sea analysis module obtains a submergence adjustment coefficientAfter the value, the submergence adjustment coefficient is +.>The value is compared with a first threshold value, if the submergence adjustment coefficient +.>If the value is larger than the first threshold value, judging that the submarine needs to be submerged;
distance of submergenceThe calculation is expressed as:
in (1) the->For the submergence depth of the submarine in shallow sea, < +.>To adjust the submergence depth of the rear submarine.
Preferably, when the submarine is sailing in deep sea, the deep sea analysis module calculates the pressure variation index of the submarine detection point, the vertical height of the obstacle and the submarine, and the distance shortening speed between the obstacle and the submarine to obtain the floating adjustment coefficientThe computational expression is:
in (1) the->Is the pressure variation index of the submarine detection point +.>For the vertical height of the obstacle and the submarine, < +.>Shortening the speed for the distance between obstacle and submarine, < >>The ratio coefficients of the pressure variation index of the submarine detection point, the vertical height of the obstacle and the submarine, and the shortening speed of the distance between the obstacle and the submarine are respectively +.>Are all greater than 0.
Preferably, the deep sea analysis module obtains the floating adjustment coefficientAfter the value, the floating regulation coefficient is +.>The value is compared with a second threshold value, if the floating adjustment coefficient +.>If the value is larger than the second threshold value, judging that the submarine needs to float upwards;
distance of floatingThe calculation is expressed as:
in (1) the->For the submergence depth of the submarine in the deep sea, < > j->In order to adjust the floating depth of the rear submarine.
Preferably, the health evaluation module acquires health data of the submarine, wherein the health data comprises pressure variation indexes of detection points of the submarineThe computational expression is:
in->，/>Indicating the number of pressure sensors arranged on the inner wall of the submarine hull, < >>Is a positive integer>Representing the pressure values acquired by the different pressure sensors, < >>Representing the average pressure value;
obtaining pressure variation index of submarine detection pointAfter the value, the pressure variation index of the submarine detection point is +.>Comparing the value with the evaluation threshold value, if the pressure variation index of the submarine detection point is +>The value > the evaluation threshold value, the submarine is evaluated not to support sailing, if the pressure variation index of the submarine detection point is +.>And the value is less than or equal to the evaluation threshold value, and the submarine is evaluated to support sailing.
Preferably, the sonar module acquires multi-source data of the navigation direction of the submarine in the running process of the submarine, wherein the multi-source data comprises the vertical height of the obstacle and the submarine and the shortening speed of the distance between the obstacle and the submarine;
vertical height of obstacle and submarineThe calculated expression of (2) is:
in (1) the->For the distance of the obstacle from the submarine, < +.>Is the angle of the obstacle from the vertical.
Preferably, the shallow sea analysis module acquires satellite data, wherein the satellite data comprises a navigation direction cloud index and a navigation direction tide height;
navigation direction cloud indexThe calculated expression of (2) is:
in (1) the->For the number of the Uyun groups occupying the grid, +.>Is the distance between the submarine and the cloud cluster.
Preferably, the distance between the obstacle and the submarine shortens the speedThe calculated expression of (2) is:
in (1) the->For the first detection of the distance between obstacle and submarine +.>For the second detection of the distance between obstacle and submarine>For the first detection time point, < >>The second detection time point.
Preferably, the sailing direction tide heightThe calculated expression of (2) is:
in the method, in the process of the invention,representing the maximum sea water level change during the tidal cycle, t being the monitoring period, +.>Is the tidal frequency, +.>Is the phase angle.
In the technical scheme, the invention has the technical effects and advantages that:
1. the invention receives satellite data through the satellite navigation module, the sonar module acquires multisource data of the navigation direction of the submarine in the running process of the submarine, when the submarine is in shallow sea, the shallow sea analysis module comprehensively analyzes the satellite data and the sonar data and then judges whether the submarine needs to be regulated for submerging, when the submarine is in deep sea, the deep sea analysis module comprehensively analyzes the health data and the sonar data and then judges whether the submarine needs to be regulated for floating, when a submerging signal or a floating signal is received, the communication display module feeds back the submerging distance or the floating distance to an operator, and the navigation communication system can judge whether the submerging or the floating of the submarine needs to be regulated in real time to avoid the occurrence of safety accidents when the submarine is in shallow sea or in deep sea, so that the safety of the submarine navigation is greatly ensured;
2. before the submarine goes out, after the health data of the submarine are acquired through the health evaluation module, whether the submarine supports navigation is evaluated, when the submarine is evaluated to support navigation, the satellite navigation module is awakened, and the health state of the submarine in the navigation process is monitored in real time, so that the submarine with poor health state is prevented from being put into use, and the safety and stability of the submarine in going out are ensured;
3. according to the invention, satellite data and multi-source data are comprehensively analyzed, whether an abnormality exists on a route can be better judged, whether the submarine needs to be submerged or not is judged according to a judging result, and the safety of the submarine sailing in shallow sea is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a block diagram of a system according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1: referring to fig. 1, the airborne satellite navigation communication system of the present embodiment includes a health assessment module, a satellite navigation module, a sonar module, a shallow sea analysis module, a deep sea analysis module, and a communication display module;
health evaluation module: before the submarine goes out, after the health data of the submarine are acquired, whether the submarine supports sailing is evaluated, when the submarine is evaluated to support sailing, the satellite navigation module is awakened, the health state of the submarine in the sailing process is monitored in real time, the module is used for evaluating the health state of the submarine before the submarine goes out, the submarine with poor health state is prevented from being put into use, the safety and stability of the submarine going out are guaranteed, and the health data are sent to the deep sea analysis module;
according to the method, before the submarine goes out, after the health data of the submarine are acquired through the health evaluation module, whether the submarine supports navigation is evaluated, when the submarine is evaluated to support navigation, the satellite navigation module is awakened, the health state of the submarine in the navigation process is monitored in real time, and therefore the submarine with poor health state is prevented from being put into use, and the safety and stability of the submarine in going out are guaranteed.
Satellite navigation module: when the submarine is sailing in shallow sea, the module is used for receiving satellite data (such as GPS signals) and determining the accurate position, speed and direction of the submarine, and the module can continuously receive the satellite signals and process the data so as to ensure that the navigation information of the submarine is updated in real time, and the satellite data is sent to the shallow sea analysis module.
The submarine is provided with a satellite receiving antenna, which is usually arranged at the upper part of the submarine to ensure that signals from the satellites can be received, the receiving antenna points to the satellites in the sky at regular intervals and captures navigation signals emitted by the satellites, the received satellite signals are coded and modulated and need to be decoded and demodulated to restore navigation data, the decoding process comprises the steps of converting digital signals into readable navigation information such as position, time information and correction data (used for repairing errors in signal propagation) of the satellites, the decoded navigation data are used for determining the accurate position, speed and direction of the submarine, the data processing comprises the steps of calculating the longitude, latitude, depth and speed of the submarine and the direction angle (heading) of the submarine, and the error correction is needed due to the fact that the satellite signals can be influenced by factors such as interference of the atmosphere, multipath propagation of the signals and the like in the propagation process, the error correction usually depends on the received differential GPS or other correction data to improve the navigation accuracy, the navigation module can continuously receive, decode, process and correct the satellite signals to ensure the real-time and accuracy of the navigation information, and the update frequency of the navigation information is usually high to meet the real-time requirements of the submarine navigation.
And a sonar module: in the running process of the submarine, multi-source data of the navigation direction of the submarine is acquired, and the multi-source data are sent to a shallow sea analysis module and a deep sea analysis module;
first, the sonar module emits sound waves through the underwater sound source, the sound waves propagate at a specific frequency and direction, the sound waves propagate underwater, a series of physical processes including refraction, reflection and scattering, the processes cause the propagation path of the sound waves to change, a receiver is mounted on the sonar module for capturing the back-propagated sound waves, the sound waves may be echoes from underwater objects, seabed or underwater obstacles, the received echoes of the sound waves are sent to a signal processing unit where the characteristics of the sound waves, such as the time delay, frequency, amplitude, etc. of the echoes are analyzed and processed, the signal processing further includes noise reduction, filtering and data parsing to extract information about the underwater environment and objects, and the processed data is used for analyzing the underwater environment, which may include measuring the distance, direction, size and speed of the objects, and the detected obstacles or topographical characteristics.
Shallow sea analysis module: when the submarine is sailed in shallow sea, satellite data and sonar data are comprehensively analyzed, whether the submarine is required to be regulated or not is judged, and when the submarine is judged to be required to be submerged, a submerged signal and a submerged distance are sent to the display module.
Deep sea analysis module: when the submarine is in deep sea navigation, after comprehensive analysis of the health data and the sonar data, whether the submarine is required to be regulated to float up is judged, and when the submarine is judged to be required to float up, a float-up signal and a float-up distance are sent to the display module.
And the communication display module is used for: when receiving the submerging signal or the floating signal, feeding back the submerging distance or the floating distance to an operator, and sending the operation information to a ground control station by the operator through a communication display module;
when the submarine is ready to submerge or float, the associated sensor or system will generate corresponding signals indicative of the current state and operational requirements of the submarine, such as submergence or float, with the communication display module located on the control room or bridge of the submarine in charge of receiving these signals;
when the submergence or uplift signal reaches the communication display module, the module receives and primarily processes the submergence or uplift signal, the communication display module displays calculated submergence or uplift distance information on a screen of an operator, the information is helpful for the diver to know the current state of the submarine, the diver can take corresponding operations according to the displayed distance information to control the submergence or uplift process of the submarine, the operator can use a control or input device on the communication display module to operate so as to ensure that the movement of the submarine is consistent with the task requirement, if the submergence task needs to be communicated with a ground control station, the operator can use the communication device on the communication display module to send related information to the ground control station, and the information can comprise the current state of the submarine, the task progress, the environmental condition or any other necessary information.
According to the invention, satellite data are received through the satellite navigation module, the sonar module acquires multi-source data of the navigation direction of the submarine in the running process of the submarine, when the submarine is in shallow sea, the shallow sea analysis module comprehensively analyzes the satellite data and the sonar data and then judges whether the submarine is required to be regulated for submerging, when the submarine is in deep sea, the deep sea analysis module comprehensively analyzes the health data and the sonar data and then judges whether the submarine is required to be regulated for floating, when a submerging signal or a floating signal is received, the communication display module feeds back the submerging distance or the floating distance to an operator, and the navigation communication system can judge whether the submarine is required to be regulated for submerging or floating in real time to avoid safety accidents when the submarine is in shallow sea or deep sea, so that the safety of the submarine navigation is greatly ensured.
Example 2: the health assessment module is used for assessing the health state of the submarine before the submarine goes out, avoiding the use of the submarine with poor health state and guaranteeing the safety and stability of the submarine going out when the satellite navigation module is awakened and the health state of the submarine in the sailing process is monitored in real time when the submarine is assessed to support sailing after the health data of the submarine are acquired;
acquiring health data of the submarine, wherein the health data comprises pressure variation indexes of detection points of the submarineThe computational expression is:
in->，/>Indicating the number of pressure sensors arranged on the inner wall of the submarine hull, < >>Is a positive integer>Representing the pressure values acquired by the different pressure sensors, < >>Representing the average pressure value;
index of pressure variation at submarine detection pointThe smaller the value is, the less the water pressure floating of different areas of the submarine is, the relatively stable, the better the health condition of the submarine is, the pressure variation index of the submarine detection point is +.>The larger the value is, the larger the floating of the water pressure in different areas of the submarine is, and the unstable is, and the worse the health condition of the submarine is;
thus, the pressure variation index of the submarine detection point is obtainedAfter the value, the pressure variation index of the submarine detection point is calculatedComparing the value with the evaluation threshold value, if the pressure variation index of the submarine detection point is +>The value > the evaluation threshold value, the submarine is evaluated not to support sailing, if the pressure variation index of the submarine detection point is +.>The value is less than or equal to an evaluation threshold value, and the submarine is evaluated to support sailing;
in the submarine sailing process, the health evaluation module regularly acquires the pressure variation index of the submarine detection pointThe value is determined according to the pressure variation index of the water craft detection point>And comparing the value with the evaluation threshold value to judge the running condition of the submarine.
The sonar module acquires multi-source data of the navigation direction of the submarine in the running process of the submarine;
the multi-source data comprises the vertical height of the obstacle and the submarine, and the shortening speed of the distance between the obstacle and the submarine;
vertical height of obstacle and submarineThe calculated expression of (2) is:
in (1) the->For the distance of the obstacle from the submarine, < +.>Is the angle of the obstacle from the vertical.
Speed of shortening distance between obstacle and submarineThe calculated expression of (2) is:
in (1) the->For the first detection of the distance between obstacle and submarine +.>For the second detection of the distance between obstacle and submarine>For the first detection time point, < >>The second detection time point.
When the submarine is sailed in shallow sea, the shallow sea analysis module comprehensively analyzes satellite data and sonar data, judges whether the submarine is required to be submerged, and sends a submerged signal and a submerged distance to the display module when the submarine is required to be submerged;
the satellite data comprise navigation direction cloud indexes and navigation direction tide heights;
the acquisition logic of the navigation direction cloud index is as follows:
the satellite shoots an image with a cloud cluster area in the navigation direction, the image is divided into a plurality of small grids based on a grid method, the number of the cloud clusters occupying the grids is calculated, and then the navigation direction cloud index is calculatedThe expression is:
in (1) the->For the number of the Uyun groups occupying the grid, +.>Is the distance between the submarine and the cloud cluster.
Voyage direction tide heightThe calculated expression of (2) is:
in (1) the->Representing the maximum sea water level change during the tidal cycle, t being the monitoring period, +.>Is the tidal frequency, +.>Is the phase angle, used to determine the start time of the tide.
When the submarine is sailed in shallow sea, the shallow sea analysis module comprehensively analyzes and calculates the vertical height of the obstacle and the submarine, the distance shortening speed between the obstacle and the submarine, the sailing direction Ubbelow index and the sailing direction tide height to obtain a submerging adjustment coefficientThe computational expression is:
in (1) the->For the navigation direction cloud index->For sailing direction tidal height, +.>For the vertical height of the obstacle and the submarine, < +.>Shortening the speed for the distance between obstacle and submarine, < >>The scale factors of the navigation direction Ubbelopsis index, the navigation direction tide height, the vertical height of the obstacle and the submarine, the distance between the obstacle and the submarine shortening speed are respectively, and ∈ ->Are all greater than 0;
specifically, as the submarine sails in shallow sea and is easily influenced by sea surface anomaly factors, satellite data and multi-source data are comprehensively analyzed, whether anomaly exists on a route can be better judged, whether the submarine needs to be submerged or not is judged according to a judgment result, and the safety of the submarine sailing in shallow sea is ensured;
obtaining a submergence adjustment coefficientAfter the value, the submergence adjustment coefficient is +.>The value is compared with a first threshold value, if the submergence adjustment coefficient +.>If the value is larger than the first threshold value, judging that the submarine needs to be submerged;
distance of submergenceThe calculation is expressed as:
in (1) the->For the submergence depth of the submarine in shallow sea, < +.>In order to adjust the submerging depth of the submarine, subtracting the submerging depth of the submarine in shallow sea from the submerging depth of the submarine after adjustment, and then obtaining an absolute value to obtain the submerging distance of the submarine;
it should be noted that different submarines have different maximum submergence depths, if the submergence distance calculated by the shallow sea analysis module isIf the maximum submerging depth of the submarine is exceeded, a warning signal is sent out, and an operator can select other routes or return voyages at the moment.
When the submarine is in deep sea navigation, the deep sea analysis module comprehensively analyzes the health data and the sonar data and then judges whether the submarine floating needs to be regulated, and when the submarine is judged to need to float, the floating signal and the floating distance are sent to the display module;
the deep sea analysis module comprehensively calculates and obtains the floating adjustment coefficient by shortening the distance and the speed between the obstacle and the submarine and the vertical height of the obstacle and the vertical height of the submarine by the pressure variation index of the submarine detection pointThe computational expression is:
in the method, in the process of the invention,is the pressure variation index of the submarine detection point +.>For the vertical height of the obstacle and the submarine, < +.>Shortening the speed for the distance between obstacle and submarine, < >>The ratio coefficients of the pressure variation index of the submarine detection point, the vertical height of the obstacle and the submarine, and the shortening speed of the distance between the obstacle and the submarine are respectively +.>Are all greater than 0.
When the submarine is in deep sea navigation, and when the submarine has problems, the submarine is required to float upwards to reduce the pressure of water on the submarine;
obtaining floating adjustment coefficientAfter the value, the floating regulation coefficient is +.>Comparing the value with a second threshold valueIf the floating adjustment coefficient is->If the value is larger than the second threshold value, judging that the submarine needs to float upwards;
distance of floatingThe calculation is expressed as:
in (1) the->For the submergence depth of the submarine in the deep sea, < > j->In order to adjust the floating depth of the submarine, the absolute value of the floating depth of the submarine after adjustment is subtracted from the submerging depth of the submarine in shallow sea, and the distance of the submarine needing to float is obtained.
The above formulas are all formulas with dimensions removed and numerical values calculated, the formulas are formulas with a large amount of data collected for software simulation to obtain the latest real situation, and preset parameters in the formulas are set by those skilled in the art according to the actual situation.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (9)
1. An airborne satellite navigation communication system, which is characterized in that: the system comprises a health evaluation module, a satellite navigation module, a sonar module, a shallow sea analysis module, a deep sea analysis module and a communication display module;
health evaluation module: before the submarine goes out, after the health data of the submarine are acquired, whether the submarine supports sailing is evaluated, and when the submarine is evaluated to support sailing, the satellite navigation module is awakened, and the health state of the submarine in the sailing process is monitored in real time;
satellite navigation module: when the submarine is sailing in shallow sea, the submarine is used for receiving satellite data and determining sailing information of the submarine;
and a sonar module: acquiring multi-source data of the navigation direction of the submarine in the running process of the submarine;
shallow sea analysis module: when the submarine is sailed in shallow sea, satellite data and sonar data are comprehensively analyzed, whether the submarine is required to be regulated or not is judged, and when the submarine is judged to be required to be submerged, a submerged signal and a submerged distance are sent to a display module;
deep sea analysis module: when the submarine is in deep sea navigation, comprehensively analyzing the health data and the sonar data, judging whether the submarine is required to be regulated to float, and sending a float signal and a float distance to a display module when the submarine is required to float;
and the communication display module is used for: when receiving the submerging signal or the floating signal, feeding back the submerging distance or the floating distance to an operator, and sending the operation information to a ground control station by the operator through a communication display module;
when the submarine is sailing in shallow sea, the shallow sea analysis module shortens the distance between the obstacle and the submarine and the vertical height of the obstacle and the submarineShort speed, voyage direction Ubbelopsis index and voyage direction tide height comprehensive analysis and calculation to obtain submerge adjustment coefficientThe computational expression is:
in (1) the->For the navigation direction cloud index->For sailing direction tidal height, +.>For the vertical height of the obstacle and the submarine, < +.>For shortening the rate of distance between the obstacle and the submarine,the scale factors of the navigation direction Ubbelopsis index, the navigation direction tide height, the vertical height of the obstacle and the submarine, the distance between the obstacle and the submarine shortening speed are respectively, and ∈ ->Are all greater than 0.
2. An on-board satellite navigation communication system according to claim 1, wherein: the shallow sea analysis module obtains a submergence adjustment coefficientAfter the value, the submergence adjustment coefficient is +.>Comparing the value with a first threshold value, if the submergence adjustment coefficientIf the value is larger than the first threshold value, judging that the submarine needs to be submerged;
distance of submergenceThe calculation is expressed as:
in (1) the->For the submergence depth of the submarine in shallow sea, < +.>To adjust the submergence depth of the rear submarine.
3. An on-board satellite navigation communication system according to claim 2, wherein: when the submarine is in deep sea navigation, the deep sea analysis module comprehensively calculates the pressure variation index of the submarine detection point, the vertical height of the obstacle and the submarine, and the distance shortening speed between the obstacle and the submarine to obtain the floating adjustment coefficientThe computational expression is:
in (1) the->Is the pressure variation index of the submarine detection point +.>For the vertical height of the obstacle and the submarine, < +.>Shortening the speed for the distance between obstacle and submarine, < >>The pressure variation index of the submarine detection point, the vertical height of the obstacle and the submarine, and the ratio coefficient of the shortening speed of the distance between the obstacle and the submarine are respectively given, andare all greater than 0.
4. An on-board satellite navigation communication system according to claim 3, wherein: the deep sea analysis module obtains the floating adjustment coefficientAfter the value, the floating regulation coefficient is +.>Comparing the value with a second threshold value, if the floating adjustment coefficientIf the value is larger than the second threshold value, judging that the submarine needs to float upwards;
distance of floatingThe calculation is expressed as:
in (1) the->For the submergence depth of the submarine in the deep sea, < > j->In order to adjust the floating depth of the rear submarine.
5. An on-board satellite navigation communication system according to claim 4, wherein: the health evaluation module acquires health data of the submarine, wherein the health data comprises a pressure variation index of a submarine detection pointThe computational expression is:
in->，/>Indicating the number of pressure sensors arranged on the inner wall of the submarine hull, < >>Is a positive integer>Representing the pressure values acquired by the different pressure sensors, < >>Representing the average pressure value;
obtaining pressure variation index of submarine detection pointAfter the value, the pressure variation index of the submarine detection point is +.>Comparing the value with the evaluation threshold value, if the pressure variation index of the submarine detection point is +>The value > the evaluation threshold value, the submarine is evaluated not to support sailing, if the pressure variation index of the submarine detection point is +.>And the value is less than or equal to the evaluation threshold value, and the submarine is evaluated to support sailing.
6. An on-board satellite navigation communication system according to claim 5, wherein: the sonar module acquires multi-source data of the navigation direction of the submarine in the running process of the submarine, wherein the multi-source data comprise the vertical height of the obstacle and the submarine and the shortening speed of the distance between the obstacle and the submarine;
vertical height of obstacle and submarineThe calculated expression of (2) is:
in (1) the->For the distance of the obstacle from the submarine, < +.>Is the angle of the obstacle from the vertical.
7. An on-board satellite navigation communication system according to claim 6, wherein: the shallow sea analysis module acquires satellite data, wherein the satellite data comprises a navigation direction cloud index and a navigation direction tide height;
navigation direction cloud indexThe calculated expression of (2) is:
in (1) the->For the number of the Uyun groups occupying the grid, +.>Is the distance between the submarine and the cloud cluster.
8. An on-board satellite navigation communication system according to claim 7, wherein: the rate of shortening the distance between the obstacle and the submarineThe calculated expression of (2) is:
in (1) the->For the first detection of the distance between obstacle and submarine +.>For the second detection of the distance between obstacle and submarine>For the first detection time point, < >>The second detection time point.
9. An on-board satellite navigation communication system according to claim 8, wherein: the voyage direction tide heightThe calculated expression of (2) is:
in (1) the->Representing the maximum sea water level change during the tidal cycle, t being the monitoring period, +.>Is the tidal frequency, +.>Is the phase angle.
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