CN118971993B - A bidirectional cross-media method and system integrating communication, positioning and detection - Google Patents
A bidirectional cross-media method and system integrating communication, positioning and detection Download PDFInfo
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- G—PHYSICS
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- 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
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- H—ELECTRICITY
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Abstract
本发明公开了一种通信定位探测一体化的双向跨介质方法及其系统，包括：粗定位导航，空中设备持续向水面发射激光致声信号，生成声信号被水下设备接收，得到目标点；使用路径规划算法实时更新水下设备到目标点的导航路径，并校准时间；水下设备持续向水面发送声波信号，空中设备使用激光测振技术检测探测点的水面振动，结合实际海洋环境中的声源激励的水表面波公式，建立水表面振动模型并实时更新，得到对准点，空中、水下设备向对准点移动；空中、水下设备对齐后两者建立通信链接。本发明能够精确定位水下设备的位置并实时更新，提高了定位精度，确保了设备的高效作业和路径规划的准确性，实现了通信定位探测的一体化。
The present invention discloses a bidirectional cross-medium method and system for integrated communication, positioning and detection, including: coarse positioning and navigation, aerial equipment continuously emits laser-induced acoustic signals to the water surface, generates acoustic signals that are received by underwater equipment, and obtains the target point; uses a path planning algorithm to update the navigation path from the underwater equipment to the target point in real time, and calibrates the time; the underwater equipment continuously sends acoustic wave signals to the water surface, the aerial equipment uses laser vibration measurement technology to detect the surface vibration of the detection point, combines the water surface wave formula excited by the sound source in the actual marine environment, establishes a water surface vibration model and updates it in real time, obtains the alignment point, and the aerial and underwater equipment move to the alignment point; after the aerial and underwater equipment are aligned, the two establish a communication link. The present invention can accurately locate the position of the underwater equipment and update it in real time, improves the positioning accuracy, ensures the efficient operation of the equipment and the accuracy of the path planning, and realizes the integration of communication, positioning and detection.
Description
Technical Field
The invention relates to the field of communication, in particular to a bidirectional medium crossing method and a system thereof integrating communication positioning and detection.
Background
There are several key technical challenges in the current field of cross-medium communications, particularly concerning the transfer of information between underwater and over-the-water or over-the-air devices. Conventional methods rely on single medium technology for efficient remote transmission across water-air interfaces, which limits the functionality and efficiency of underwater communication and navigation systems. Currently existing cross-medium communication methods mainly support unidirectional communication, such as uplink communication combining sound and electric signals or laser-induced downlink communication. While direct laser communication may enable some form of bi-directional communication, it does not have the ability to combine communication with accurate positioning, both of which are particularly important in underwater operations requiring accurate navigation for accurate positioning and path planning over complex seafloor terrain.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a communication positioning detection integrated bidirectional medium crossing method and a system thereof.
The specific technical scheme is as follows:
a communication positioning detection integrated bidirectional medium crossing method comprises the following steps:
S1, coarse positioning navigation, namely, transmitting laser induced acoustic signals to a water surface by air equipment at fixed intervals, wherein the generated underwater acoustic signals comprise coordinates and time information of the air equipment, receiving the underwater acoustic signals by the underwater equipment, taking a water surface point with the strongest underwater acoustic signals as a target point, calculating the current coordinates of the underwater equipment by using a multilateral measurement method, and planning a navigation path from the underwater equipment to the target point by using a path planning algorithm;
s2, continuously receiving new underwater sound signals in the process that the underwater equipment advances along the navigation path, and updating the navigation path in real time by adopting the method in S1;
S3, the underwater equipment continuously transmits sound wave signals to the water surface at fixed intervals, the air equipment selects a plurality of detection points, and the laser vibration detection technology is used for detecting the water surface vibration of the detection points;
S4, according to the water surface vibration model, obtaining a water surface point with the largest vibration as an alignment point, moving the air equipment to the alignment point, updating a navigation path by the underwater equipment according to a new underwater acoustic signal, and synchronously moving to the alignment point;
S5, continuously collecting vibration data of a new observation point in the process that the air equipment moves towards the alignment point, and updating a water surface vibration model to obtain the new alignment point;
And S6, when the air-borne equipment and the underwater equipment are aligned, the air-borne equipment firstly transmits a positioning end signal and then transmits a communication signal, and a communication link is established with the underwater equipment.
Further, in S3, the expression of the water surface vibration model is as follows:
;
Where δ (t) represents a water surface vibration wave, η (t) represents a water surface wave excited only by the underwater device, W (t) represents marine environmental noise, p represents sound pressure considered in a vertical direction only, ρ represents a water density, α represents an attenuation coefficient, θ represents an incident angle of the sound wave signal with respect to the water surface, ω represents an angular frequency of the sound wave signal, k represents a beam, x represents a distance between a detection point and the origin point with respect to a point where the underwater device intersects the water surface in the vertical direction, N represents a frequency number of the marine environmental noise, a n represents an amplitude of each wave component, ω n represents an angular frequency, and Φ n represents a phase shift.
Further, in the step S1, the expression for calculating the current coordinates of the underwater device by using the multilateral measurement method is as follows:
;
Where (x t,yt,zt) denotes the coordinates of the target point, (x u,yu,zu) denotes the coordinates of the underwater device, c is the propagation velocity of sound in the water, t i is the time when the hydrophone i mounted on the underwater device receives the underwater sound signal, Is the measurement error.
Further, in the step S2, a kalman filtering algorithm is adopted to update the heading and the speed of the underwater equipment.
Further, in the step S1, the path planning algorithm is selected from an a-x or Dijkstra algorithm.
And if the vibration signal amplitude of the detection point exceeds a set threshold value, the underwater equipment is indicated to be close to the target point, S4 is executed, and otherwise, the underwater equipment continues to perform coarse positioning navigation.
The communication positioning detection integrated bidirectional medium crossing system is used for realizing the communication positioning detection integrated bidirectional medium crossing method and comprises air equipment, underwater equipment, a laser sound generating module, a laser vibration measuring module, a data processing unit and a dynamic data processing module, wherein the underwater equipment is carried with a hydrophone array and an underwater sound transducer;
The laser sound generating module is arranged on the aerial equipment and used for continuously transmitting laser sound generating signals to the water surface at fixed time intervals, and the laser sound generating signals encode the coordinate and time information of the aerial equipment;
the laser vibration measuring module is arranged on the air equipment and is used for detecting the vibration of the water surface;
The data processing unit is used for receiving and processing initial data obtained by the laser sound generating module and the laser vibration measuring module, and preliminarily calculating the position of the underwater equipment by adopting a multilateral measurement method;
The dynamic data processing module dynamically updates parameters in the water surface vibration model in real time by utilizing a self-adaptive algorithm through vibration data and positioning information acquired in real time, and can also adaptively adjust the parameters in a communication protocol to cope with different environmental conditions or signal intensity changes.
Further, in the data processing unit, the signal processing algorithm includes a kalman filter algorithm or a least square method.
Further, in the dynamic data processing module, the adaptive algorithm includes an adaptive filtering algorithm or a machine learning algorithm.
The beneficial effects of the invention are as follows:
(1) High-precision positioning and navigation functions:
the invention can accurately position and update the position of the underwater equipment in real time by utilizing the water surface acoustic wave signal generated by laser induced sound and the laser vibration measuring technology. By accurately monitoring and optimally modeling the water surface vibration, the system realizes accurate navigation of the underwater equipment, especially in complex submarine topography. The bidirectional positioning mode not only improves the positioning precision, but also can continuously carry out navigation adjustment on the underwater equipment in a dynamic environment, and ensures the high-efficiency operation of the equipment and the accuracy of path planning.
(2) Implementation of bidirectional cross-medium communication:
The invention realizes the bidirectional cross-medium communication between underwater and air equipment by combining the laser induced sound and laser vibration measuring technology. The technology breaks through the bottleneck of the traditional cross-medium communication limited by the water-air interface, and ensures the long-distance transmission and the efficient information exchange of the cross-medium communication. The advantage enables the underwater equipment to perform seamless communication with the air equipment in a complex marine environment, thereby greatly improving the communication efficiency and reliability of the system.
(3) Real-time data processing and communication optimization:
The invention comprises a dynamic data processing module, and can adaptively adjust communication protocol parameters by updating the water surface vibration model and positioning data in real time. The dynamic adjustment can optimize the data transmission rate and the communication reliability, ensure that the system can maintain the optimal communication effect under different water quality, wave and underwater environments, and has stronger anti-interference capability.
(4) The application scene is wide:
the invention can be used in a plurality of fields, such as ocean scientific research, military reconnaissance, commercial resource exploration and the like, and can effectively challenge the remote communication and high-precision navigation common in the fields. The system not only enhances the detection capability of the equipment, but also can ensure the safety and the operation efficiency of the equipment in a marine complex environment through a positioning function.
Drawings
Fig. 1 is a schematic flow chart of a bidirectional cross-medium method integrating communication positioning and detection in an embodiment of the invention.
FIG. 2 is a schematic diagram of a two-way cross-media system with integrated communication location detection in an embodiment of the invention.
Fig. 3 is a schematic diagram of cross-water-air communication through laser-induced sound in an embodiment of the invention.
Fig. 4 is a schematic diagram of cross-water-air communication through laser vibration measurement in an embodiment of the invention.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the preferred embodiments and the accompanying drawings, in which the present invention is further described in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
A two-way medium crossing method integrating communication positioning and detection adopts two water-air crossing communication mechanisms, wherein the first mechanism is a laser sound technology, air equipment (an air unmanned aerial vehicle is selected in the embodiment) transmits high-energy light wave pulse signals to the water surface, sound signals generated by the thermal expansion of the water surface are received by underwater equipment (the underwater unmanned aerial vehicle is selected in the embodiment), the sound signals are communication signals and comprise coordinates and time information of the air unmanned aerial vehicle, and the underwater equipment navigates to the air equipment according to the coordinates of the air equipment. The second laser vibration measuring technology is that the underwater equipment sends sound wave signals to enable the water surface to vibrate, and the aerial unmanned aerial vehicle detects the vibrations by using a laser, so that further positioning navigation and communication are realized. As shown in fig. 1, the communication and positioning navigation has three stages of coarse positioning navigation, fine positioning navigation and communication establishment, and the operations performed by each stage are described as follows:
stage one coarse positioning navigation, see figure 3.
And S1.1, transmitting a laser sound-generating signal, namely a high-energy light wave pulse signal, by the aerial unmanned aerial vehicle to the water surface at fixed intervals to generate an underwater sound signal, wherein the laser sound-generating signal comprises coordinates and time information of the aerial unmanned aerial vehicle.
And S1.2, signal receiving and primary positioning, namely receiving underwater sound signals by the underwater unmanned aerial vehicle through the hydrophone array carried by the underwater unmanned aerial vehicle.
And S1.3, positioning a target, namely positioning the underwater unmanned aerial vehicle to a water surface point with the strongest underwater acoustic signal, namely, a point irradiated by laser, and taking the point as a target point.
S1.4, calculating the position of the underwater unmanned aerial vehicle. The underwater unmanned aerial vehicle is provided with four hydrophones, the hydrophones are uniformly distributed at the bottom of the device, and square layout is formed, so that the positioning accuracy and reliability are improved. The underwater unmanned aerial vehicle is used for receiving the underwater sound signal, and the time when the underwater sound signal is transmitted from the target point is t t on the assumption that the coordinate of the target point is (x t,yt,zt). Calculating the position of the underwater unmanned aerial vehicle by using a multilateral measurement method, wherein the expression is as follows:
;
Wherein, (x u,yu,zu) is the coordinate of the underwater unmanned aerial vehicle, c is the propagation speed of sound in water, which is usually 1500m/s, t i is the time when the underwater sound signal is received by the hydrophone i; Is a measurement error that can be minimized by least squares or other optimization techniques.
And S1.5, calculating a navigation path, namely planning an optimal navigation path by using a path planning algorithm (such as an A-or Dijkstra algorithm), and updating the heading and speed of the underwater unmanned aerial vehicle so as to navigate the navigation path to the target point obtained in step 1.3.
And S1.6, time synchronization and calibration, namely calibrating a clock of the underwater unmanned aerial vehicle according to time information contained in the received underwater acoustic signal, so as to ensure time synchronization of the underwater unmanned aerial vehicle and the aerial unmanned aerial vehicle.
And S1.7, continuously positioning and updating a navigation path, namely continuously receiving an underwater sound signal from a target point by the underwater unmanned aerial vehicle in the process of navigating and advancing to the target point by the underwater unmanned aerial vehicle, and adjusting and optimizing the navigation path by adopting the methods of S1.2-S1.6. The state (heading and speed) of the underwater unmanned aerial vehicle is continuously updated by using a Kalman filtering algorithm so as to adapt to the dynamically-changing environment.
Through the steps, the underwater unmanned aerial vehicle can accurately determine the position and time of the underwater unmanned aerial vehicle and effectively navigate to the target point. The method utilizes modern signal processing and navigation technology, and can realize high-precision operation in a complex underwater environment.
And step two, accurate positioning and navigation.
In order to accurately predict and locate the vertical point (i.e., alignment point) of an underwater drone relative to an airborne drone, we need to further refine the measurement and analysis process of water surface vibrations. This includes determining the number of probe points required and how to constantly optimize the water surface vibration model during movement. The method comprises the following specific steps:
s2.1, determining the number of detection points, wherein the method specifically comprises the following two choices:
(1) Minimum detection points theoretically, at least three detection points are required in order to be able to reconstruct the vibration mode of the water surface and to perform an effective three-dimensional localization. This allows the approximate position of the water surface vibration source to be calculated by triangulation. However, in order to improve accuracy and reliability, it is recommended to use more probe points.
(2) Ideal probe number-five to seven probe points are a relatively ideal number in practical applications, which can provide sufficient data for the water surface vibration model to perform more complex data analysis and prediction, such as using multivariate regression or machine learning methods to predict the exact position of the underwater drone.
And S2.2, collecting initial data, namely, periodically sending an acoustic wave signal to the water surface through an underwater acoustic transducer carried by the underwater unmanned aerial vehicle, wherein the acoustic wave signal enables the water surface to vibrate, and continuously detecting the vibration of the water surface by the aerial unmanned aerial vehicle by using a laser vibration detection technology, namely sending laser pulses above different detection points and collecting vibration data reflected from the detection points. Once the amplitude of the vibration signal is detected to exceed the preset threshold, the underwater unmanned aerial vehicle is indicated to be close to the target, and the next step is executed.
S2.3, establishing a water surface vibration model by using the initial data. The construction of the water surface vibration model is obtained by substituting initial data into a water surface wave formula of acoustic source excitation in an actual marine environment, and the formula expression is as follows:
;
Where δ (t) represents a water surface vibration wave, η (t) represents a water surface wave excited only by a sound source (i.e., an underwater unmanned aerial vehicle), W (t) represents marine environmental noise, p represents sound pressure, considered in a vertical direction only, ρ represents a water density, α represents an attenuation coefficient, θ represents an incident angle of an acoustic wave signal to the water surface, ω represents an angular frequency of the acoustic wave signal, k represents a beam, a point where the underwater unmanned aerial vehicle intersects the water surface in the vertical direction is defined as an origin, x represents a distance between a detection point and the origin, N represents the number of frequencies of marine environmental noise, a n represents an amplitude of each wave component, ω n represents an angular frequency, and Φ n represents a phase shift.
And S2.4, calculating an alignment point, namely obtaining the coordinate of the maximum point (namely the alignment point) of the surface vibration according to the surface vibration model.
S2.5, accurately navigating, namely moving the aerial unmanned aerial vehicle to the alignment point, and simultaneously updating a navigation path to move to the alignment point according to the received new underwater sound signal by the underwater unmanned aerial vehicle.
S2.6, dynamically optimizing a water surface vibration model, which is realized by the following substeps:
(1) And (3) updating data, namely continuously collecting new detection point vibration data by the aerial unmanned aerial vehicle in the moving process.
(2) Model adjustment-updating the water surface vibration model using the newly collected probe vibration data, which is iterative, and once after each new data is collected, updating the water surface vibration model to reflect the latest water surface state. This process involves adjusting model parameters or fitting data using more complex algorithms.
S2.7, alignment confirmation, namely when the aerial unmanned aerial vehicle and the underwater unmanned aerial vehicle are aligned (the underwater unmanned aerial vehicle is positioned right below the alignment point), the aerial unmanned aerial vehicle sends a positioning end signal. The aerial and underwater drones should have real-time communication capabilities to adjust their navigation and positioning strategies according to the latest water surface vibration model.
By the aid of the refinement method, the position of the underwater unmanned aerial vehicle can be predicted more accurately, a water surface vibration model can be optimized continuously according to latest data in the moving process, and dynamic model adjustment is a key for ensuring efficient and accurate navigation.
And step three, communication establishment.
And (3) communication signal transmission, namely after positioning is completed, the aerial unmanned aerial vehicle transmits a communication signal and establishes a communication link with the underwater unmanned aerial vehicle.
The invention can realize the integration of communication positioning and detection through the three stages of coarse positioning navigation, precise positioning navigation and communication establishment, and provides a feasible scheme for remotely returning underwater detection data in an actual marine environment to air equipment.
In order to realize the communication positioning detection integrated bidirectional medium crossing method, as shown in fig. 2, the embodiment also provides a communication positioning detection integrated bidirectional medium crossing system, which comprises air equipment, underwater equipment, a laser sound generating module, a laser vibration measuring module, a data processing unit and a dynamic data processing module. In this embodiment, the aerial device is an aerial unmanned aerial vehicle, the underwater device is an underwater unmanned aerial vehicle, and the hydrophone array and the underwater acoustic transducer are mounted.
The laser sound generating module is arranged on the aerial unmanned aerial vehicle and is used for continuously and fixedly transmitting laser sound generating signals (particularly high-energy light wave pulse signals) to the water surface at intervals to generate underwater sound signals, and the underwater sound signals encode coordinate and time information of the aerial unmanned aerial vehicle.
The laser vibration measuring module is arranged on the aerial unmanned aerial vehicle and used for detecting the vibration of the water surface, and the vibration is generated by the sound wave signals sent by the underwater unmanned aerial vehicle and used for acquiring the position information of the underwater unmanned aerial vehicle.
The data processing unit is used for receiving and processing initial data obtained by the laser sound generating module and the laser vibration measuring module, and primarily calculating the position of the underwater unmanned aerial vehicle through a multilateral measurement method. The system can be used for analyzing water surface vibration data acquired from a laser vibration measuring module, the data reflect interaction between sound waves emitted by the underwater unmanned aerial vehicle and the water surface, and through comprehensively analyzing the vibration data, a signal processing algorithm such as a Kalman filtering algorithm or a least square method is adopted, the data processing unit can further optimize position information of the underwater unmanned aerial vehicle, and precise bidirectional cross-medium communication and navigation are ensured.
And the dynamic data processing module is used for updating and optimizing the water surface vibration model in real time. Due to the fact that the underwater environment is complex and changeable (the influence of factors such as water flow and waves), the module can adaptively adjust the water surface vibration model according to real-time environment changes. Specifically, by using the collected vibration data and positioning information, the dynamic data processing module dynamically updates various parameters in the water surface vibration model, such as the propagation speed of sound waves, by using an adaptive algorithm (such as an adaptive filtering algorithm or a machine learning algorithm) so as to ensure the reliability of communication and positioning. The module is also responsible for adaptively adjusting parameters in the communication protocol, such as data transmission rate, signal coding scheme, etc., to cope with different environmental conditions or signal strength variations, thereby maximizing communication efficiency and system reliability.
The invention breaks through the limitation of traditional cross-medium communication by comprehensively utilizing the laser induced sound and laser vibration measuring technology, and realizes the integration of communication, positioning and detection. The method not only allows the realization of the bidirectional information transmission across the water-air medium, but also can accurately position the water and underwater equipment, thereby effectively guiding navigation and subsequent communication tasks. Through laser sound technology, the aerial unmanned aerial vehicle can transmit laser pulses to the water surface to generate underwater sound signals, and the underwater sound signals carry position and time information, are received by the underwater unmanned aerial vehicle and are used for coarse positioning navigation of the underwater sound signals. Meanwhile, the laser vibration meter detects vibration of the water surface due to sound waves emitted by the underwater unmanned aerial vehicle, and the vibration data are used for further correcting and optimizing position information of underwater equipment. The method remarkably improves the positioning accuracy and the communication instantaneity, and is suitable for the fields of ocean scientific research, military reconnaissance, commercial resource exploration and the like with high precision requirements.
It will be appreciated by persons skilled in the art that the foregoing description is a preferred embodiment of the invention, and is not intended to limit the invention, but rather to limit the invention to the specific embodiments described, and that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for elements thereof, for the purposes of those skilled in the art. Modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. The communication positioning and detection integrated bidirectional medium crossing method is characterized by comprising the following steps of:
S1, coarse positioning navigation, namely, transmitting laser induced acoustic signals to a water surface by air equipment at fixed intervals, wherein the generated underwater acoustic signals comprise coordinates and time information of the air equipment, receiving the underwater acoustic signals by the underwater equipment, taking a water surface point with the strongest underwater acoustic signals as a target point, calculating the current coordinates of the underwater equipment by using a multilateral measurement method, and planning a navigation path from the underwater equipment to the target point by using a path planning algorithm;
s2, continuously receiving new underwater sound signals in the process that the underwater equipment advances along the navigation path, and updating the navigation path in real time by adopting the method in S1;
S3, the underwater equipment continuously transmits sound wave signals to the water surface at fixed intervals, the air equipment selects a plurality of detection points, and the laser vibration detection technology is used for detecting the water surface vibration of the detection points;
S4, according to the water surface vibration model, obtaining a water surface point with the largest vibration as an alignment point, moving the air equipment to the alignment point, updating a navigation path by the underwater equipment according to a new underwater acoustic signal, and synchronously moving to the alignment point;
S5, continuously collecting vibration data of a new observation point in the process that the air equipment moves towards the alignment point, and updating a water surface vibration model to obtain the new alignment point;
S6, when the air equipment and the underwater equipment are aligned, the air equipment firstly transmits a positioning end signal, then transmits a communication signal and establishes a communication link with the underwater equipment;
in S3, the expression of the water surface vibration model is as follows:
;
Where δ (t) represents a water surface vibration wave, η (t) represents a water surface wave excited only by the underwater device, W (t) represents marine environmental noise, p represents sound pressure considered in a vertical direction only, ρ represents a water density, α represents an attenuation coefficient, θ represents an incident angle of the sound wave signal with respect to the water surface, ω represents an angular frequency of the sound wave signal, k represents a beam, x represents a distance between a detection point and the origin point with respect to a point where the underwater device intersects the water surface in the vertical direction, N represents a frequency number of the marine environmental noise, a n represents an amplitude of each wave component, ω n represents an angular frequency, and Φ n represents a phase shift.
2. The integrated communication positioning and detection bidirectional medium crossing method according to claim 1, wherein in S1, an expression for calculating a current coordinate of the underwater device by using a multilateral measurement method is as follows:
;
Where (x t,yt,zt) denotes the coordinates of the target point, (x u,yu,zu) denotes the coordinates of the underwater device, c denotes the propagation velocity of sound in water, t i denotes the time when the underwater sound signal is received by the hydrophone i mounted on the underwater device, and є is the measurement error.
3. The integrated communication positioning and detection bidirectional medium crossing method according to claim 1, wherein in S2, a kalman filtering algorithm is adopted to update the heading and speed of the underwater equipment.
4. The integrated communication positioning and detection bidirectional medium crossing method according to claim 1, wherein in S1, a path planning algorithm is selected from an a-or Dijkstra algorithm.
5. The communication positioning and detection integrated bidirectional medium crossing method according to claim 1 is characterized in that the distance between the underwater equipment and the air equipment is judged according to the vibration signal amplitude of the detection point detected by the laser vibration detection technology, if the vibration signal amplitude of the detection point exceeds a set threshold value, the underwater equipment is indicated to be close to a target point, S4 is executed, and otherwise the underwater equipment continues to perform coarse positioning navigation.
6. The communication positioning detection integrated bidirectional medium crossing system is used for realizing the communication positioning detection integrated bidirectional medium crossing method according to any one of claims 1-5, and is characterized by comprising air equipment, underwater equipment, a laser sound generating module, a laser vibration measuring module, a data processing unit and a dynamic data processing module, wherein the underwater equipment is carried with a hydrophone array and an underwater sound transducer;
The laser sound generating module is arranged on the aerial equipment and used for continuously transmitting laser sound generating signals to the water surface at fixed time intervals, and the laser sound generating signals encode the coordinate and time information of the aerial equipment;
the laser vibration measuring module is arranged on the air equipment and is used for detecting the vibration of the water surface;
The data processing unit is used for receiving and processing initial data obtained by the laser sound generating module and the laser vibration measuring module, and preliminarily calculating the position of the underwater equipment by adopting a multilateral measurement method;
The dynamic data processing module dynamically updates parameters in the water surface vibration model in real time by utilizing a self-adaptive algorithm through vibration data and positioning information acquired in real time, and can also adaptively adjust the parameters in a communication protocol to cope with different environmental conditions or signal intensity changes.
7. The integrated communication location detection bi-directional cross-media system of claim 6 wherein the signal processing algorithm comprises a kalman filter algorithm or a least squares method in the data processing unit.
8. The integrated communication location detection bi-directional cross-media system of claim 6 wherein the adaptive algorithm comprises an adaptive filtering algorithm or a machine learning algorithm in the dynamic data processing module.
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