CN111200823A - Communication complement method, device, AUV and storage medium - Google Patents
Communication complement method, device, AUV and storage medium Download PDFInfo
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- CN111200823A CN111200823A CN202010016150.7A CN202010016150A CN111200823A CN 111200823 A CN111200823 A CN 111200823A CN 202010016150 A CN202010016150 A CN 202010016150A CN 111200823 A CN111200823 A CN 111200823A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
Abstract
The invention provides a communication complementing method and a communication complementing device, which are used for realizing communication connection of a sound and image area which cannot be established by underwater sound communication but needs to be covered by a communication system. An AUV-based communication complementing method, comprising: planning a first driving path of the AUV autonomous underwater vehicle to reach a sound and image area according to first position information of the sound and image area in a deployed underwater communication system; controlling the AUV to drive to a position corresponding to the first position information according to the first driving path; and controlling the AUV to establish a communication link with a communication node in the underwater communication system.
Description
Technical Field
The invention relates to the technical field of underwater communication, in particular to a communication complementing method and device, an AUV (autonomous underwater vehicle) and a storage medium.
Background
Underwater communication technology is an important prerequisite for marine exploration and other marine activities. As an extension of land sensor networks to underwater applications, underwater acoustic sensor networks are composed of multiple underwater nodes together with corresponding auxiliary equipment. The working mode is that the underwater nodes are used for acquiring deep sea information, and data are transmitted to the sea surface in an acoustic communication mode through the network. By means of underwater sensors with different functions, the underwater acoustic sensor network is widely applied and plays an important role in the aspects of marine data acquisition, pollution detection, disaster prediction, submarine resource exploration and the like. The underwater acoustic sensor network is an effective way for solving the interaction between marine information and land.
However, sound velocity gradients exist in the vertical distribution of sound velocity in the sea, so that sound rays are bent in a propagation path, when sound velocity negative gradients exist near the sea surface or sound velocity positive gradients exist near the sea bottom, and corresponding sound sources are placed near the sea surface or the sea bottom, direct sound rays do not exist in certain areas of the sea surface or the sea bottom, namely, an acoustic shadow area is not completely silent, a small amount of acoustic energy still enters the acoustic shadow area, but the communication link is not communicated in the area due to insufficient acoustic energy, and how to realize the communication connection of the acoustic shadow area which cannot be covered by the communication system but cannot be established by the underwater acoustic communication becomes one of the technical problems to be solved in the prior art.
Disclosure of Invention
The embodiment of the invention provides a communication complement method and a communication complement device, which are used for realizing communication connection of a sound and image area which cannot be established by underwater sound communication but needs to be covered by a communication system.
In a first aspect, a communication complementary method is provided, including:
planning a first driving path of the AUV autonomous underwater vehicle to reach a sound and image area according to first position information of the sound and image area in a deployed underwater communication system;
controlling the AUV to drive to a position corresponding to the first position information according to the first driving path; and
and controlling the AUV to establish a communication link with a communication node in the underwater communication system.
In one embodiment, the AUV carries an underwater optical communication system comprising at least an optical communicator, a modem, and a transmit-receive optical antenna; and
the method further comprises the following steps:
after receiving a data transmission instruction, planning a second driving path of the AUV according to set second position information;
controlling the AUV to reach a position corresponding to the second position information according to the second driving path;
controlling the AUV to establish a communication link with a data acquisition sensor through the optical communication system;
and receiving data transmitted by the data acquisition sensor through the established communication link, wherein the data is transmitted after the data acquisition sensor confirms that the communication link is established successfully.
In an implementation manner, the communication complementary method provided by the embodiment of the present invention further includes:
after receiving a data transmission instruction, planning a second driving path of the AUV according to set second position information;
controlling the AUV to reach a position corresponding to the second position information according to the second driving path;
controlling the AUV to establish a communication link with a data acquisition sensor through the optical communication system;
and receiving data transmitted by the data acquisition sensor through the established communication link, wherein the data is transmitted after the data acquisition sensor confirms that the communication link is established successfully.
In an implementation manner, the communication complementary method provided by the embodiment of the present invention further includes:
after data transmission is finished, receiving a return flight instruction, wherein the return flight instruction carries third position information;
planning a third driving path of the AUV according to the third position information;
and controlling the AUV to reach a position corresponding to the third position information according to the third traveling path.
In an implementation manner, the communication complementary method provided by the embodiment of the present invention further includes:
planning a fourth driving path of the AUV according to fourth position information of a fault communication node in the underwater communication system;
controlling the AUV to reach a position corresponding to the fourth position information according to the fourth driving path;
and controlling the AUV to establish a communication link with a communication node of the underwater communication system.
In a second aspect, a communication complementing device is provided, which includes:
the route planning unit is used for planning a first driving route from the AUV autonomous underwater vehicle to a sound and image area according to first position information of the sound and image area in the deployed underwater communication system;
the control unit is used for controlling the AUV to run to a position corresponding to the first position information according to the first running path; and controlling the AUV to establish a communication link with a communication node in the underwater communication system.
In one embodiment, the AUV carries an underwater optical communication system comprising at least an optical communicator, a modem, and a transmit-receive optical antenna; and
the apparatus further comprises a receiving unit, wherein:
the path planning unit is further used for planning a second driving path of the AUV according to set second position information after receiving the data transmission instruction;
the control unit is further configured to control the AUV to reach a position corresponding to the second position information according to the second driving path; controlling the AUV to establish a communication link with a data acquisition sensor through the optical communication system;
the receiving unit is used for receiving the data transmitted by the data acquisition sensor through the established communication link, wherein the data is transmitted after the data acquisition sensor confirms that the communication link is established successfully.
In an embodiment, the receiving unit is further configured to receive a return flight instruction after data transmission is completed, where the return flight instruction carries third location information;
the path planning unit is further configured to plan a third driving path of the AUV according to the third location information;
and the control unit is further used for controlling the AUV to reach a position corresponding to the third position information according to the third traveling path.
In one embodiment, the path planning unit is further configured to plan a fourth driving path of the AUV according to fourth position information of a faulty communication node in the underwater communication system;
the control unit is further configured to control the AUV to reach a position corresponding to the fourth position information according to the fourth traveling path; and controlling the AUV to establish a communication link with a communication node of the underwater communication system.
In a third aspect, there is provided an autonomous underwater vehicle AUV, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of any of the communication complementing methods described above.
In a fourth aspect, a computer storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of any of the communication complementing methods described above.
By adopting the technical scheme, the invention at least has the following advantages:
the communication complementing method, the communication complementing device, the AUV and the storage medium provided by the embodiment of the invention utilize the characteristic of high flexibility of the AUV to make up for a sound and shadow area which cannot be reached by underwater acoustic communication, and enlarge the range of the underwater acoustic communication, thereby realizing the communication connection of the sound and shadow area which cannot be established by the underwater acoustic communication but needs to be covered by a communication system.
Drawings
Fig. 1 is a flowchart of a communication complementary method according to an embodiment of the present invention;
fig. 2 is a flow chart of another communication complementing method according to an embodiment of the present invention;
fig. 3 is a flowchart of a communication complementary method according to an embodiment of the present invention;
fig. 4 is a schematic view of an application scenario of a communication complementary method according to an embodiment of the present invention;
fig. 5 is a schematic view of an application scenario of another communication complementary method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a communication complementing device according to an embodiment of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
It should be noted that the terms "first", "second", and the like in the description and the claims of the embodiments of the present invention and in the drawings described above are used for distinguishing similar objects and not necessarily for describing a particular order or sequence. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein.
Reference herein to "a plurality or a number" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
In the embodiment of the invention, the underwater acoustic communication blind area is made up by using the simple deployment and the high maneuvering flexibility of the AUV (autonomous underwater vehicle), and the underwater acoustic communication range is expanded. The AUV is introduced into the network, and aims to reduce the transmission dependence of an underwater communication node on a sea surface information receiving station and auxiliary monitoring, reduce the consumption of node energy by using the cruising energy of the AUV and prolong the life cycle of the network. Meanwhile, the information collected underwater is transmitted to the sea surface at the quick auxiliary node, the underwater information transmission rate is guaranteed, valuable information is obtained in a planned mode, and the information collection efficiency is improved. The AUV has another function of compensating the network connectivity of the underwater acoustic sensing network and filling network vacuum caused by the node communication terminal or monitoring coverage blank. Meanwhile, on the basis, the AUV can also be used for installing and maintaining the infrastructure of the network, arranging new underwater sensor nodes and being used as a temporary relay node to restore the connection of the network.
In view of this, an embodiment of the present invention provides a communication complementing method, as shown in fig. 1, which may include the following steps:
s11, planning a first driving path of the AUV to reach the sound shadow area according to the first position information of the sound shadow area in the deployed underwater communication system.
In specific implementation, communication link connection is established between deployed communication nodes such as buoys and submerged buoys according to system design, if the areas cannot be communicated, the areas are determined to be sound and image areas through evaluation, and the driving path of the AUV to the areas is planned according to the position information of the sound and image areas.
And S12, controlling the AUV to drive to the position corresponding to the first position information according to the planned first driving path.
In this step, the AUV is controlled to reach the sound shadow area according to the planned driving path.
And S13, controlling the AUV to establish a communication link with a communication node in the underwater communication system.
In the step, the AUV communicates and connects through other communication nodes of the underwater communication, so that interconnection and intercommunication of the whole communication link of the system are completed.
According to the method, the underwater acoustic communication blind area is made up, the underwater acoustic communication range is expanded, and the coverage rate of underwater communication is increased according to the high maneuverability flexibility of the AUV.
In another embodiment, the AUV may also carry an underwater optical communication system, which includes an optical communicator, a modem, a transmitting and receiving optical antenna, and the like. The underwater optical communication system has a large transmission rate, but has a limited transmission distance. When the information of large data volume acquired by the underwater front-end data acquisition sensor needs to be uploaded, the method can be implemented according to the flow shown in fig. 2 according to the embodiment of the invention, and specifically comprises the following steps:
and S21, after the data transmission command is received, planning a second driving path of the AUV according to the set second position information.
And S22, controlling the AUV to reach the position corresponding to the second position information according to the planned second driving path.
And S23, receiving the data transmitted by the data acquisition sensor through the established communication link.
And the data is sent after the data acquisition sensor confirms that the communication link is successfully established.
In specific implementation, because the transmission distance of the underwater optical communication is limited, after the AUV receives the data transmission instruction, the transmission range of the underwater optical communication can be determined according to the position information of the data acquisition sensor, the second position information of the AUV is determined according to the determined transmission range of the underwater optical communication, and it should be understood that the second position information of the AUV is within the determined transmission range of the underwater optical communication, the second driving path of the AUV is planned according to the determined second position information, and the AUV is controlled to reach the position corresponding to the second position information according to the planned second driving path.
In specific implementation, after the AUV reaches the position corresponding to the second position information, a communication link is established with the data acquisition sensor through a two-time handshake mechanism, a high-speed path of the established communication link is used for transmitting large-data-volume information, and the underwater optical communication transmission rate can reach dozens of Mbps or even Gbps. After the data transmission is completed, the method can further comprise the following steps:
and S24, receiving a return flight instruction, wherein the return flight instruction carries third position information.
Specifically, after the data transmission is completed, a return command is sent to the AUV by a water surface person, wherein the return command carries third position information so as to position and navigate the AUV to float.
And S25, planning a third driving path of the AUV according to the third position information.
And S26, controlling the AUV to reach the position corresponding to the third position information according to the third traveling route.
Therefore, the task of returning large-data-volume information is completed, the underwater data transmission rate is greatly improved, the information returning efficiency is improved, and time and labor are saved.
In another embodiment, the communication complementing method provided by the embodiment of the present invention may be further applied to the following application scenarios: the floating buoy node deployed in the sea area is damaged or maliciously damaged, so that the whole sea area communication system is crashed and cannot work, a temporary emergency network is urgently required to be built, and the working state of the system is recovered. Specifically, as shown in fig. 3, when the AUV is used to temporarily build an emergency network, the method may include the following steps:
and S31, planning a fourth driving path of the AUV according to the fourth position information of the fault communication node in the underwater communication system.
And S32, controlling the AUV to reach the position corresponding to the fourth position information according to the fourth traveling path.
And S33, controlling the AUV to establish a communication link with a communication node of the underwater communication system.
During specific implementation, a running path of the AUV is planned according to the position information of the fault communication node, the AUV carries a communication system, the AUV runs to a corresponding position according to the planned running path, when the AUV reaches a specified area, the fault communication node is replaced, a communication link is established with other communication nodes of the underwater communication system, the communication capacity of the current area is recovered, maintenance personnel salvage the fault communication node onto the ship and maintain according to the fault, the communication node is relocated after the fault node is maintained, the AUV completes an emergency task, and the communication is returned according to a return command. The method greatly improves the stability of sea area communication and reduces the loss caused by the communication network failure.
Fig. 4 is a schematic view of an application scenario of the communication complementary method according to the embodiment of the present invention. The communication complementing method provided by the embodiment of the invention can be applied to a marine ranch, an intelligent marine ranch with automatic operation and scientific management is established by creating a cross-domain communication platform, a buoy with cross-domain multi-system networking communication capability and an underwater observation submerged buoy with communication networking capability are distributed in the marine ranch, a plurality of AUVs (such as robotic fish, fish shoal disturbance can not be caused) for loading optical communication equipment are arranged, and the cross-domain communication platform is used for summarizing the marine ranch full monitoring information and the underwater high-definition picture/video information, thereby comprehensively realizing the functions of dynamic operation, marine information monitoring, disaster danger early warning and the like of the marine ranch and greatly improving the technological support level of the marine ranch.
Fig. 5 is a schematic view of another application scenario of the communication complementary method according to the embodiment of the present invention. The communication complement method provided by the embodiment of the invention can be applied to emergency communication, and supposing that the existing basic network of our army is destroyed, a satellite network is paralyzed, and communication cannot be carried out between ships with far distance on the sea surface, a high-speed ship or an unmanned ship is used for laying emergency communication facilities such as an AUV (autonomous underwater vehicle), the AUV is provided with underwater acoustic communication equipment, and an underwater emergency communication link is quickly built after laying, so that the work task of the original underwater communication network is temporarily replaced.
The communication complement method provided by the embodiment of the invention fully utilizes the characteristics of convenience and rapidness of AUV deployment and strong underwater movement flexibility, provides a plurality of communication complement methods, and can carry different loads to complete communication of a sea area communication system or blind area coverage according to different requirements. In the embodiment of the invention, according to the high maneuverability flexibility of the AUV, the underwater acoustic communication blind area is made up, the underwater acoustic communication range is expanded, and the coverage rate of an underwater communication system is increased; the underwater optical communication data transmission method can enhance the transmission rate of large underwater data volume information, improve the underwater data return efficiency and save time and labor; and an AUV-based emergency communication complement method is provided, which can improve the stability of the marine communication system and reduce unnecessary loss.
Based on the same technical concept, an embodiment of the present invention further provides a communication complementary device, as shown in fig. 6, including:
the path planning unit 61 is configured to plan a first driving path from the AUV autonomous underwater vehicle to a sound and image area according to first position information of the sound and image area in the deployed underwater communication system;
the control unit 62 is configured to control the AUV to travel to a position corresponding to the first position information according to the first travel path; and controlling the AUV to establish a communication link with a communication node in the underwater communication system.
In one embodiment, the AUV carries an underwater optical communication system comprising at least an optical communicator, a modem, and a transmit-receive optical antenna; and
the apparatus further comprises a receiving unit, wherein:
the path planning unit is further used for planning a second driving path of the AUV according to set second position information after receiving the data transmission instruction;
the control unit is further configured to control the AUV to reach a position corresponding to the second position information according to the second driving path; controlling the AUV to establish a communication link with a data acquisition sensor through the optical communication system;
the receiving unit is used for receiving the data transmitted by the data acquisition sensor through the established communication link, wherein the data is transmitted after the data acquisition sensor confirms that the communication link is established successfully.
In an embodiment, the receiving unit is further configured to receive a return flight instruction after data transmission is completed, where the return flight instruction carries third location information;
the path planning unit is further configured to plan a third driving path of the AUV according to the third location information;
and the control unit is further used for controlling the AUV to reach a position corresponding to the third position information according to the third traveling path.
In one embodiment, the path planning unit is further configured to plan a fourth driving path of the AUV according to fourth position information of a faulty communication node in the underwater communication system;
the control unit is further configured to control the AUV to reach a position corresponding to the fourth position information according to the fourth traveling path; and controlling the AUV to establish a communication link with a communication node of the underwater communication system.
Based on the same technical concept, the embodiment of the invention also provides an Autonomous Underwater Vehicle (AUV), which comprises: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of any of the communication complementing methods described above.
Based on the same technical concept, an embodiment of the present invention further provides a computer storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the communication complementing methods are implemented.
While the invention has been described in connection with specific embodiments thereof, it is to be understood that it is intended by the appended drawings and description that the invention may be embodied in other specific forms without departing from the spirit or scope of the invention.
Claims (10)
1. A communication complementary method, comprising:
planning a first driving path of an Autonomous Underwater Vehicle (AUV) to reach a sound and image area according to first position information of the sound and image area in a deployed underwater communication system;
controlling the AUV to drive to a position corresponding to the first position information according to the first driving path; and
and controlling the AUV to establish a communication link with a communication node in the underwater communication system.
2. The method of claim 1, wherein the AUV is onboard an underwater optical communication system comprising at least an optical communicator, a modem, and a transceiver optical antenna; and
the method further comprises the following steps:
after receiving a data transmission instruction, planning a second driving path of the AUV according to set second position information;
controlling the AUV to reach a position corresponding to the second position information according to the second driving path;
controlling the AUV to establish a communication link with a data acquisition sensor through the optical communication system;
and receiving data transmitted by the data acquisition sensor through the established communication link, wherein the data is transmitted after the data acquisition sensor confirms that the communication link is established successfully.
3. The method of claim 2, further comprising:
after data transmission is finished, receiving a return flight instruction, wherein the return flight instruction carries third position information;
planning a third driving path of the AUV according to the third position information;
and controlling the AUV to reach a position corresponding to the third position information according to the third traveling path.
4. The method of claim 1, further comprising:
planning a fourth driving path of the AUV according to fourth position information of a fault communication node in the underwater communication system;
controlling the AUV to reach a position corresponding to the fourth position information according to the fourth driving path;
and controlling the AUV to establish a communication link with a communication node of the underwater communication system.
5. A communication complementing apparatus, comprising:
the route planning unit is used for planning a first driving route from the Autonomous Underwater Vehicle (AUV) to a sound and image area according to first position information of the sound and image area in the deployed underwater communication system;
the control unit is used for controlling the AUV to run to a position corresponding to the first position information according to the first running path; and controlling the AUV to establish a communication link with a communication node in the underwater communication system.
6. The apparatus of claim 5, wherein the AUV carries an underwater optical communication system comprising at least an optical communicator, a modem, and a transceiver optical antenna; and
the apparatus further comprises a receiving unit, wherein:
the path planning unit is further used for planning a second driving path of the AUV according to set second position information after receiving the data transmission instruction;
the control unit is further configured to control the AUV to reach a position corresponding to the second position information according to the second driving path; controlling the AUV to establish a communication link with a data acquisition sensor through the optical communication system;
the receiving unit is used for receiving the data transmitted by the data acquisition sensor through the established communication link, wherein the data is transmitted after the data acquisition sensor confirms that the communication link is established successfully.
7. The apparatus of claim 6,
the receiving unit is further configured to receive a return flight instruction after data transmission is completed, where the return flight instruction carries third position information;
the path planning unit is further configured to plan a third driving path of the AUV according to the third location information;
and the control unit is further used for controlling the AUV to reach a position corresponding to the third position information according to the third traveling path.
8. The apparatus of claim 5,
the path planning unit is further configured to plan a fourth driving path of the AUV according to fourth position information of a faulty communication node in an underwater communication system;
the control unit is further configured to control the AUV to reach a position corresponding to the fourth position information according to the fourth traveling path; and controlling the AUV to establish a communication link with a communication node of the underwater communication system.
9. An Autonomous Underwater Vehicle (AUV), comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 4.
10. A computer storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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