CN111245523B - Underwater data transmission system - Google Patents
Underwater data transmission system Download PDFInfo
- Publication number
- CN111245523B CN111245523B CN202010016171.9A CN202010016171A CN111245523B CN 111245523 B CN111245523 B CN 111245523B CN 202010016171 A CN202010016171 A CN 202010016171A CN 111245523 B CN111245523 B CN 111245523B
- Authority
- CN
- China
- Prior art keywords
- underwater
- node
- monitoring
- communication
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/29—Repeaters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
Abstract
The invention provides an underwater data transmission system which is used for meeting the data transmission requirement of large underwater data volume. The underwater data transmission system comprises a gateway node, an underwater monitoring node and an underwater communication node, wherein the gateway node is provided with an underwater acoustic communicator and an underwater optical communicator, and the underwater monitoring node comprises: the underwater monitoring node is used for sending first positioning navigation guide information to the underwater communication node through the underwater acoustic communicator when monitoring data need to be sent; the underwater communication node is used for moving to a corresponding position according to the received first positioning navigation guide information, establishing underwater optical communication connection with the underwater monitoring node through the underwater optical communication machine, and receiving monitoring data sent by the underwater monitoring node; and receiving second positioning navigation guide information sent by the gateway node after the transmission of the monitoring data is finished, moving the second positioning navigation guide information to a corresponding position, establishing underwater optical communication connection with the gateway node through the underwater optical communication machine, and sending the monitoring data to the gateway node through the established underwater optical communication connection.
Description
Technical Field
The invention relates to the technical field of underwater communication, in particular to an underwater data transmission system.
Background
The communication industry in the world is rapidly developed at present, the communication technology is widely applied to three fields of sea, land and air, the land and air communication is developed more maturely, and the underwater communication technology has many challenges due to the severe underwater communication environment, so that a great development space is provided. 70.8% of the earth surface is covered by water, and the development of ocean resources greatly promotes the development of underwater wireless communication technology due to the abundant resources in the ocean. The underwater wireless communication technology can be used for resource detection, environment supervision, auxiliary navigation and the like, and has important significance for strengthening marine ecological environment monitoring, marine energy utilization development and marine scientific research.
The existing commonly used underwater wireless communication technology is mainly underwater acoustic communication, and the development of the technology is mature. In the underwater acoustic communication network, nodes are randomly distributed in a large sea area, and information collection in a large area can be realized, but the propagation speed of sound waves in water is only 1500m/s, and the data transmission rate is limited within dozens of kbps, so that the requirement of large-capacity data transmission cannot be met.
Disclosure of Invention
The embodiment of the invention provides an underwater data transmission system which is used for meeting the data transmission requirement of large underwater data volume.
The underwater data transmission system provided by the embodiment of the invention comprises a gateway node, an underwater monitoring node and an underwater communication node, wherein the gateway node, the underwater monitoring node and the underwater communication node are all provided with an underwater acoustic communicator and an underwater optical communicator; wherein:
the underwater monitoring node is used for sending first positioning navigation guiding information to the underwater communication node through the underwater acoustic communicator when monitoring data need to be sent, wherein the first positioning navigation guiding information is determined by the underwater monitoring node according to position information of the underwater monitoring node;
the underwater communication node is used for moving to a corresponding position according to the received first positioning navigation guide information, establishing underwater optical communication connection with the underwater monitoring node through the underwater optical communication machine, and receiving monitoring data sent by the underwater monitoring node; and receiving second positioning navigation guide information sent by the gateway node after the transmission of the monitoring data is finished, wherein the second navigation guide information is determined according to the position of the gateway node, moves to a corresponding position according to the second positioning navigation guide information, establishes underwater optical communication connection with the gateway node through the underwater optical communication machine, and sends the monitoring data to the gateway node through the established underwater optical communication connection.
In an embodiment, the gateway node is further configured to send a data clearing instruction to the underwater monitoring node through an underwater acoustic communicator after receiving the monitoring data sent by the underwater communication node, where the data clearing instruction is used to instruct the underwater monitoring node to clear the stored data.
In one embodiment, the underwater communication node is further configured to notify the gateway node through an underwater acoustic communicator after the underwater monitoring node completes transmission of the monitoring data;
the gateway node is specifically configured to send the second positioning navigation guidance information to the underwater communication node after receiving the notification information of the underwater communication node.
In one embodiment, the underwater optical communicator comprises an underwater blue-green optical communicator.
In one embodiment, the underwater monitoring nodes comprise underwater mobile monitoring nodes and underwater fixed monitoring nodes.
In one embodiment, the underwater communications node comprises an underwater mobile communications node.
In one embodiment, the underwater mobile communication node comprises at least one of: robotic fish and underwater vehicles UUV.
In one embodiment, the gateway node is mounted on a buoy.
By adopting the technical scheme, the invention at least has the following advantages:
according to the underwater data transmission system, the underwater monitoring node and the underwater communication node are provided with the underwater optical communication machine in addition to the underwater acoustic communication machine, so that when the underwater monitoring node needs to transmit large data volume of data to the gateway node beyond the underwater optical communication range, the underwater communication node can be used as a relay, and therefore the transmission requirement of the large data volume of data is met, and meanwhile the data transmission rate is improved.
Drawings
FIG. 1 is a schematic block diagram of an underwater data transmission system according to an embodiment of the present invention;
fig. 2 is a schematic view of an application scenario of the underwater data transmission system according to the embodiment of the 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.
The underwater acoustic communication network is a network which realizes information transmission by taking ultrasonic waves as information carriers and taking an underwater acoustic channel as a propagation channel in seawater. The underwater acoustic channel is the most complex channel of all communication channels, and because of its variability, many existing terrestrial communication technologies cannot be directly used in an underwater acoustic communication network.
1) High transmission delay
The propagation speed of the sound wave in the underwater environment is about 1500m/s, which is 5 orders of magnitude lower than that of the wireless electromagnetic wave on land, and the propagation speed of the sound wave can change along with the change of factors such as water temperature, salinity and the like.
2) Low network throughput
The underwater acoustic signal propagation delay in the underwater acoustic communication network is large, so that the network throughput of the underwater acoustic communication network is reduced sharply.
3) Low data transmission rate
The data transmission rate of the underwater acoustic communication network is low, only the data transmission of dozens of kbps is supported, and the data transmission rate can only reach hundreds of kbps even in a short-distance range.
4) Long propagation distance
Because the sound wave is attenuated to a lower degree underwater than other communication transmission media. Therefore, the communication distance is long, and the method is suitable for long-distance communication transmission.
Due to the limitation on the transmission rate of the underwater acoustic communication, how to realize the data transmission of large underwater data volume becomes one of the technical problems to be solved urgently in the prior art.
In order to support the development of underwater communication application, a communication technology is urgently needed to be found as a supplement of an underwater communication technology, the transmission speed of visible light in an underwater environment reaches 2.25 × 108m/s, the transmission speed of underwater optical communication can reach more than several Gbps, and the underwater wireless optical communication is more energy-saving compared with underwater acoustic communication.
The underwater optical communication network is a communication system which takes visible light as a carrier and takes an underwater optical channel as a propagation channel in an underwater environment, a light emitting diode or a laser is taken as a light source of underwater optical communication in the underwater optical communication network, a photodiode or an avalanche diode is taken as an optical receiving device, and the underwater optical communication network has the following characteristics.
1) The time delay is small
Visible light propagates in water at a speed of 2.25 × 108m/s, which is on the same order of magnitude as the propagation speed of wireless electromagnetic waves on land, 5 orders of magnitude higher than the propagation speed of underwater sound, and the delay time is almost negligible compared with underwater sound communication.
2) High data transmission rate and wide bandwidth
The data transmission rate of underwater optical communication can reach several Gbps, which is far higher than that of underwater acoustic communication. In addition, the underwater optical communication network can provide available bandwidth of 150MHz and has good communication performance.
3) The attenuation of light under water is severe
Although the bandwidth of visible light communication is wide, optical communication is more serious than underwater sound communication in a severe underwater environment; the light is seriously attenuated in water, the attenuation coefficient is 0.39dB/m in a deep sea environment, and the attenuation coefficient can reach 11dB/m in turbid water.
4) Small node coverage area
Since optical signals are severely attenuated in water, the communication range of underwater optical communication is small, and links are interrupted due to external factors such as water flow, and more nodes are required to cover the same area of communication area as compared with underwater acoustic communication.
5) Directional communication
Different from an underwater acoustic signal which is transmitted in a spherical wave form in underwater acoustic communication, when the underwater optical communication uses a laser as a light source, the light source emission has directivity, and the specific emission angle determines that only receiving nodes in a certain area along the emission direction can receive data.
In view of this, the embodiment of the present invention provides an underwater data transmission system combining underwater acoustic communication and underwater optical communication. For information with small data volume, such as control instructions, positioning navigation guide information and the like, underwater acoustic communication can be used for transmission, and for information with small data volume, such as monitoring data, such as images, videos and the like collected by monitoring nodes, underwater optical communication can be used for transmission.
In specific implementation, the underwater data transmission system provided by the embodiment of the invention utilizes the advantages of underwater acoustic communication and underwater optical communication, weakens and makes up the remarkable defects of the underwater acoustic communication and the underwater optical communication. The method is suitable for a distributed remote underwater fixed/mobile multi-node high-speed transmission communication system.
In the embodiment of the invention, underwater communication information is divided into instruction level information and data level information. Because the instruction level information data volume is small, the system adopts underwater acoustic communication to transmit control instructions, such as state monitoring information, positioning navigation information and the like, among all underwater fixed/mobile nodes according to the characteristics of the long-distance transmission and low-speed transmission of the underwater acoustic communication.
With the development of scientific progress, people have an increasing desire for exploring the sea, particularly the sea bottom, and have an increasing demand for large-data-volume marine internal pictures/videos.
In order to transmit information by using two communication modes of underwater acoustic communication and underwater optical communication simultaneously. Each node needs to be equipped with an underwater acoustic communicator, an underwater optical communicator and a signal processor when being fixed and moved underwater. The underwater acoustic communication machine comprises an underwater acoustic transceiver transducer array and an acoustic transponder, and the underwater acoustic transceiver transducer and the acoustic transponder realize positioning between nodes through a remote ultra-short baseline system; the underwater optical communication machine comprises an optical communication machine, a modem, a transmitting-receiving optical antenna and the like.
As shown in fig. 1, the underwater data transmission system provided in the embodiment of the present invention includes a gateway node 11, an underwater monitoring node 12, and an underwater communication node 13, where the gateway node 11, the underwater monitoring node 12, and the underwater communication node 13 are all equipped with an underwater acoustic communicator and an underwater optical communicator.
According to the embodiment of the invention, the gateway node can be mounted on the buoy. The underwater monitoring nodes 12 may include two kinds of underwater fixed monitoring nodes and underwater mobile monitoring nodes, wherein the underwater monitoring nodes 12 may be some underwater sensor nodes. The underwater communication node may include an underwater mobile communication node such as a robotic fish and a UUV (underwater unmanned vehicle), etc.
In specific implementation, the underwater monitoring node is configured to acquire monitoring data according to a set period or an acquisition instruction sent by the gateway node, and report the acquired monitoring data to the gateway node according to the set period or a reporting instruction sent by the gateway node.
According to the embodiment of the invention, if the communication distance between the underwater monitoring node and the gateway node is within the communication distance range of underwater optical communication, the underwater monitoring node and the gateway node can directly establish underwater optical communication connection to transmit monitoring data in a point-to-point communication mode, and if the communication distance between the underwater monitoring node and the gateway node is greater than the distance of the underwater optical communication, the monitoring data can be transmitted by taking the underwater communication node as a relay node.
In this embodiment, the underwater monitoring node is configured to send, when monitoring data needs to be sent, first positioning navigation guidance information to the underwater communication node through the underwater acoustic communication machine, where the first positioning navigation guidance information is determined by the underwater monitoring node according to its own position information; the underwater communication node is used for moving to a corresponding position according to the received first positioning navigation guide information, establishing underwater optical communication connection with the underwater monitoring node through the underwater optical communication machine, and receiving monitoring data sent by the underwater monitoring node; and receiving second positioning navigation guide information sent by the gateway node after the transmission of the monitoring data is finished, wherein the second navigation guide information is determined according to the position of the gateway node, moves to a corresponding position according to the second positioning navigation guide information, establishes underwater optical communication connection with the gateway node through the underwater optical communication machine, and sends the monitoring data to the gateway node through the established underwater optical communication connection.
The gateway node can be further configured to send a data clearing instruction to the underwater monitoring node through the underwater acoustic communicator after receiving the monitoring data sent by the underwater communication node, where the data clearing instruction is used to instruct the underwater monitoring node to clear the stored data.
In specific implementation, the underwater communication node may be further configured to notify the gateway node through an underwater acoustic communicator after the underwater monitoring node completes transmission of the monitoring data;
the gateway node is specifically configured to send the second positioning navigation guidance information to the underwater communication node after receiving the notification information of the underwater communication node.
In one embodiment, the underwater optical communicator comprises an underwater blue-green optical communicator.
The underwater data transmission system provided by the embodiment of the invention integrates the advantages of underwater acoustic communication and underwater optical communication, and realizes the distributed remote underwater communication with high timeliness and large data volume transmission among multiple nodes by utilizing the advantages of long underwater acoustic communication transmission distance and high underwater optical communication transmission speed.
The underwater data transmission system provided by the embodiment of the invention can be applied to an underwater distributed remote mobile/fixed multi-node high-speed communication transmission system, the communication system can effectively reduce time delay and effectively solve the problem of real-time underwater communication; the communication system adopts two communication modes of sound and light, has high bandwidth and flexible expandability, and can additionally increase nodes in a long distance; the underwater optical communication has strong confidentiality, so that enemy can break through the underwater optical communication with great difficulty, and the safety of data transmission is ensured. The underwater acoustic communication has long propagation distance, and can increase transmission distance, prolong the system layout range and meet the design requirements of certain specific systems when transmitting low data volume information such as control instructions and the like.
For a better understanding of the present invention, the following description is given in conjunction with specific examples.
As shown in fig. 2, which is a schematic view of an application scenario of an underwater data communication system, if an underwater fixed monitoring node a (fixed front-end device for monitoring information and storing information) transmits large data amount information such as high-definition pictures/videos in an uplink manner, it first needs to perform positioning confirmation with a receiving node, and the process can be performed through underwater acoustic communication, and if a receiving end is a short-distance fixed node C (gateway buoy), it directly passes through an optical alignment module, and then it is sufficient for point-to-point underwater optical communication; if the receiving end is a remote fixed node C and exceeds the point-to-point underwater optical communication distance, a mobile node B (such as a robotic fish, a UUV and the like, and only responsible for data transmission) needs to be arranged in the middle for assisting data transmission, and similarly to a relay station, the working process is as follows: the fixed node A sends positioning navigation information to the mobile node B, the mobile node B is guided to the distance which can be transmitted by underwater optical communication, then data transmission is carried out, after that, the mobile node B sends a data transmission request to a remote fixed node C, and the mobile node C positions the navigation B and guides the navigation B to the range of underwater optical communication transmission for data transmission.
If the underwater mobile monitoring node D (the mobile front-end equipment for monitoring information and storing information) carries out uplink transmission on the obtained large data amount information such as high-definition pictures/videos and the like, firstly, positioning confirmation is required to be carried out on the underwater mobile monitoring node D and a receiving node, the process can be carried out through underwater acoustic communication, if a receiving end is a short-distance fixed node C (a gateway buoy), the underwater mobile monitoring node D directly moves to an underwater optical communication range, and point-to-point underwater optical communication can be carried out through an optical alignment module; if the receiving end is the mobile node B, the mobile node D is firstly parked at a certain underwater position, a data transmission request is sent to the mobile node B, the D positions and navigates the B and guides the B to the range which can be transmitted by underwater optical communication for data transmission, and then the B continuously uploads the data as required by the above operation.
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 (8)
1. An underwater data transmission system is characterized by comprising a gateway node, an underwater monitoring node and an underwater communication node, wherein the gateway node, the underwater monitoring node and the underwater communication node are all provided with an underwater acoustic communicator and an underwater optical communicator; wherein:
the underwater monitoring node is used for sending first positioning navigation guiding information to the underwater communication node through the underwater acoustic communicator when monitoring data need to be sent, wherein the first positioning navigation guiding information is determined by the underwater monitoring node according to position information of the underwater monitoring node;
the underwater communication node is used for moving to a corresponding position according to the received first positioning navigation guide information, establishing underwater optical communication connection with the underwater monitoring node through the underwater optical communication machine, and receiving monitoring data sent by the underwater monitoring node through the established underwater optical communication connection; and receiving second positioning navigation guide information sent by the gateway node after the transmission of the monitoring data is finished, wherein the second positioning navigation guide information is determined according to the position of the gateway node, moves to a corresponding position according to the second positioning navigation guide information, establishes underwater optical communication connection with the gateway node through the underwater optical communication machine, and sends the monitoring data to the gateway node through the established underwater optical communication connection.
2. The system of claim 1,
the gateway node is further configured to send a data clearing instruction to the underwater monitoring node through the underwater acoustic communicator after receiving the monitoring data sent by the underwater communication node, wherein the data clearing instruction is used for instructing the underwater monitoring node to clear the stored data.
3. The system of claim 1,
the underwater communication node is also used for informing the gateway node through an underwater acoustic communicator after the underwater monitoring node finishes transmitting the monitoring data;
the gateway node is specifically configured to send the second positioning navigation guidance information to the underwater communication node after receiving the notification information of the underwater communication node.
4. The system of claim 1, 2 or 3, wherein the underwater optical communicator comprises an underwater blue-green optical communicator.
5. The system of claim 1, wherein the underwater monitoring nodes comprise underwater mobile monitoring nodes and underwater stationary monitoring nodes.
6. The system of claim 1, wherein the underwater communications node comprises an underwater mobile communications node.
7. The system of claim 6, wherein the underwater mobile communication node comprises at least one of: robotic fish and unmanned underwater vehicle UUV.
8. The system of claim 1, wherein the gateway node is mounted on a buoy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010016171.9A CN111245523B (en) | 2020-01-08 | 2020-01-08 | Underwater data transmission system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010016171.9A CN111245523B (en) | 2020-01-08 | 2020-01-08 | Underwater data transmission system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111245523A CN111245523A (en) | 2020-06-05 |
| CN111245523B true CN111245523B (en) | 2021-11-16 |
Family
ID=70870536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010016171.9A Active CN111245523B (en) | 2020-01-08 | 2020-01-08 | Underwater data transmission system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111245523B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112260769B (en) * | 2020-10-23 | 2021-07-16 | 军事科学院***工程研究院网络信息研究所 | Acousto-optic double-carrier mutual-check underwater communication method |
| CN112566108B (en) * | 2020-11-26 | 2022-07-01 | 厦门大学 | Underwater acoustic communication network data secret transmission method with virus-like latency |
| JPWO2022180831A1 (en) * | 2021-02-26 | 2022-09-01 | ||
| US20240129033A1 (en) * | 2021-02-26 | 2024-04-18 | Nippon Telegraph And Telephone Corporation | Communication methods, transmitters / receivers, repeaters, communication systems and programs |
| CN113067637A (en) * | 2021-03-24 | 2021-07-02 | 侯小菊 | Professional training communication support system and method |
| CN113556280A (en) * | 2021-08-09 | 2021-10-26 | 中电科海洋信息技术研究院有限公司 | Cross-domain communication gateway and system for water surface and underwater |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015040418A1 (en) * | 2013-09-23 | 2015-03-26 | Saab Seaeye Holdings Limited | A system for monitoring a remote underwater location |
| CN104539374A (en) * | 2014-12-09 | 2015-04-22 | 桂林电子科技大学 | Hybrid networking method based on water surface sensor network-underwater sound sensor network |
| CN106937348A (en) * | 2017-02-21 | 2017-07-07 | 青岛科技大学 | Underwater wireless Sensor Network network-building method and underwater wireless sensing net node device |
| CN107580559A (en) * | 2015-03-16 | 2018-01-12 | 沙特***石油公司 | water environment mobile robot |
| CN107994948A (en) * | 2017-12-30 | 2018-05-04 | 山东省科学院海洋仪器仪表研究所 | A kind of mobile Sink paths planning methods for underwater heterogeneous sensor network |
| CN108809404A (en) * | 2018-04-26 | 2018-11-13 | 深圳鳍源科技有限公司 | A kind of Subsea Control Systems |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104217616B (en) * | 2014-08-19 | 2016-08-17 | 中国电子科技集团公司第二十三研究所 | Implementation method cruiseway flow being monitored based on optical fiber underwater sound sensor |
-
2020
- 2020-01-08 CN CN202010016171.9A patent/CN111245523B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015040418A1 (en) * | 2013-09-23 | 2015-03-26 | Saab Seaeye Holdings Limited | A system for monitoring a remote underwater location |
| CN104539374A (en) * | 2014-12-09 | 2015-04-22 | 桂林电子科技大学 | Hybrid networking method based on water surface sensor network-underwater sound sensor network |
| CN107580559A (en) * | 2015-03-16 | 2018-01-12 | 沙特***石油公司 | water environment mobile robot |
| CN106937348A (en) * | 2017-02-21 | 2017-07-07 | 青岛科技大学 | Underwater wireless Sensor Network network-building method and underwater wireless sensing net node device |
| CN107994948A (en) * | 2017-12-30 | 2018-05-04 | 山东省科学院海洋仪器仪表研究所 | A kind of mobile Sink paths planning methods for underwater heterogeneous sensor network |
| CN108809404A (en) * | 2018-04-26 | 2018-11-13 | 深圳鳍源科技有限公司 | A kind of Subsea Control Systems |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111245523A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111245523B (en) | Underwater data transmission system | |
| Kong et al. | Millimeter-wave wireless communications for IoT-cloud supported autonomous vehicles: Overview, design, and challenges | |
| AU2005205617B2 (en) | Underwater optical communications system and method | |
| CN106937348B (en) | Underwater wireless sensor network networking method and underwater wireless sensor network node device | |
| CN109714728B (en) | Integrative target monitoring system in sky sea | |
| CN105356925A (en) | Amphibious communication system based on relay buoy | |
| CN208506594U (en) | Unmanned platform cluster cooperative control system | |
| CN214069930U (en) | Unmanned ship mooring unmanned aerial vehicle communication system | |
| CN108809404A (en) | A kind of Subsea Control Systems | |
| US20100107958A1 (en) | Underwater vehicle guidance | |
| CN108769139B (en) | Ship remote monitoring system based on VDES and S-band communication | |
| KR20070024474A (en) | Mobile device and radio interface arrangement method | |
| Velez et al. | Wireless sensor and networking technologies for swarms of aquatic surface drones | |
| CN104038292A (en) | Underwater short-distance high-speed wireless optical information transparent transmission device | |
| CN111181657A (en) | Ocean distributed self-organizing network system | |
| Menaka et al. | Vision of IoUT: Advances and future trends in optical wireless communication | |
| CN108964776A (en) | The green laser duplex communication system of underwater omnidirectional LD | |
| Ghelardoni et al. | Smart underwater wireless sensor networks | |
| Fan et al. | An SDN architecture for under water search and surveillance | |
| Mei et al. | Overview of vehicle optical wireless communications | |
| CN114785424A (en) | Underwater real-time communication, positioning and time service system and method based on blue-green light | |
| CN109039456A (en) | Underwater intelligent radio optical communication system | |
| CN103236146A (en) | Inland river ship energy consumption data transmission system based on AIS network | |
| CN108235331A (en) | A kind of network-building method of sea high-speed cellular mobile communication network | |
| CN208439437U (en) | Communication control unit, unmanned plane and UAV system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |