CN114275101A - Positioning system of submarine optical cable diving buoy - Google Patents
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Abstract
The invention discloses a positioning system of a submarine optical cable diving buoy, which comprises: the underwater acoustic signal transmitting unit and the diving buoy; the underwater sound signal transmitting unit is arranged on the ship and used for transmitting underwater sound signals to the diving buoy; the diving buoy is connected with the sea optical cable and used for positioning the sea optical cable, and the diving buoy is positioned under the sea surface. The underwater sound signal receiving unit in the underwater sound signal transmitting system adopts the underwater sound signal to transmit information, and the maximum transmission distance of the signal under the premise of ensuring the clarity is increased through the assistance of the amplifier and the filter, the information quantity of the underwater sound signal to be transmitted is small, the requirement on the communication speed is not high, the cost and the power consumption of the system are reduced, the underwater sound signal receiving unit in the system adopts a battery with low power consumption, the endurance of an underwater diving buoy is increased, the usability of the system is increased, the locking and the releasing are completed by using a reliable mechanical lock catch, and the reliability of the system is increased.
Description
Technical Field
The invention belongs to the field of positioning of a submarine optical cable, and particularly relates to a positioning system of a submarine optical cable diving buoy.
Background
With the development of information and communication technology, submarine optical cables become more and more information main bodies of communication trunk lines with high capacity and good confidentiality, and the construction scale is gradually increased year by year. However, the submarine cable is under water, especially laid under deep water, the underwater condition is complex, and once a fault occurs, even if the position is determined, the difficulty of finding and repairing construction is very high. When the submarine optical cable in the sea is maintained, the maintenance of the submarine cable has to be interrupted due to the influence of sea conditions or other factors, the submarine cable is thrown back to the sea bottom, and the submarine cable is continuously salvaged to the same position when the sea conditions are improved. In order to solve the above problems, the prior art is similar to the prior art in that a long rope is tied at the repaired end of a submarine cable, a buoy which is sufficiently floated out of the water surface is tied at the other end of the long rope, the submarine is evacuated, the operating ship returns to the place when the sea condition is good, the buoy floating on the water surface is observed by naked eyes to search the position of the optical cable to be operated, and the long rope pulled by the buoy is pulled out after the buoy is found until the submarine optical cable tied by the long rope is pulled out, so that the operation is continued. However, the method in the prior art has many defects, and due to the complex sea surface condition, the buoy may pass through various fishing boats, and is most likely to be hung down by the fishing net of the fishing boat, and once the buoy is not positioned, the position of the previous operation cannot be quickly found. Particularly, when the underwater construction operation is carried out at a fault point, some facilities are often required to be placed on the seabed, and then buoys are arranged on the water surface for positioning and marking. However, due to the complex sea surface condition, once the mark is broken, it is difficult to find the target again.
In view of the above-mentioned drawbacks of the prior art, a solution is urgently needed.
Disclosure of Invention
The invention aims to provide a positioning system of a submarine optical cable diving buoy, which aims to solve the problems in the prior art.
In order to achieve the above object, the present invention provides a positioning system for a submarine optical cable diving buoy, comprising: the underwater acoustic signal transmitting unit and the diving buoy;
the underwater sound signal transmitting unit is arranged on a ship and used for transmitting underwater sound signals to the diving buoy;
the diving buoy is connected with the sea optical cable and used for positioning the sea optical cable, and the diving buoy is positioned under the sea surface.
Optionally, the underwater acoustic signal transmitting unit includes a signal encoder, an amplifier, an underwater acoustic transmitting and transducing module and a power supply module,
wherein the signal encoder is used for encoding the control signal into a hydroacoustic signal;
the amplifier is used for amplifying the underwater sound signal;
the underwater sound emission and transduction module is used for sending out the underwater sound signal;
the power module is used for supplying power to the underwater sound signal transmitting unit.
Optionally, the modulation method adopted in the process of encoding the control signal into the underwater acoustic signal by the signal encoder includes one of binary amplitude shift keying, binary phase shift keying, or binary frequency shift keying.
Optionally, the signal encoder adds a time interval without a signal state between two symbols in the modulation process.
Optionally, the diving buoy comprises an underwater acoustic signal receiving module and a locking module;
the underwater sound signal receiving module is used for receiving and demodulating the underwater sound signal sent by the underwater sound signal transmitting unit;
the locking module is used for locking or releasing the buoy through the underwater acoustic signal.
Optionally, the underwater acoustic signal receiving module includes a demodulation module, configured to demodulate the modulated underwater acoustic signal sent by the underwater acoustic signal transmitting unit.
Optionally, the underwater acoustic signal transmitting unit adopts an odd-even test method in the process of transmitting the underwater acoustic signal to the underwater buoy, and the method includes: the method comprises the steps of firstly sending address coding information of two bytes, and finally sending check bits of the address coding information of the two bytes, wherein the first byte adopts an even check mode, and the second byte adopts an odd check mode.
Optionally, the underwater acoustic signal receiving module adopts a fuzzy processing method, including: adopting an intermediate type membership function in the carrier frequency signal identification of the code element information; forming a first ambiguity vector by the frequency of the information symbol and the frequency of the parity symbol;
representing the time sequence interval information among the code elements by adopting a small membership function to form a second fuzzy vector of the time sequence coincidence degree of each code element;
and obtaining underwater sound information based on the first fuzzy vector and the second fuzzy vector.
Optionally, the underwater acoustic signal receiving module adopts a single chip microcomputer for demodulation and identification, and the single chip microcomputer is set to be in a sleep standby mode.
Optionally, the single chip microcomputer includes a monitoring module, and the monitoring module is used for monitoring the operation condition of the single chip microcomputer, and includes:
the single chip microcomputer sends a pulse signal to the monitoring module all the time, if the single chip microcomputer stops sending the pulse signal and the monitoring module does not receive the pulse signal, the monitoring module sends a reset signal to the single chip microcomputer after a preset time, and the single chip microcomputer starts to work again.
The invention has the technical effects that:
the underwater sound signal receiving unit in the underwater sound signal transmitting system adopts the underwater sound signal to transmit information, and the maximum transmission distance of the signal under the premise of ensuring the clarity is increased through the assistance of the amplifier and the filter, the information quantity of the underwater sound signal to be transmitted is small, the requirement on the communication speed is not high, the cost and the power consumption of the system are reduced, the underwater sound signal receiving unit in the system adopts a battery with low power consumption, the endurance of an underwater diving buoy is increased, the usability of the system is increased, the locking and the releasing are completed by using a reliable mechanical lock catch, and the reliability of the system is increased.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a schematic structural diagram in an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
As shown in fig. 1, the present embodiment provides a positioning system for a submarine optical cable diving buoy, including:
the underwater acoustic signal transmitting unit and the diving buoy;
the underwater sound signal transmitting unit is arranged on the ship and used for transmitting underwater sound signals to the diving buoy;
the diving buoy is connected with the sea optical cable and used for positioning the sea optical cable, and the diving buoy is positioned under the sea surface.
The underwater acoustic signal transmitting unit comprises a signal encoder, an amplifier, an underwater acoustic transmitting and transducing module and a power supply module,
wherein the signal encoder is used for encoding the control signal into a hydroacoustic signal;
the amplifier is used for amplifying the underwater sound signal;
the underwater sound emission and transduction module is used for sending out an underwater sound signal;
the power module is used for supplying power to the underwater sound signal transmitting unit.
The modulation method adopted in the process of encoding the control signal into the underwater sound signal by the signal encoder comprises one of binary amplitude shift keying, binary phase shift keying or binary frequency shift keying.
The signal encoder adds a time interval of no signal state between two symbols in the modulation process.
The diving buoy comprises an underwater sound signal receiving module and a locking module;
the underwater sound signal receiving module is used for receiving and demodulating the underwater sound signal sent by the underwater sound signal transmitting unit;
the locking module is used for locking or releasing the buoy through the underwater acoustic signal.
The underwater sound signal receiving module comprises a demodulation module used for demodulating the modulated underwater sound signal sent by the underwater sound signal transmitting unit.
The underwater sound signal transmitting unit adopts an odd-even test method in the process of transmitting the underwater sound signal to the diving buoy, and the method comprises the following steps: the method comprises the steps of firstly sending address coding information of two bytes, and finally sending check bits of the address coding information of the two bytes, wherein the first byte adopts an even check mode, and the second byte adopts an odd check mode.
The underwater sound signal receiving module adopts a fuzzy processing method and comprises the following steps: adopting an intermediate type membership function in the carrier frequency signal identification of the code element information; forming a first ambiguity vector by the frequency of the information symbol and the frequency of the parity symbol;
representing the time sequence interval information among the code elements by adopting a small membership function to form a second fuzzy vector of the time sequence coincidence degree of each code element;
and obtaining the underwater sound information based on the first fuzzy vector and the second fuzzy vector.
The underwater sound signal receiving module adopts a single chip microcomputer to demodulate and identify, and the single chip microcomputer is set to be in a dormant standby mode. The singlechip includes monitoring module, and monitoring module is used for monitoring the operational aspect of singlechip, includes:
the single chip microcomputer always sends a pulse signal to the monitoring module, if the single chip microcomputer stops sending the pulse signal and the monitoring module does not receive the pulse signal, the monitoring module sends a reset signal to the single chip microcomputer after a preset time, and the single chip microcomputer starts to work again.
The system disclosed by the invention consists of a remote control transmitting host and a plurality of extension-diving buoys with receivers and mechanical unlocking mechanisms. The host comprises a remote control signal encoder, a pulse power amplifier, an underwater sound emission transducer and a host power supply and charging power supply, wherein the remote control signal encoder, the pulse power amplifier, the underwater sound emission transducer and the host power supply and charging power supply are formed by taking an embedded processor as a core. The extension set comprises an underwater sound signal sensor, a signal amplifier, a singlechip signal decoding circuit, a power driving circuit and a mechanical actuating mechanism controlled by the power driving circuit. The above-mentioned components of the extension are mounted in the sealed shell body to form underwater sound remote-control buoy, and placed in the sea.
When the underwater sound signal transmitter is used, the underwater sound signal transmitter is placed on a ship, and the buoy of the underwater sound signal receiver is sunk into an underwater construction target object through a heavy object. When the underwater sound signal receiver receives the digital coding information sent by the underwater sound signal transmitter and confirms that the information conforms to the self code, the lock of the underwater sound signal receiver is opened and floats to the water surface.
The operation host on the deck sends out remote control coded signals to the underwater extension set, and one-point to multi-point remote control can be realized in a range of 1000 meters far away. The underwater sound buoy sinks underwater for dozens of meters along with the maintenance facility so as to avoid the interference of wind waves on the water surface and passing ships. Therefore, the remote control device and the related technology play an important role in fishing and positioning in deep sea water areas, marking the construction position of the submarine cable and the like.
The underwater sound remote control subsurface buoy positioning system utilizes a digital underwater sound communication technology.
Because the amount of information needing to be transmitted is small, and the requirement on the communication speed is not high, the related technology can be greatly simplified. The method has the characteristics that simple and reliable hardware and precise and thorough signal processing software are used, the multipath effect and the time-varying characteristic of an underwater acoustic channel are overcome, the technology is simple, the performance is stable, the low cost is realized, and the method is convenient to develop to the field of non-military application.
The realization of the digital communication technology brings great convenience to the remote control. A group of digital codes are sent by the underwater sound signal sending unit, and the execution mechanism is driven by the processor or the digital logic circuit in the diving buoy unit, so that the operation can be analyzed into a specific operation to complete the execution process.
The channel is needed in the process of propagating the underwater acoustic signal. The channel plays a role of transmitting signals and, at the same time, has an influence on the signals. Such effects mainly include: channel noise, amplitude and phase distortion, signal attenuation, etc.
The speed of sound in the ocean is related to temperature, pressure (depth) and salinity and can generally be calculated as follows:
c＝1492.9+31-10)-6×10(1-10)2-4×1020-18)2
+1.2(s-35)-1021-18)(s-35)+h/61
wherein c is sound velocity, the unit is m/s, t is temperature, the unit is temperature, s is salinity, the unit is a thousandth ratio: ppt, h is depth in m. When the temperature is 10 ℃, the depth is 0m and the salinity is 35ppt, the sound velocity is 1490m/s, and on the basis of the standard, a plurality of approximate coefficients of sound velocity increment exist, and the sound velocity can be calculated by effectively matching the two coefficients:
temperature: for every 1 ℃ increase, Ac/A/═ 3.4m/s salinity: Ac/As 1.2m/s pressure (depth) per 1 ppt increase: for every 1000m increase, the 17m/s hydroacoustic channel is a very complex time, space, and frequency varying channel. The main characteristics are as follows: propagation loss, multipath effects, dispersion effects.
The propagation loss is one of the important parameters of the propagation characteristics of the underwater acoustic channel. When a signal propagates in an underwater acoustic channel, propagation loss increases as the propagation distance and the frequency of the signal increase. It has a great influence on the propagation distance, signal-to-noise ratio, signal frequency, system bandwidth, etc. of the underwater acoustic communication system. An important characteristic of the hydroacoustic channel is the sound absorption in seawater. In the underwater acoustic communication process, acoustic waves are carriers of information, and the degree of energy loss of the acoustic waves in the propagation process is a very important sign of channel effectiveness. In seawater, light waves, electromagnetic waves, etc. are not used as carriers of information because they are severely attenuated. The sound wave of low frequency range is a more suitable tool for long-distance underwater acoustic communication.
Multipath propagation is another important characteristic of an underwater acoustic channel. The main causes of multipath propagation are acoustic ray bending and interface reflections. Multipath propagation causes intersymbol interference, which severely affects the data transmission rate.
Doppler frequency dispersion is also an important characteristic of the hydroacoustic channel. It is mainly due to the heterogeneity of the marine medium.
The invention can adopt baseband data transmission and frequency band data transmission in the process of transmitting the underwater acoustic signal. Wherein the band data transmission comprises: the present embodiment takes frequency shift keying as an example, which is explained by taking three forms of amplitude shift keying, frequency shift keying and phase shift keying, where the frequency shift keying adopts a binary frequency shift keying (2FSK) working mode.
In 2FSK, two different frequencies f are used1And f2To represent either "0" or "1", f1And f2And is hereinafter referred to as a characteristic frequency. f. of1And f2The larger the difference is, the more convenient the identification is, but the bandwidth of the signal is increased, which is not beneficial to the utilization rate of the frequency band. Meanwhile, since the seawater absorption coefficient a is a function of frequency, too large a characteristic frequency difference may cause the signal intensity at the receiving end to be inconsistent.
2FSK modulation is achieved using a frequency selective method. The frequency selection method is to control two carrier frequency signals f by using pulses1And f2On/off of f1And f2Different frequency division methods can be adopted by using the same signal source, as shown in fig. 1.
And 2FSK demodulation is divided into coherent demodulation and noncoherent demodulation, and the demodulation method comprises the steps of carrying out band-pass frequency selection filtering on input signals, then carrying out frequency detection, and obtaining a binary pulse sequence according to the arrangement of frequencies f1 and f 2.
With respect to the error control problem, the parity code can be divided into an odd parity code and an even parity code. The principle of the two is the same, the method is to divide the information code to be transmitted into information code groups with equal length, generally 1 group is formed by every 8 information code elements, and then 1 parity code element representing the parity check result is inserted behind each information code group. In a group of information codes, if the number of the information code elements of '1' is even, the parity code element is '0', otherwise, if the number of the information code elements of '1' is odd, the parity code element is '1', namely even check; on the contrary, if the number of "1" information symbols is an even number, the parity symbol is "1", otherwise, if the number of "1" information symbols is an odd number, the parity symbol is "0", which is an odd check. Let the information symbol length be n, o be the first information symbol, and-be the last information symbol.
The parity check coding can only detect single or odd bit errors, but cannot detect even bit errors, and also cannot detect burst bit errors of continuous multiple bits, so that the error detection capability is limited. Parity codes are commonly used in feedback error correction methods. The parity check coding has simple structure, easy realization and high coding efficiency, so the parity check coding is widely used under the conditions of not serious channel interference and not long code words.
Due to the multipath effect, time-varying characteristic and doppler effect of the seawater channel, and considering the sound absorption effect of seawater, the amplitude, frequency and timing characteristics of the signal will change after the 2fSK modulated waveform reaches the receiver.
The signal waveform received at the receiver is not necessarily of constant amplitude, and even discrete waveforms appear which are discontinuous, and the gaps between signal symbols tend to narrow. However, these problems can be solved by software means, and useful information can be obtained by using methods of software filtering and fuzzy recognition. The frequency range actually selected is lower, typically between 7000Hz and 11000Hz, taking into account the uncertainty of the multipath fading and the sea water channel parameters, and taking into account the fact that the actual application to the transmitting underwater acoustic transducer is a square wave. In the design, different carrier frequencies are respectively adopted by different systems, and the adopted frequency band range is within 7-11 KHz.
The underwater acoustic channel is affected by factors such as ocean boundaries, seawater temperature and the like, is actually a channel with characteristics changing along with time and space, and is a variable parameter channel. Under the influence of multipath effect, the signal received at the receiving end is actually the superposition combination of the propagation results of the signal at the transmitting end through different paths.
The transmitter is mounted on a vessel, which may be moving when transmitting underwater acoustic signals, which have a relatively low carrier frequency and thus may produce significant doppler effects for the receiver. In this case, the frequency meeting the determination condition can be relaxed, and the fuzzy recognition method can be adopted for processing. Due to the multipath effect and time-varying characteristic of the underwater acoustic channel, the symbol timing sequence obtained at the receiving end cannot be completely matched with the transmitting end, and meanwhile, a mathematical model completely matched with the actual situation is difficult to obtain, so that the fuzzy pattern recognition is a more appropriate scheme in the symbol information processing process of the receiving system.
In the symbol information, there are mainly two kinds of information to be extracted and identified, one is a carrier frequency signal representing the symbol information, and the other is timing interval information between symbols, and a communication frame is determined by the two kinds of information. Considering the comprehensive influence of time-varying property and multipath effect of sea water channel and the Doppler effect influence caused by ship motion with signal transmitter and the error of actual transmitting frequency of transmitter, an intermediate type membership function is used in the symbol frequency identification, and the frequency values of information symbols and supervision symbols form a fuzzy vector A. And representing the time sequence interval information among the code elements by using a partial small membership function to form a fuzzy vector B of each code element for the time sequence coincidence degree. In the practical design of the device, the device is,
the membership degree of code element information is identified by measuring the period of a code element carrier signal, each period of the carrier is measured and coincidence counting is carried out, a counting result is represented by a large-scale membership function, and a fuzzy vector C of qualified quantity of each period of each code element signal is formed.
Two methods of symbol identification are proposed, the first being the independent identification of symbol information and the second being the integration of the closeness of the entire frame to determine the more ambiguous symbols.
A transmitter uses a singlechip with 8051 as an inner core, a T2 timer in the singlechip is used for sending square waves with the duty ratio of 50% through a P1.0 pin, the frequency of the square waves is set to be fl + f0 to represent a '0' code element, the frequency is set to be f2+ f0 to represent a '1' code element, and f0 is a carrier frequency. The square wave is applied to the transducer after the driving capability is increased by the driving circuit. The received frequency signal is demodulated at the receiving end to obtain a frequency signal f1 representing a '0' code element and a frequency signal f2 representing a '1' code element, then the period of the frequency signal is measured, and various identification methods are comprehensively applied to judge to obtain correct digital information. In order to reduce the power consumption of a receiver circuit and prolong the underwater latency time of the buoy, the single chip microcomputer is set to be in a dormant standby mode in a program, the single chip microcomputer is in a working state only when a frequency signal is received, and the single chip microcomputer is in the dormant mode when no signal exists.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A positioning system for a submarine optical cable submersible buoy, comprising:
the underwater acoustic signal transmitting unit and the diving buoy;
the underwater sound signal transmitting unit is arranged on a ship and used for transmitting underwater sound signals to the diving buoy;
the diving buoy is connected with the sea optical cable and used for positioning the sea optical cable, and the diving buoy is positioned under the sea surface.
2. The system of claim 1, wherein the hydroacoustic signal transmission unit comprises a signal encoder, an amplifier, a hydroacoustic transmission transduction module, and a power module,
wherein the signal encoder is used for encoding the control signal into a hydroacoustic signal;
the amplifier is used for amplifying the underwater sound signal;
the underwater sound emission and transduction module is used for sending out the underwater sound signal;
the power module is used for supplying power to the underwater sound signal transmitting unit.
3. The system of claim 2, wherein the modulation method used in the signal encoder to encode the control signal into the hydroacoustic signal comprises one of binary amplitude shift keying, binary phase shift keying, or binary frequency shift keying.
4. The system of claim 3, wherein the signal encoder adds a signal-free time interval between two symbols during the modulation process.
5. The system of claim 1, wherein the submersible buoy comprises an underwater acoustic signal receiving module and a latching module;
the underwater sound signal receiving module is used for receiving and demodulating the underwater sound signal sent by the underwater sound signal transmitting unit;
the locking module is used for locking or releasing the buoy through the underwater acoustic signal.
6. The system of claim 5, wherein the underwater acoustic signal receiving module comprises a demodulation module for demodulating the modulated underwater acoustic signal transmitted by the underwater acoustic signal transmitting unit.
7. The system of claim 5, wherein the underwater acoustic signal transmitting unit transmits the underwater acoustic signal to the diving buoy by using a parity check method, comprising: the method comprises the steps of firstly sending address coding information of two bytes, and finally sending check bits of the address coding information of the two bytes, wherein the first byte adopts an even check mode, and the second byte adopts an odd check mode.
8. The system of claim 5, wherein the underwater acoustic signal receiving module employs an ambiguity processing method comprising: adopting an intermediate type membership function in the carrier frequency signal identification of the code element information; forming a first ambiguity vector by the frequency of the information symbol and the frequency of the parity symbol;
representing the time sequence interval information among the code elements by adopting a small membership function to form a second fuzzy vector of the time sequence coincidence degree of each code element;
and obtaining underwater sound information based on the first fuzzy vector and the second fuzzy vector.
9. The system of claim 5, wherein the underwater acoustic signal receiving module adopts a single chip microcomputer for demodulation and identification, and the single chip microcomputer is set to be in a sleep standby mode.
10. The system of claim 9, wherein the single-chip microcomputer comprises a monitoring module, and the monitoring module is used for monitoring the operation condition of the single-chip microcomputer and comprises:
the single chip microcomputer sends a pulse signal to the monitoring module all the time, if the single chip microcomputer stops sending the pulse signal and the monitoring module does not receive the pulse signal, the monitoring module sends a reset signal to the single chip microcomputer after a preset time, and the single chip microcomputer starts to work again.
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