CN-116684004-B - Logic control method for integrating underwater sound modem communication and positioning

CN116684004BCN 116684004 BCN116684004 BCN 116684004BCN-116684004-B

Abstract

The invention discloses a logic control method integrating underwater sound modem communication and positioning, which comprises the steps that a main control module of a transmitting end underwater sound modem reads data in a positioning module, the packed data are sequentially converted into underwater sound signals through a communication module, a power amplifier and a transducer and then output, a receiving end underwater sound modem receives the underwater sound signals through a hydrophone array and then inputs the underwater sound signals into the communication module to perform preliminary demodulation and verification on waveforms and then sends the waveforms to the main control module, the main control module sends data related to positioning to the positioning module, the data related to communication are sent to the communication module to obtain communication data to output, and the positioning module obtains relative position data between the transmitting end underwater sound modem and the receiving end underwater sound modem and outputs the relative position data as positioning data. The invention realizes the positioning function in the underwater acoustic communication process, avoids the mutual conflict of the communication function and the positioning function, and realizes the integration of the underwater acoustic Modem communication and positioning.

Inventors

QU FENGZHONG
ZHOU QIN
LU YI
WEI YAN
WU YEZHOU
TU XINGBIN

Assignees

浙江大学

Dates

Publication Date: 20260505
Application Date: 20230330

Claims (6)

1. The logic control method is characterized by being realized by a transmitting end underwater sound modem and a receiving end underwater sound modem, wherein the transmitting end underwater sound modem comprises a main control module, a positioning module, a communication module, a power amplifier, an analog-to-digital converter and a transducer; The main control module of the underwater sound modem at the transmitting end reads the gesture data and the time stamp data in the positioning module, packages the gesture data and the time stamp data into frame header data, and inputs the frame header data and the data packet data into the communication module together for modulation; The receiving end underwater sound modem receives underwater sound signals through the hydrophone array, inputs the underwater sound signals into the communication module after being processed by the analog-to-digital converter, detects arrival of waveforms, performs primary demodulation and verification on the waveforms, and sends demodulated data to the main control module after the waveforms pass the verification; the main control module sends data related to positioning to the positioning module according to a bit sequence, the data related to communication is sent to the communication module, the communication module demodulates the communication data to obtain communication data output, the positioning module combines the gesture data and the time stamp data of the underwater sound modem at the receiving end to obtain relative position data between the underwater sound modem at the transmitting end and the underwater sound modem at the receiving end and outputs the relative position data as positioning data, the relative position data comprises distance data and azimuth data, and the positioning module combines the underwater sound speed according to the time stamp difference value of the underwater sound modem at the transmitting end and the underwater sound modem at the receiving end to obtain distance data of the underwater sound modem at the transmitting end and the underwater sound modem at the receiving end; The frequency domain beam forming method specifically comprises the following steps: Performing band-pass filtering on the underwater sound signal processed by the analog-to-digital converter, performing Fourier transform to a frequency domain, and performing frequency domain searching to obtain a frequency peak value of the bandwidth signal; Multiplying the searched multipath frequency domain signals by an array flow pattern to obtain a two-dimensional spatial spectrum, wherein the expression of the array flow pattern is as follows: ; Wherein r is the array radius, f is the signal frequency in the search range, θ is the pitch angle, Φ is the azimuth angle in the search range, n=0, 1,2,..; and searching for the index of the maximum corresponding to the spectrum peak in the one-dimensional azimuth angle space spectrum to obtain the azimuth data.
2. The underwater sound modem communication positioning integrated logic control method according to claim 1, wherein the gesture data is acquired by a motion sensor, and the time stamp data is acquired by an atomic clock.
3. The logic control method of integration of underwater sound modem communication and positioning according to claim 1, wherein the receiving end underwater sound modem copies the communication data and the positioning data into two parts, one part is output, the other part is packaged into an ACK frame, the ACK frame is sent to the sending end underwater sound modem, and if the sending end underwater sound modem detects that the sending is unsuccessful, retransmission is started.
4. The logic control method of integration of underwater sound modem communication and positioning according to claim 1, wherein the frame header of the data frame of the underwater sound signal transmitted from the transmitting end underwater sound modem to the receiving end underwater sound modem contains bit data and check codes packed into bytes, the data related to communication in the bit data comprises frame type, signal-to-noise ratio data, transmitting node address, receiving node address, frame number, modulation mode, data packet number and data type, and the data related to positioning in the bit data comprises timestamp data, vector speed data, depth data and angle data.
5. The logic control method of integration of underwater sound modem communication and positioning according to claim 3, wherein the frame header of the ACK frame transmitted from the receiving end underwater sound modem to the transmitting end underwater sound modem contains bit data and check codes packed into bytes, the communication related data in the bit data comprises frame type, signal-to-noise ratio data, transmitting node address, receiving node address and data packet positive and error information, and the positioning related data in the bit data comprises longitude data, latitude data and depth data.
6. The logic control method of integration of underwater sound modem communication and positioning according to claim 1, wherein in the transmission process, the underwater sound modem transmits a frame header first by a non-coherent modulation method and then transmits a subsequent data packet by a coherent modulation method.

Description

Logic control method for integrating underwater sound modem communication and positioning Technical Field The invention relates to the field of underwater communication and underwater sound positioning, in particular to a logic control method integrating underwater sound modem communication and positioning. Background With the proposal of ocean national strategy and ocean Internet of things concept, people gradually improve the development force of underwater electronic equipment, various underwater Internet of things equipment, underwater unmanned submersible vehicles and underwater sensors are developed, and the observation and use of people on ocean environments are promoted. The technology and the equipment are generated to enable the sea to be explored more and more, and the development of the sea observation and information transmission to a large scale, automation and high efficiency is facilitated. And the use and popularization of various underwater equipment further increases the use frequency and the use requirement of the underwater sound modem. For underwater equipment, because the common short wave electromagnetic wave signal decays too fast in water, long wave underwater sound waves are mostly selected for data and information transmission work. The increased use of underwater acoustic modems has prompted the development of underwater acoustic communication systems, which have become a hotspot in current research. The underwater sound modem is a main application form of most underwater sound communication systems, and is generally applied to ocean monitoring, remote control and remote measurement of various underwater platform devices and the like. The common underwater acoustic positioning or underwater acoustic communication functions are mutually independent processes in the underwater equipment, because the underwater acoustic wave has the characteristic of slower propagation speed compared with the electromagnetic wave, when the underwater acoustic positioning or underwater acoustic communication is carried out, long time is required to be consumed, and if the underwater equipment is subjected to positioning measurement and calculation according to fixed time, the mutual conflict between the positioning function and the communication function can be easily caused, and the mutual interference is easy to occur. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a logic control method integrating underwater sound modem communication and positioning. The specific technical scheme is as follows: the integrated logic control method for the communication and positioning of the underwater sound modem is realized by a transmitting end underwater sound modem and a receiving end underwater sound modem, wherein the transmitting end underwater sound modem comprises a main control module, a positioning module, a communication module, a power amplifier, an analog-to-digital converter and a transducer; The main control module of the underwater sound modem at the transmitting end reads the gesture data and the time stamp data in the positioning module, packages the gesture data and the time stamp data into frame header data, and inputs the frame header data and the data packet data into the communication module together for modulation; The method comprises the steps that a receiving end underwater sound modem receives an underwater sound signal through a hydrophone array, the underwater sound signal is input into a communication module after being processed through an analog-to-digital converter, the arrival of the waveform is detected, the waveform is subjected to preliminary demodulation and verification, after the waveform passes through the verification, the communication module sends demodulated data to a main control module, the main control module sends data related to positioning to the positioning module according to bit sequences, the data related to communication are sent to the communication module, the communication module carries out communication data demodulation to obtain communication data output, the positioning module combines gesture data and timestamp data of the receiving end underwater sound modem to obtain relative position data between the sending end underwater sound modem and the receiving end underwater sound modem and outputs the relative position data as positioning data, the relative position data comprises distance data and azimuth data, the positioning module combines the underwater sound speed according to timestamp difference values of the sending end and the receiving end underwater sound modem to obtain distance data of the sending end underwater sound modem, and the receiving end underwater sound modem carries out direction estimation through a frequency domain beam forming method to obtain azimuth data of the sending end underwater sound modem. Further, the gesture data is acquired by a motion sensor, and the timestamp data is ac