CN-121036874-B - Emergency communication method and system based on diving system, electronic equipment and storage medium

CN121036874BCN 121036874 BCN121036874 BCN 121036874BCN-121036874-B

Abstract

The application provides an emergency communication method and system based on a diving system, which are applied to the technical field of signal processing. The method comprises the steps of obtaining emergency communication signals sent by a diving bell, wherein the emergency communication signals at least comprise underwater sound positioning signals, environment signals and optical signals, determining estimated positions of the diving bell based on a particle algorithm and the emergency communication signals, wherein the environment signals are used for adjusting particle distribution, the optical signals are used for restraining the particle distribution range, and the underwater sound positioning signals are used for adjusting particle weight.

Inventors

XU WEI
RUAN WEI
ZHAO LEI
LI MINGYU
PENG LIU
LIU JUN
YANG HUAIQING

Assignees

中国船舶集团有限公司第七一九研究所

Dates

Publication Date: 20260505
Application Date: 20250918

Claims (9)

1. An emergency communication method based on a diving system is applied to the diving system and comprises the following steps: The emergency communication signal sent by the diving bell is obtained, wherein the emergency communication signal at least comprises an underwater sound positioning signal, an environment signal and an optical signal; determining an estimated position of the diving bell based on a particle algorithm and the emergency communication signal; the environment signal is used for adjusting the distribution of the particles, the optical signal is used for restraining the distribution range of the particles, and the underwater sound positioning signal is used for adjusting the weight of the particles; wherein said determining an estimated position of said diving bell based on a particle algorithm and said emergency communication signal comprises: obtaining first particles, wherein the first particles are state space sampling points of Gaussian distribution randomly generated based on a multidimensional state vector and an initial covariance matrix by taking the last known position of a diving bell as a reference center; Correcting a motion model corresponding to the first particle based on the environmental signal to obtain a second particle, wherein the motion model is a discrete time linear equation describing the evolution rule of the particle state along with time and is used for predicting the motion state change of the diving bell in a given time step; Calculating likelihood probability of the second particle based on the underwater sound positioning signal to obtain weight of the second particle, wherein the likelihood probability of the second particle represents a probability value of matching degree of a prediction state of the second particle and an actual prediction result corresponding to the underwater sound positioning signal; Determining a distribution range of the second particles based on the optical signal; Removing the second particles which deviate from the distribution range and have the weight smaller than the weight threshold value to obtain third particles; An estimated position of the diving bell is determined based on the third particles.
2. The method of claim 1, the method further comprising: And calculating the Kalman gain of the emergency communication signal to correct the estimated position through the Kalman gain to obtain the predicted position of the diving bell, wherein the Kalman gain represents a correction factor matrix calculated based on the uncertainty of the estimated position of the particle algorithm and the measurement noise of the emergency communication signal.
3. The method of claim 2, the calculating a kalman gain of the emergency communication signal to correct the estimated position by the kalman gain to obtain a predicted position of a diving bell, comprising: Defining a state vector of the diving bell based on the estimated position of the diving bell, the state vector characterizing three-dimensional position and velocity components of the diving bell; Predicting a first covariance matrix of the diving bell based on the motion model and the estimated position; calculating a Kalman gain based on the emergency communication signal; Adjusting a first covariance matrix through the Kalman gain; And correcting the estimated position based on the second covariance matrix to obtain the predicted position of the diving bell.
4. The method of claim 1, the method further comprising: under the condition of comprising a plurality of diving bells, determining the propagation delay, the signal amplitude and the signal phase of each emergency communication signal based on the center frequency, the transmitting time slot and the pseudo-random code carried by each emergency communication signal; and determining the diving bell corresponding to each emergency communication signal based on the propagation delay, the signal amplitude and the signal phase of each emergency communication signal.
5. The method of claim 1, the emergency communication system of the diving bell comprising an underwater acoustic communicator, an emergency positioning device and a strobe light, the obtaining the emergency communication signal transmitted by the diving bell comprising: obtaining an environmental signal sent by the underwater acoustic communication machine, wherein the environmental signal comprises a water flow speed, an underwater acoustic propagation speed and an environmental parameter, the water flow speed and the underwater acoustic propagation speed are determined based on the environmental parameter, and the environmental parameter comprises at least one of water temperature, salinity and pressure; The underwater sound positioning signal sent by the emergency positioning device is obtained, and the underwater sound positioning signal comprises at least one of the distance from a diving bell to a mother ship, an azimuth angle and a pitch angle; And obtaining an optical signal sent by the strobe light, wherein the optical signal is used for calculating the angle of the strobe light relative to the mother ship.
6. The method of claim 5, further comprising, after the obtaining the emergency communication signal sent by the diving bell: obtaining a clock drift error, wherein the clock drift error characterizes a relative time difference generated by a reference clock of the mother ship and a local clock of the diving clock when the same time period is recorded; performing linear interpolation on the environmental signal based on the clock drift error; and performing cubic spline interpolation on the underwater sound positioning signal based on the clock drift error.
7. An emergency communication system based on a submersible system, comprising: The signal acquisition module is used for acquiring emergency communication signals sent by the diving bell, wherein the emergency communication signals at least comprise underwater sound positioning signals, environment signals and optical signals; The position determining module is used for determining the estimated position of the diving bell based on a particle algorithm and the emergency communication signal, wherein the environment signal is used for adjusting the distribution of particles, the optical signal is used for restraining the distribution range of the particles, and the underwater sound positioning signal is used for adjusting the weight of the particles; The position determining module is further used for obtaining first particles, wherein the first particles are state space sampling points which are randomly generated based on a multi-dimensional state vector and an initial covariance matrix and are distributed in a Gaussian mode by taking the last known position of the diving bell as a reference center, correcting a motion model corresponding to the first particles based on the environment signal to obtain second particles, the motion model is a discrete time linear equation describing the time evolution rule of the state of the particles and is used for predicting the motion state change of the diving bell in a given time step, likelihood probability of the second particles is calculated based on the underwater sound positioning signal to obtain weights of the second particles, the likelihood probability of the second particles represents a probability value of the matching degree of the predicted state of the second particles and an actual prediction result corresponding to the underwater sound positioning signal, the distribution range of the second particles is determined based on the optical signal, the second particles deviating from the distribution range and having weights smaller than a weight threshold are removed, and the estimated position of the diving bell is determined based on the third particles.
8. An electronic device, comprising: One or more processors; A memory for storing one or more programs, Wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1 to 6.
9. A computer readable storage medium having stored thereon executable instructions which when executed by a processor cause the processor to implement the method of any of claims 1 to 6.

Description

Emergency communication method and system based on diving system, electronic equipment and storage medium Technical Field The application relates to the technical field of information processing, in particular to an emergency communication method and system based on a diving system. Background In the field of ocean engineering, a saturated diving technology is one of important working modes for deep sea operation. In the saturated diving operation process, the diving bell is in communication connection with the surface mother ship through an umbilical cord. However, due to the complex marine environment, the umbilical between the diving bell and the mother vessel may break the connection due to sudden factors such as mechanical damage, cable winding, etc. To ensure the safety of the operators, when the umbilical connection is interrupted, the diving bell will start an emergency communication system so that the mother ship can determine the position of the diving bell and develop rescue in time. Currently, emergency communication of diving bells mainly depends on underwater sound signals sent by underwater sound positioning devices. However, since the underwater acoustic signal is easily interfered by environmental factors such as water flow, temperature, salinity, etc., it is difficult for the mother ship to accurately estimate the actual position of the diving bell, which seriously affects the efficiency and safety of emergency rescue. Disclosure of Invention In view of the above, the application provides an emergency communication method and system based on a diving system. According to a first aspect of the present application, there is provided a method of emergency communication based on a submersible system, comprising: The emergency communication signal sent by the diving bell is obtained, wherein the emergency communication signal at least comprises an underwater sound positioning signal, an environment signal and an optical signal; determining an estimated position of the diving bell based on a particle algorithm and the emergency communication signal; the environment signal is used for adjusting the distribution of the particles, the optical signal is used for restraining the distribution range of the particles, and the underwater sound positioning signal is used for adjusting the weight of the particles. According to an embodiment of the present application, the determining the estimated position of the diving bell based on the particle algorithm and the emergency communication signal includes: Obtaining first particles, wherein the first particles take the last known position of a diving bell as a reference center, are state space sampling points of Gaussian distribution randomly generated based on multidimensional state vectors and initial covariance matrixes, and are used for representing the initial state distribution of the diving bell, and the initial covariance matrixes are symmetric positive definite matrixes representing the initial state of the diving bell in multiple dimensional uncertainty degrees; Correcting a motion model corresponding to the first particle based on the environment signal to obtain a second particle, wherein the motion model is a discrete time linear equation describing a time evolution rule of a particle state and is used for predicting a motion state change of the diving bell in a given time step, the motion model comprises a state transition matrix, a control input and process noise, the state transition matrix is determined by the environment signal, the control input represents the influence of water flow on the particle motion, and the noise item represents the uncertainty of the motion model; Calculating likelihood probability of the second particle based on the underwater sound positioning signal to obtain weight of the second particle, wherein the likelihood probability of the second particle represents a probability value of matching degree of a prediction state of the second particle and an actual prediction result corresponding to the underwater sound positioning signal; Determining a distribution range of the second particles based on the optical signal; Removing the second particles which deviate from the distribution range and have the weight smaller than the weight threshold value to obtain third particles; An estimated position of the diving bell is determined based on the third particles. According to an embodiment of the present application, the method further comprises: And calculating the Kalman gain of the emergency communication signal to correct the estimated position through the Kalman gain to obtain the predicted position of the diving bell, wherein the Kalman gain represents a correction factor matrix calculated based on the uncertainty of the estimated position of the particle algorithm and the measurement noise of the emergency communication signal. According to an embodiment of the present application, the calculating the kalman gain of