CN-122028006-A - Underwater acoustic communication system and communication method for underwater trawl monitoring

CN122028006ACN 122028006 ACN122028006 ACN 122028006ACN-122028006-A

Abstract

The invention provides an underwater acoustic communication system for monitoring an underwater trawl and a communication method thereof. And the main control node dynamically adjusts the broadcasting power of the main control node by inquiring the power-depth mapping table according to the depth sensor data. After the sensor node receives the broadcast signal, the signal quality detection circuit is utilized to acquire the received signal strength and the signal to noise ratio, and synchronously reads the inclination angle data of the attitude sensor, comprehensively queries a link quality-power mapping table, and calculates the optimal response power. According to the invention, through a two-way self-adaptive power control mechanism with the cooperation of the master node and the slave node, hardware perception and intelligent decision are combined, so that the problems of poor reliability and overhigh energy consumption of underwater acoustic communication caused by deformation, depth change and severe swing of node gestures in trawl operation are effectively solved, and the optimal balance of the reliability of a communication link and the energy consumption of the nodes in a complex dynamic environment is realized.

Inventors

XU SHANSHAN
XU LIN
ZHANG YING
ZHENG DIE

Assignees

青岛玛瑞泰科科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251222

Claims (10)

1. An underwater acoustic communication system for underwater trawl monitoring, comprising: The main control node is arranged on the trawl door or the ship body and consists of a main controller, an underwater sound communication machine and a first power supply module; The sensor nodes consist of a slave controller, a hydroacoustic modem, a hydrological sensor and a second power supply module; It is characterized in that the method comprises the steps of, The master control node further comprises a depth sensor for detecting the depth information of the master control node and a first storage unit for storing a depth-power mapping table; the sensor node further comprises a signal quality detection circuit for detecting the received signal strength and the signal-to-noise ratio, and a second storage unit for storing a link quality-power mapping table; The sensor node receives the signal frame, detects the received signal strength and the signal to noise ratio, determines the lowest response power level based on the received signal strength and the signal to noise ratio, and controls the underwater sound modem to send the packed hydrologic data to the main control node at the lowest response power level.
2. The underwater acoustic communication system for underwater trawl monitoring of claim 1, wherein the sensor node further comprises a posture sensor for detecting sensor node posture data; After the sensor receiving node receives the signal frame, the sensor receiving node accesses the second storage unit based on the received signal strength, the signal to noise ratio and the gesture data, and inquires a link quality-power mapping table to obtain the transmitting power grade of the underwater sound modem.
3. The underwater acoustic communication system for underwater trawl monitoring according to claim 2, wherein the sensor node increases the power compensation value based on the queried transmit power level as the transmit power of the underwater acoustic modem if the gesture data exceeds a preset threshold.
4. The underwater sound communication system for monitoring the underwater trawl according to claim 1, wherein the main control node counts the success rate of communication after receiving the hydrological data packet transmitted by the sensor node; And updating the depth-power mapping table in real time according to the historical communication success rate.
5. The underwater acoustic communication system for underwater trawl monitoring of claim 1 or 4, wherein the main control node further comprises a first environmental sensor group for detecting at least one environmental parameter of temperature, attitude and flow rate; The sensor node further comprises a second environmental sensor group for detecting at least one environmental parameter of temperature, attitude and flow rate; and the main control node and the sensor node update the depth-power mapping table and the link quality-power mapping table in real time according to the environmental parameters detected by the first environmental sensor group and the second environmental sensor group respectively.
6. An underwater acoustic communication method for monitoring an underwater trawl, applied to an underwater acoustic communication system for monitoring an underwater trawl according to any one of claims 1 to 5, wherein the communication method comprises: S1, a main control node determines the transmitting power level of an underwater acoustic communication machine based on depth information; s2, the main control node periodically broadcasts a beacon frame at the determined transmitting power level; s3, the sensor node receives the beacon frame and detects the received signal strength and the signal-to-noise ratio; S4, the sensor node determines the lowest response power level based on the received signal strength and the signal-to-noise ratio; and S5, the sensor node controls the underwater sound modem to package the hydrologic data and sends the hydrologic data to the main control node at the lowest response power level.
7. The underwater acoustic communication method for underwater trawl monitoring of claim 6, wherein step S3 further comprises: Synchronously acquiring gesture data detected by a gesture sensor; the sensor node determines its lowest response power level based on the received signal strength, signal-to-noise ratio and attitude data S4.
8. The method of underwater acoustic communication for underwater trawl monitoring of claim 7, further comprising: if the gesture data exceeds the preset threshold, compensating the lowest response power level; And S5, taking the compensated power as the transmitting power of the underwater sound modem.
9. The method of underwater acoustic communication for underwater trawl monitoring of claim 6, further comprising: after the main control node receives the hydrological data packet sent by the sensor node, the communication success rate is counted; if the continuous set times of communication fails, the current transmitting power level is adjusted upwards; And updating the depth-power mapping table in real time according to the historical communication success rate.
10. An underwater acoustic communication system for underwater trawl monitoring as claimed in claim 6 or 9, wherein the method further comprises: the method comprises the steps of acquiring a first environmental parameter detected by a first environmental sensor group, wherein the first environmental sensor group is configured in a main control node, and the first environmental parameter is at least one of temperature, gesture and flow rate; The second environmental sensor group is configured in the sensor node, and the second environmental parameter is at least one of temperature, gesture and flow rate; the master control node updates the depth-power mapping table according to the first environmental parameter, and the sensor node updates the link quality-power mapping table according to the second environmental parameter.

Description

Underwater acoustic communication system and communication method for underwater trawl monitoring Technical Field The invention relates to the technical field of underwater acoustic communication and automatic control, in particular to an underwater acoustic communication system and a communication method which are suitable for monitoring marine underwater trawl operation and have self-adaptive power consumption regulation and control. Background In marine trawl fishery, real-time monitoring of the underwater state of the trawl (such as the height of the net mouth, the opening angle, the temperature, the salinity and the like) is important for improving the fishing efficiency and reducing the damage to the submarine ecological environment. Underwater acoustic communication is a major technology for realizing underwater data wireless transmission. In this particular scenario of trawl monitoring, the underwater acoustic communication node faces the following challenges: (1) Dynamic time-varying channel, that is, the trawl has continuously changing shape during towing, resulting in drastic fluctuation of the distance between nodes and the underwater acoustic channel condition (such as multipath effect and propagation loss). (2) The node gesture influences that the sensor node attached to the flexible netting swings violently along with water flow, the directivity of the underwater sound transducer of the sensor node is changed instantaneously, and the quality of a communication link is obviously deteriorated. (3) The energy is limited, the sensor node is powered by a battery, and the sensor node is difficult to replace after being placed. Therefore, the power consumption is reduced as much as possible on the premise of ensuring the communication reliability, and the method is a key for prolonging the service life of the system. Disclosure of Invention Aiming at the technical problems, the invention provides an underwater acoustic communication system and a communication method for monitoring an underwater trawl, which solve the coupling problems of reliability, energy consumption and node posture change of the underwater acoustic communication under the dynamic change environment of the trawl, and realize the self-adaptive environment change of communication power consumption through the collaborative design of hardware and software. The invention is realized by adopting the following technical scheme: an underwater acoustic communication system for underwater trawl monitoring is proposed, comprising: The main control node is arranged on the trawl door or the ship body and consists of a main controller, an underwater sound communication machine and a first power supply module; The sensor nodes consist of a slave controller, a hydroacoustic modem, a hydrological sensor and a second power supply module; The master control node further comprises a depth sensor for detecting the depth information of the master control node and a first storage unit for storing a depth-power mapping table; the sensor node further comprises a signal quality detection circuit for detecting the received signal strength and the signal-to-noise ratio, and a second storage unit for storing a link quality-power mapping table; The sensor node receives the signal frame, detects the received signal strength and the signal to noise ratio, determines the lowest response power level based on the received signal strength and the signal to noise ratio, and controls the underwater sound modem to send the packed hydrologic data to the main control node at the lowest response power level. In some embodiments of the present invention, the sensor node further includes a gesture sensor for detecting gesture data of the sensor node, and after the sensor node receives the signal frame, the sensor node accesses the second storage unit based on the received signal strength, the signal-to-noise ratio and the gesture data, and queries the link quality-power mapping table to obtain a transmission power level of the underwater sound modem. In some embodiments of the present invention, if the gesture data exceeds a preset threshold, the sensor node increases the power compensation value based on the queried transmit power level and then uses the power compensation value as the transmit power of the underwater sound modem. In some embodiments of the present invention, after the master control node receives the hydrological data packet sent by the sensor node, the communication success rate is counted, if the continuous set times of communication fails, the current transmission power level is up-regulated, and the depth-power mapping table is updated in real time according to the historical communication success rate. In some embodiments of the present invention, the master control node further includes a first environmental sensor group, configured to detect at least one environmental parameter of temperature, gesture, and flow rate; The sensor node further compr