A sky-sea integrated target monitoring system

A kind of sky-sea integrated target monitoring system technical field

[0001] The present invention relates to the field of environmental monitoring, and in particular to a monitoring system for integrated sky and sea targets.

Background technique

[0002] The current environmental monitoring system is relatively simple, mainly divided into sky environmental monitoring system, sea surface environmental monitoring system and submarine environmental monitoring system, but each system is independent of each other, lacks data interaction, and each system performs the task of monitoring the environment. It can only be achieved by issuing control commands from the remote control module.

[0003] And each system is generally divided into a static monitoring network and a dynamic monitoring network. The static monitoring network needs to be deployed with a large number of sensor units, and the monitoring area is extremely limited. The dynamic self-organizing network has high flexibility, but lacks stability between data links, and the transmission reliability of monitoring data is poor.

Summary of the invention

[0004] Purpose of the invention: In order to solve the above technical problems, the present invention proposes a sky-sea integrated target monitoring system.

[0005] Technical solution: The solution of the present invention to solve the technical problem is:

[0006] A kind of sky-sea integrated target monitoring system, including: air monitoring network, sea surface monitoring network and submarine monitoring network; wherein,

[0007] The submarine monitoring network includes submarine anchor nodes and AUV nodes distributed on the seabed; the submarine anchor nodes have a fixed position and are used to collect information about the submarine environment within their own communication range. The AUV nodes travel according to a preset path in the working area, and the AUV nodes As a routing node in the working area, during driving, it broadcasts networking information to the surrounding submarine anchor nodes through underwater acoustic communication. After receiving the networking information, the submarine anchor node creates a communication link to the AUV and collects the information. The subsea environment information is sent to the AUV node through the created communication link;

[0008] The sea surface monitoring network includes surface buoy nodes and unmanned ship nodes set on the sea surface; surface buoy nodes are arranged on the sea surface and move with waves; the surface buoy nodes have underwater acoustic communication functions and LTE wireless communication functions; AUV After the node completes the work area information collection, it floats to the shallow water area, and exchanges data with the surface buoy node within the communication range through underwater acoustic communication; the unmanned ship node is distributed on the sea surface as a sea surface road sensor node to collect the surrounding sea surface environment At the same time, the unmanned ship node is used as the sea surface routing node, and the unmanned ship node travels according to the preset path. During the journey, the unmanned ship node continuously broadcasts networking information. After the surface buoy node receives the networking information, it is created to none The communication link of the man-ship node, and sends the collected subsea environmental information to the unmanned vessel node; the unmanned vessel node establishes a data communication link with the monitoring center through the shore base station, and uploads the collected and collected data to the monitoring center , And receive task information issued by the monitoring center;

[0009] The air monitoring network is a drone self-organizing network, each drone section has a routing function, and can establish a communication link with other drone nodes outside of its own communication range through store-and-forward technology; The node communicates with the shore base station through satellites, transmits the collected air data to the monitoring center through the shore base station, and receives task instructions issued by the monitoring center; the drone node also serves as a routing node for the air monitoring network and the sea surface monitoring network. The human-machine node establishes a data communication link with the unmanned ship node through electromagnetic wave communication to realize the data interaction between the air monitoring network and the sea surface monitoring network.

[0010] Further, the AUV node and the unmanned ship node exchange data through underwater acoustic communication.

[0011] Further, the unmanned ship node carries a wireless charging device for charging the AUV node and the UAV node.

[0012] Further, a self-organizing network is formed between the unmanned ship and the unmanned ship through ZigBee technology, and one or more master nodes stationed on the sea are set in the self-organizing network of the unmanned ship, and the master node and the shore base station Interactive data.

[0013] Further, the unmanned ship is equipped with a wireless ad hoc network module and a data protocol conversion module; wherein the wireless ad hoc network module is used to realize the networking between the unmanned ship and the unmanned ship, and the unmanned ship Networking with surface buoy nodes; the data protocol conversion module is used to convert the received cross-network data packets according to the protocol rules of the target network.

[0014] Advantageous effects: Compared with the prior art, the present invention has the following advantages:

[0015] 1. The present invention adopts a monitoring structure combining three networks of aerial monitoring network, sea surface monitoring network and submarine monitoring network, which can obtain environmental data in the air, sea surface and seabed at the same time;

[0016] 2. The aerial monitoring network, the sea surface monitoring network, and the subsea monitoring network can all directly interact with the shore base station, while the air monitoring network and the subsea monitoring network can interact with each other through the sea surface monitoring network, and interact with the shore base station through the sea surface monitoring network. , Enhance the reliability of monitoring data transmission.

Description of the drawings

[0017] FIG. 1 is a structural diagram of the sky-sea integrated target monitoring system.

Detailed ways

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] FIG. 1 shows a system architecture diagram of the present invention. The Tianhai integrated target monitoring system proposed by the present invention includes:

[0020] Aerial monitoring network, sea surface monitoring network and submarine monitoring network; where,

[0021] The submarine monitoring network includes submarine anchor nodes and AUV nodes distributed on the seabed; the submarine anchor nodes have a fixed position and are used to collect information about the submarine environment within their own communication range. The AUV nodes travel according to a preset path in the working area, and the AUV nodes As a routing node in the working area, during the driving process, it broadcasts networking information to the surrounding submarine anchor nodes through underwater acoustic communication. After receiving the networking information, the submarine anchor node creates a communication link to the AUV and collects the information. The subsea environment information is sent to the AUV node through the created communication link;

[0022] The sea surface monitoring network includes surface buoy nodes and unmanned ship nodes set on the sea surface; surface buoy nodes are arranged on the sea surface and move with waves; surface buoy nodes have underwater acoustic communication functions and LTE wireless communication functions; AUV After the node completes the work area information collection, it floats up to the shallow water area, and exchanges data with the surface buoy nodes within the communication range through underwater acoustic communication; the unmanned ship nodes are distributed on the sea surface and act as sea surface road sensor nodes to collect the surrounding sea surface environment At the same time, the unmanned ship node is used as the sea surface routing node, and the unmanned ship node travels according to the preset path. During the journey, the unmanned ship node continuously broadcasts networking information. After the surface buoy node receives the networking information, it is created to none The communication link of the man-ship node, and sends the collected subsea environmental information to the unmanned vessel node; the unmanned vessel node establishes a data communication link with the monitoring center through the shore base station, and uploads the collected and collected data to the monitoring center , And receive task information issued by the monitoring center;

[0023] The air monitoring network is a self-organizing UAV network, each UAV section has a routing function, and can establish a communication link with other UAV nodes outside of its own communication range through store-and-forward technology; UAV The node communicates with the shore base station through satellites, and transmits the collected air data to the monitoring center through the shore base station, and receives the monitoring center to issue

The UAV node also serves as the routing node of the air monitoring network and the sea surface monitoring network. The UAV node establishes a data communication link with the unmanned ship node through electromagnetic wave communication to realize the connection between the air monitoring network and the sea surface monitoring network. Data interaction.

[0024] The above-mentioned networking mode is flexible, and both AUV nodes and unmanned ship nodes are nodes that can supplement energy. Compared with a static monitoring network, the energy maintenance of each node is more stable.

[0025] The above solutions have the following communication links:

[0026] 1. For the communication link between the aerial monitoring network and the ground, the drone node can directly interact with the ground base station through satellites, or use other drone nodes as routing nodes to interact with the ground base station;

[0027] 2. The communication link between the sea surface monitoring network and the ground. The unmanned ship node can directly communicate with the shore base station, or it can form a self-organized network with other unmanned ship nodes, and approach the shore through the self-organized network. Communication between the unmanned ship node of the side base station and the ground;

[0028] 3. The submarine monitoring network is a communication link between the sea surface monitoring network and the ground. The link is composed of: submarine anchor node-AUV node-surface buoy node-unmanned ship node-shore base station; or submarine Anchor node-AUV node-surface buoy node-unmanned ship node-unmanned ship node other routing nodes in the self-organizing network-shore base station;

[0029] 4. The air monitoring network is a communication link between the sea surface monitoring network and the ground. The link is composed of: drone node-unmanned ship node-shore base station, or drone node-unmanned ship node -Other routing nodes in the self-organizing network of unmanned ship nodes-shore base stations;

[0030] 5. The aerial monitoring network is a communication link between the sea surface monitoring network and the submarine monitoring network, and the link is composed of: drone node-unmanned ship node-AUV node-submarine anchor node; or drone node -Unmanned ship node-surface buoy node-AUV node-a submarine anchor node.

[0031] Further, the AUV node and the unmanned ship node exchange data through underwater acoustic communication.

[0032] Further, the unmanned ship node carries a wireless charging device for charging the AUV node and the drone node; the AUV node obtains the position of the unmanned ship through data interaction with the unmanned ship node , Through the navigation module that comes with the AUV to navigate to the unmanned ship node for charging; while the drone node obtains the position of the unmanned ship through data interaction with the unmanned ship node, and descends to the unmanned ship node for charging.

[0033] Further, a self-organizing network is formed between the unmanned ship and the unmanned ship through ZigBee technology, and one or more master nodes stationed on the sea are set in the self-organizing network of the unmanned ship, and the master node and the shore base station Interactive data.

[0034] Further, the unmanned ship is equipped with a wireless ad hoc network module and a data protocol conversion module; wherein the wireless ad hoc network module is used to realize the networking between the unmanned ship and the unmanned ship, and the unmanned ship Networking with surface buoy nodes; the data protocol conversion module is used to convert the received cross-network data packets according to the protocol rules of the target network.

[0035] The present invention adopts a monitoring structure combining three networks of aerial monitoring network, sea surface monitoring network and submarine monitoring network, which can simultaneously obtain environmental data in the air, sea surface and submarine; the aerial monitoring network, sea surface monitoring network and submarine monitoring network can all be directly Interacting with shore base stations, while the aerial monitoring network and the submarine monitoring network can interact with each other through the sea surface monitoring network, and interact with the shore base station through the sea surface monitoring network, which enhances the reliability of monitoring data transmission.

[0036] The above are only preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made. These Improvements and modifications should also be regarded as the protection scope of the present invention.