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Autonomous underwater robot wireless sensor network with dynamic nodes

A technology of underwater robots and wireless sensors, applied in network topology, wireless communication, transmission systems, etc., can solve problems that cannot meet the needs of ocean floating dynamic environment information collection, and achieve rich functions, strong performance, and fast information collection Effect

Active Publication Date: 2021-07-16
HUNAN GUOTIAN ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the buoys in the prior art are all static nodes, which cannot meet the environmental information collection requirements of ocean floating dynamics

Method used

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  • Autonomous underwater robot wireless sensor network with dynamic nodes
  • Autonomous underwater robot wireless sensor network with dynamic nodes
  • Autonomous underwater robot wireless sensor network with dynamic nodes

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0058] Such as figure 1 As shown, a kind of autonomous underwater vehicle (AUV) wireless sensor network with dynamic nodes provided by this embodiment includes a master node 1 as a water surface gateway, a sink node 2 and a sensor node 3 as an information relay transmission intermediary,

[0059] The main node 1 includes the radio modem of the surface part and the acoustic modem of the underwater part; the transit hub node that connects the underwater wireless sensor network with the conventional communication network. Among them, the master node is used to receive the data information transmitted by the underwater wireless sensor network, and then convert the uploaded underwater information according to the radio or Ethernet protocol, and then forward it.

[0060] Such as figure 2 As shown, the aggregation node 2 includes a power amplifier 2-1, a signal processing unit 2-2, and an interface gain control module 2-3 for performing data transmission and communication with it r...

Embodiment 2

[0070] This embodiment provides the navigation method of the navigation module and the motion planning module 5-6 in Embodiment 1, including the following steps:

[0071] 1) Construct the horizontal motion model of the autonomous underwater robot in the geocentric coordinate system:

[0072]

[0073] where u is the surge linear velocity of the autonomous underwater vehicle, v is the sum linear velocity of the autonomous underwater vehicle, r is the yaw angular velocity of the autonomous underwater vehicle; x is the coordinate of the center of mass of the autonomous underwater vehicle in the direction of surge, y is the coordinate of the sway direction of the center of mass of the autonomous underwater vehicle, and ψ is the target direction of the autonomous underwater vehicle;

[0074] 2), while ignoring the heave, roll and pitch motions, construct the lateral dynamics model of the autonomous underwater vehicle coordinate system of the autonomous underwater vehicle:

[0075]...

Embodiment 3

[0103] The difference between this embodiment and Embodiment 1 is that the master node 1 is built by a buoy or a ship, and when the above-water part is a radio modem and the underwater part is an acoustic modem, the master node 1 is used as a water surface gateway.

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Abstract

The invention provides an autonomous underwater robot wireless sensor network with dynamic nodes, which comprises a main node serving as a water surface gateway, a sink node serving as an information relay transmission medium and a sensor node, and is characterized in that the main node comprises a radio modem of a water surface part and an acoustic modem of an underwater part; the sink node comprises a power amplifier, a signal processing unit and an interface gain control module which are respectively in data transmission and communication with the sink node; the sensor node comprises an autonomous underwater robot central control module loaded with various sensors and a sensor module, and the sensor module comprises a navigation module and a motion planning module; the wireless sensor network of the autonomous underwater robot with the dynamic nodes is unpowered, the multiple dynamic nodes communicate with one another to transmit information, and it is guaranteed that the autonomous underwater robot can continuously adjust the speed tracking deviation so that the actual position of the autonomous underwater robot can be continuously adjusted to track a time-varying expected trajectory.

Description

technical field [0001] The invention belongs to the technical field of underwater communication, in particular to an autonomous underwater robot wireless sensor network with dynamic nodes. Background technique [0002] The ocean has abundant resources and vast space. Underwater sensor networks are deployed in extremely complex and variable underwater environments, and mainly use underwater acoustics for communication. In terms of military applications, the increasing intelligence of underwater weapon systems requires command and control communications, such as: communications between submarines, between motherships and submarines or other underwater unmanned combat platforms, and for underwater vehicles Implement monitoring and navigation, and remote acoustic remote control of mines. In terms of civil use, such as underwater voice communication, industrial coastal telemetry, remote command transmission of underwater robots and offshore platforms, transmission of seabed exp...

Claims

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Application Information

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IPC IPC(8): H04W4/024H04W4/38H04W84/18H04B11/00H04B13/02
CPCH04W4/024H04W4/38H04W84/18H04B11/00H04B13/02Y02D30/70
Inventor 陈新吕冰冰陈震邓曙波罗伟
Owner HUNAN GUOTIAN ELECTRONICS TECH CO LTD
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