面向半遮蔽水域的水声中继遥控系统设计

Design of Underwater Acoustic Relay Remote Control System for Semi sheltered Waters

摘要:

水声遥控是远程操作、控制各类水下设备的重要技术手段，岛礁、沿海岸线等复杂海洋地形条件形成半遮蔽水域由于声传输遮蔽效应往往形成遥控盲区，严重影响半遮蔽水域内的遥控效果，因此克服遮蔽效应、优化传输开销的问题亟待解决。本文采用中继遥控架构规避遮蔽效应，结合监听、握手交互机制设计了面向半遮蔽水域的中继遥控协议 (Relay remote control protocol for semi-sheltered waters, RRM-SSW)，开展由遥控节点、中继节点和目的节点组成水声中继遥控系统软硬件设计，并进行水声中继遥控试验系统扩频水声通信、中继转发遥控软硬件、接口及节点浮标基集成。在厦门海域开展的半遮蔽条件下的中继遥控试验表明，与传统MACA交互的中继转发相比，该系统通过所设计的RRM-SSW协议以较低的时延、发射次数开销有效扩展受限条件下的水下遥控范围，克服半遮蔽海域遮蔽效应对水下遥控的影响。表明该系统可为声传输受限条件下各类水下设备中继遥控提供有效技术手段。

Abstract:

Acoustic remote control is a crucial technical means for remotely operating and controlling various underwater devices. In complex marine terrain such as islands and coastal areas, semi-sheltered waters often form blind zones due to sound transmission shielding effects, severely impacting remote control effectiveness. Thus, it is imperative to overcome the shielding effect and optimize transmission overhead. This paper employs a relay remote control architecture to circumvent the shielding effect, designing a Relay Remote Control Protocol for Semi-Sheltered Waters (RRM-SSW) by integrating monitoring and handshake interaction mechanisms. It conducts hardware and software design for an acoustic relay remote control system composed of remote control nodes, relay nodes, and destination nodes, along with the development of a spread spectrum acoustic communication system, relay forwarding remote control hardware and software, interfaces, and node buoy integration. Field tests of relay remote control conducted in the semi-sheltered waters of Xiamen demonstrate that, compared to the traditional MACA-based relay forwarding, the proposed system effectively extends the underwater remote control range under restricted conditions with lower latency and transmission count overhead through the designed RRM-SSW protocol, overcoming the impact of shielding effects in semi-sheltered waters on underwater remote control. It is demonstrated that this system can serve as an efficient technical solution for the relay remote control of various underwater devices under sound transmission-limited conditions.