CN105115492B - Underwater terrain matching navigation system based on acoustic Doppler log - Google Patents
Underwater terrain matching navigation system based on acoustic Doppler log Download PDFInfo
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- CN105115492B CN105115492B CN201510501271.XA CN201510501271A CN105115492B CN 105115492 B CN105115492 B CN 105115492B CN 201510501271 A CN201510501271 A CN 201510501271A CN 105115492 B CN105115492 B CN 105115492B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention discloses a kind of underwater terrain matching navigation system based on acoustic Doppler log, including：Multi-beam integrated Doppler log, DGPS, platform compass, data acquisition module and sea-floor relief matching module, multi-beam integrated Doppler log, DGPS, platform compass, sea-floor relief matching module are connected with data acquisition module.Multi-beam integrated Doppler log of the present invention has more multi-measuring point, all standing, high-precision advantage, can the more accurate fluctuations situation for comprehensively reflecting underwater topography.Multi-beam integrated Doppler log is combined with sea-floor relief matching module, the underwater terrain matching navigation system of the invention based on acoustic Doppler log is formed.Compared to traditional underwater topography navigation system, the present invention by time restriction, the accuracy of real-time navigation information can not be ensured yet during long-time is navigated by water.
Description
Technical field
It is specially that one kind is based on acoustic Doppler meter the present invention relates to the underwater navigation applied technical field of submarine navigation device
The underwater terrain matching navigation system of the gift of money for a friend going on a journey.
Background technology
Autonomous Underwater Vehicle is the ocean vehicle that countries in the world are greatly developed, in marine protection, marine resources development
There is great application value Deng field, such as search, seabed drawing, seabed monitoring, pipe laying, seabed operation under water.Lead
Boat problem is submarine navigation device application one of faced major technical challenge, homing capability be submarine navigation device effectively work with
The important requirement of safe retrieving, the research of submarine navigation device air navigation aid is always study hotspot both domestic and external.
Due to the limitation of underwater environment, the main method that current submarine navigation device navigates is dead reckoning, INS (lead by inertia
Boat system), underwater sound log navigation etc..And a variety of navigation means of the above are in the case of no update information, error
It can accumulate or dissipate with the increase of hours underway or distance to go, it is difficult to meet the requirement of long-time navigator fix.And
Traditional acoustic Doppler log also has many restrictions, such as only a kind of working method, launching beam is few, measuring point is few, inadequate
Accurately, efficiency is low.
The content of the invention
In view of the deficienciess of the prior art, the invention provides a kind of high-precision, efficient based on acoustic Doppler
The underwater terrain matching navigation system of log.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
First, multi-beam integrated Doppler log, including：
Acoustics basic matrix, GPS module, INS modules, Sound speed profile instrument, processing system, multichannel transmitting-receiving modular converter and multichannel
Phase control power amplifying device, acoustics basic matrix, multichannel transmitting-receiving modular converter, multichannel phase control power amplifying device, processing system according to
It is secondary to be connected, in addition, processing system is also connected with GPS module, INS modules, Sound speed profile instrument；
Wherein, acoustics basic matrix is the circle being spaced by 484 the first piezoelectricity primitives and 484 the second piezoelectricity primitives
Shape plane basic matrix, the first piezoelectricity primitive and the second piezoelectricity primitive specification are identical；Circular flat basic matrix is arranged in 32 rows 32 and arranged, each row
Piezoelectricity primitive number with each row is even number, and adj acent piezoelectric primitive center spacing is the half of transmitted wave wavelength；Respectively by acoustics
The independent tap of first piezoelectricity primitive of each row of basic matrix is in parallel, obtains 32 submatrixs of X-direction；Acoustics basic matrix is respectively arranged respectively
The independent tap of second piezoelectricity primitive is in parallel, obtains 32 submatrixs of Y-direction.
Above-mentioned first piezoelectricity primitive and the second piezoelectricity primitive are square.
Above-mentioned multichannel transmitting-receiving converting unit includes No. 64 emitters and No. 64 receivers, and each road emitter drives each son respectively
Battle array, each road receiver receives the echo-signal that each submatrix is received respectively.
2nd, the underwater terrain matching navigation system based on acoustic Doppler log, including：
Multi-beam integrated Doppler log, DGPS, platform compass, data acquisition module and seabed
Shape matching module, multi-beam integrated Doppler log, DGPS, platform compass, sea-floor relief matching module
It is connected with data acquisition module；Wherein：
Multi-beam integrated Doppler log is used for obtaining the bathymetric data of multi-measuring point and the longitudinal direction speed of submarine navigation device
Degree and lateral velocity；DGPS is used for obtaining the latitude and longitude information and course information of submarine navigation device；Platform sieve
Through for obtaining attitude information of the submarine navigation device under operational configuration；Data acquisition module is comprehensive for gathering and storing multi-beam
Close the data that Doppler log, DGPS, platform compass are obtained；Sea-floor relief matching module is used for based on number
The data gathered according to acquisition module carry out sea-floor relief matching.
Compared to the prior art, the present invention has following features and beneficial effect：
The present invention is transformed conventional acoustic Doppler log, designs multi-beam integrated Doppler log, many
Wave beam integrated Doppler log do not influence the green end structure of submarine navigation device in itself, does not interfere with submarine navigation device in itself yet
Structural strength.Conventional acoustic Doppler log can only launch four wave beams, and multi-beam synthesis log sonar can launch many ripples
Beam, while also having the function of testing the speed with depth measurement.
Multi-beam integrated Doppler log of the present invention has more multi-measuring point, all standing, high-precision advantage, can be more accurate
Comprehensively reflect the fluctuations situation of underwater topography.By multi-beam integrated Doppler log and sea-floor relief matching module knot
Close, form the underwater terrain matching navigation system of the invention based on acoustic Doppler log.Compared to traditional underwater topography
Navigation system, the present invention by time restriction, the accuracy of real-time navigation information can not be ensured yet during long-time is navigated by water.
Brief description of the drawings
Fig. 1 is the structural representation of underwater terrain matching navigation system of the present invention；
Fig. 2 is the workflow diagram of sea-floor relief matching module；
Fig. 3 is acoustic Doppler log depth measurement operation principle schematic diagram；
Fig. 4 is the concrete structure schematic diagram of multi-beam integrated Doppler log of the present invention；
Fig. 5 is the concrete structure schematic diagram of acoustics basic matrix of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
See Fig. 1, it is fixed that underwater terrain matching navigation system of the present invention mainly includes multi-beam integrated Doppler log, DGPS
Position system (DGPS), platform compass, data acquisition module and sea-floor relief matching module.Multi-beam integrates many
General log of strangling is as the sensor of the system, for measuring the bathymetric data of multi-measuring point and the longitudinal velocity of submarine navigation device
And lateral velocity, multibeam echosounding and the timesharing tested the speed measurement are formed on the basis of conventional acoustic Doppler log.DGPS
Alignment system is used for providing the high-precision latitude and longitude information of submarine navigation device, and provides the course information of submarine navigation device for grasping
Ship.Platform compass is used for the attitude information for providing submarine navigation device under operational configuration, such as the pitching, rolling and course of ship.
Data acquisition module is used to gathering and storing what multi-beam integrated Doppler log, DGPS alignment systems and platform compass were obtained
Data.Sea-floor relief matching module is used for the data according to data collecting module collected, builds landform benchmark database, and carry out
Terrain match.
See Fig. 2, the workflow of sea-floor relief matching module of the present invention is：
1) real-time submarine topography data is obtained：
Submarine topography data is gathered using sea-floor relief sensor.Sea-floor relief sensor is that multi-beam is integrated in the present invention
Doppler log, submarine topography data is surveyed using multi-beam integrated Doppler log., it is necessary to seabed in analogue system
Terrain sensor carries out error modeling, and is intercepted in reference data and add noise, is used as the real time data of emulation.
2) submarine topography data pretreatment in real time：
Digital Sea-floor Terrain reference data is the digital information being distributed according to certain specification, such as uniformly draws in earth reference face
It is divided into the average value of sea-floor relief depth information in grid, storage grid.What it is due to the acquisition of sea-floor relief sensor is irregular
The digital information of distribution, when the attitude angle of submarine navigation device horizontal direction is not zero, it is necessary to carry out coordinate transform to obtain water
Real time data immediately below lower ROV, this is the premise for carrying out terrain match.
In addition, although sound wave can be propagated in ocean medium and long distance, during propagation, oceanic tide, wave, vortex
And the Temperature Distribution and distribution of the salinity of seawater, sea, marine various the heterogeneous bodies such as bubble and biology included etc., it can produce
Very big influence so that the data measured using cement bond logging have larger error, during data prediction, will consider these sides
The factor in face, and be modeled and compensate.Because INS (inertial navigation system) can provide high-precision navigation information, therefore can
The information such as the position, speed, the posture that are exported according to INS are pre-processed to real time data, so as to produce available for terrain match
Real-time submarine topography data.
3) can match of submarine topography data differentiates in real time：
By the performance indications (such as requirements such as matching probability, matching speeds) designed in advance to pretreated real-time seabed
Graphic data carries out can match differentiation, when only real-time submarine topography data meets the performance indications requirement of design, just carries out ground
Shape is matched, and navigation information fusion treatment is otherwise directly transferred to without terrain match.
4) combine submarine topography data storehouse and carry out terrain match：
Submarine topography data storehouse is used to store seabed digital terrain reference map, and the seabed digital terrain reference map is using two dimension
Plane coordinates, using WGS-84 earth coordinates.At present, the more common preparation method of seabed digital terrain reference map includes using
Shipboard sonar, sonar array, side-scan sonar, multi-beam sonar, airborne laser range-measurement system etc., and be aided with GPS and directly surveyed
Measure the initial data of sea-floor relief.Postmenstruation data processing, obtains the digital chart for Terrain-aided Navigation.After at present
The phase key step of processing includes：By initial land form rasterizing, each grid records " representing elevation " of correspondence landform, generally
" representing elevation " is taken as the dispersed elevation of grid.The size of grid distance is relevant with required positioning precision and amount of storage, general net
The desirable 50-100m of lattice distance, while grid is taken as square.
The storage of numerical map is generally directly stored using grid configuration, is also had to be stored with compress mode and is deposited with saving
Store up space.But with current microelectronics development trend from the point of view of, memory capacity problem can without consider.An other problem is just
It is to read, by current computer operational capability and read or write speed, for submarine navigation device, data IO can have been substantially met will
Ask.
Pretreated real-time submarine topography data is matched with seabed digital terrain reference map, and output matching is believed
Breath.
5) Performance Evaluation：
In each terrain match navigation moment point, by the submarine topography data of collection and the progress of seabed digital terrain reference map
Match somebody with somebody, the information weight that whether match information available and match information is shared in final information fusion, it is necessary to evaluated, with
The available degree of the match information is determined, disabled match information is rejected, finally effective sea-floor relief match information is entered
Row data fusion.
6) Intelligent information fusion：
Effective sea-floor relief match information and INS output informations are subjected to Intelligent Fusion, so as to obtain navigational parameter letter
Breath, and INS can be corrected.
See Fig. 3, the depth measurement operation principle of acoustic Doppler log is as follows：
Acoustic Doppler log is to realize sounding survey based on Doppler effect.If oblique from underway submarine navigation device
Launch sound wave to seabed, and receive the reflected signal in seabed, then receive signal frequency fnpWith emission signal frequency fuDifference fd
Depending on submarine navigation device speed：
fd=fnp-f (1)
At present, acoustic Doppler log uses dualbeam basic matrix, and wave beam balanced configuration is in vertical line both sides, so that simple beam
When Doppler frequency and the non-linear relation of speed be eliminated.Now Doppler frequency shiftThe basic matrix ripple received by stem and stern
Beam signal frequency difference is determined：
Submarine navigation device headway V is：
In formula (2)~(3), V represents submarine navigation device headway；C represents the velocity of sound in ocean；fnpFRepresent that stern connects
The basic matrix beam signal frequency of receipts, fnpBRepresent the basic matrix beam signal frequency that stern is received；α represents that the wave beam angle of depression, i.e. wave beam are sent out
Penetrate the angle that direction is navigated by water in direction with submarine navigation device；Represent frequency gain coefficient.
The depth measurement working range of acoustic Doppler log can reach several kms, and total accuracy of sounding is 1%-2%.Survey over the ground
Fast precision, when speed≤10 are saved, error ＜ 0.1 is saved；When speed ＞ 10 is saved, error ＜ 1%.
In practical application, acoustic Doppler log acoustic emission is carried out simultaneously along four beam directions of basic matrix, sees Fig. 3,
The sagittal plane of the balanced configuration of basic matrix wave beam 1 and 3 ROV under water, the footpath of the balanced configuration of basic matrix wave beam 2 and 4 ROV under water
Horizontal face, constitutes " JANUS " structure of Array Directivity figure.Wave beam has certain inclination angle to vertical line, can thus realize
Measured while to the laterally and longitudinally speed of ship.
Meanwhile, acoustic Doppler log is the active underwater sound equipment for being operated in pulse mode, and it uses pulse ranging
Method, depth measurement is carried out using the time difference between echo and transmitting pulse signal is received.From figure 3, it can be seen that basic matrix wave beam 1, base
Array beam 2, basic matrix wave beam 3 and basic matrix wave beam 4 are transmitted into water respectively along four direction all around, you can to measure simultaneously
Water Depth Information at measuring point A, B, C, D.So, when submarine navigation device is navigated by water, then the bathymetric data of three lines can be measured simultaneously, i.e.,
AC lines and respectively mistake D points, B the points two lines parallel with AC.
Conventional acoustic Doppler log be four wave beam echometers, because numbers of beams is less, the present invention so that devise many
Wave beam integrated Doppler log, its structural representation is shown in Fig. 4.Multi-beam integrated Doppler log is mono- by acoustics basic matrix, GPS
Member, INS units (inertial navigation unit), Sound speed profile instrument, processing system, multichannel transmitting-receiving converting unit and multichannel phase control power
Amplifying unit is constituted.GSP units are used for providing the current location information of submarine navigation device.Different depth water layer, seawater component is not
Together, cause the spread speed of sound wave also different, Sound speed profile instrument is used for measuring the velocity of sound of corresponding water layer, then utilizes formula (3)
Calculate submarine navigation device headway.INS units are used for realizing the Underwater Navigation of submarine navigation device.Because seawater can significantly be cut
Light current magnetic signal, submarine navigation device for a long time under water when, will be unable to receive GPS location information, then need rely on INS units
Positioned.But INS cell locations have accumulated error, so recycling GPS unit pair when ROV emerges under water
Submarine navigation device location information is modified.Multichannel phase control power amplifying unit controls multichannel according to the instruction of processing system
The working condition (emission state or reception state) of converting unit is received and dispatched, multichannel transmitting-receiving converting unit passes through acoustics basic matrix transmitting sound
Ripple receives echo from acoustics basic matrix.Due to multichannel phase control power amplifying unit, multichannel transmitting-receiving converting unit and acoustics basic matrix
Between propagate is electric signal, so multichannel phase control power amplifying unit, multichannel transmitting-receiving converting unit, acoustics basic matrix are electrically connected successively
Connect.
When launching sound wave, processing system control multichannel phase control power amplifying unit is amplified to transmission signal, through many
Road transmitting-receiving converting unit is transferred to acoustics basic matrix, and control acoustics basic matrix is with a larger angle of release to underwater emission sound wave.
When receiving echo, the echo-signal that acoustics basic matrix is received receives and dispatches converting unit through multichannel, transmits to multichannel phase
Kong power amplification units, and deliver to processing system, the letter that processing system combination GPS unit, INS units, Sound speed profile instrument are obtained
Breath carries out integrated treatment, to obtain the bathymetric data of measuring point and the longitudinal velocity of submarine navigation device and lateral velocity.
Because multi-beam integrated Doppler log can receive tens beams even Shu Shengbo up to a hundred simultaneously, then often send one
Individual sound wave, just can obtain one group of bathymetric data in vertical course-and-bearing.Compared with traditional four wave beams echometer, multi-beam integrates many
General Le log biggest advantage is multi-measuring point, all standing, high accuracy, so as to rising for more accurate comprehensively reflection underwater topography
Lie prostrate situation of change.
Fig. 5 is the concrete structure schematic diagram of acoustics basic matrix, and the acoustics basic matrix is by the piezoelectricity primitive row of 968 same sizes
The circular flat basic matrix of row, the circular flat basic matrix is arranged in 32 rows 32 and arranged, and the piezoelectricity primitive number of each row and each row is
Even number, and adj acent piezoelectric primitive center spacing is the half of transmitted wave wavelength.By piezoelectricity primitive be divided into the first piezoelectricity primitive and
Second piezoelectricity primitive, the first piezoelectricity primitive and the second piezoelectricity primitive arranged for interval, i.e. the adj acent piezoelectric primitive of the first piezoelectricity primitive
It is the second piezoelectricity primitive, the adj acent piezoelectric primitive of the second piezoelectricity primitive is the first piezoelectricity primitive, first in this specific implementation
Piezoelectricity primitive and the second piezoelectricity primitive quantity are 484.See Fig. 5, the piezoelectricity primitive of center a little represents the first piezoelectricity primitive, remain
Under piezoelectricity primitive be the second piezoelectricity primitive.
It is to the i-th row of acoustics basic matrix, the independent tap of row the first piezoelectricity primitive is in parallel, that is, Xi directions submatrix is constituted,
Xi directions submatrix (i=1,2 ... 32) constitute X-direction basic matrix.Similarly, the jth to acoustics basic matrix is arranged, by row the second piezoelectricity base
The independent tap of member is in parallel, that is, constitutes YjDirection submatrix, YjDirection submatrix (j=1,2 ... 32) constitute Y-direction basic matrix.This is specific
In implementation, X-direction basic matrix and Y-direction basic matrix include 32 submatrixs, i.e. acoustics basic matrix and include 64 submatrixs.
Because acoustics basic matrix includes 64 submatrixs, then using No. 64 emitters and No. 64 receivers, each road emitter difference
Drive each submatrix, you can form phased wave beam simultaneously in X-direction and Y-direction；Each road receiver receives what each submatrix was received respectively
Echo-signal.Structured the formation technology based on existing half-wavelength, to acoustics basic matrix of the present invention, beam angle is about 3.2 degree, it is contemplated that
Transmitting-receiving conjunction is put, it is assumed that multi-beam function need to reach 4 times of depth of water coverings, i.e. wave beam angle of release is 126 degree, and 42 wave beams are needed altogether.
42 narrow beams are divided into 14 groups, each group respectively there are 3 narrow beams.
Shooting sequence is as follows：
1st group of the 1st narrow beam, the 1st of the 2nd group the narrow beam ..., the 14th group of the 1st narrow beam；
1st group of the 2nd narrow beam, the 2nd of the 2nd group the narrow beam ..., the 14th group of the 2nd narrow beam；
1st group of the 3rd narrow beam, the 3rd of the 2nd group the narrow beam ..., the 14th group of the 3rd narrow beam.
64 submatrixs can use independent phase Kong technical controllings, i.e. 64 submatrixs are inputted with width out-of-phase signal, and its phase can be controlled
System, can timesharing realize and test the speed and depth measurement function that timing separation can use by oneself regulation, flexibly control.
(1) test the speed pattern
Because independent phase Kong, X1-X8Direction submatrix, X17-X24Direction submatrix, Y1-Y8Direction submatrix, Y17-Y24Direction submatrix
Input the first signal of same magnitude and same phase, X9-X16Direction submatrix, X25-X32Direction submatrix, Y9-Y16Direction submatrix,
Y25-Y32The phase difference of the secondary signal of direction submatrix input same magnitude and same phase, the first signal and secondary signal is
180 degree, so as to form four independent beams in ± 30 ° of directions of X-direction and Y-direction.Utilize traditional velocity measuring technique
Realize speed measuring function.
(2) depth measurement pattern
To X1-X32Direction submatrix and Y1-Y32Direction submatrix, the spin orientation (Rotated for taking tradition to have
Directional Transmitting) technology can obtain 42 required wave beams.Can be real using traditional Bathymetric Technology
Existing depth measurement function.
The present invention is limited by the claim permitted, then the explanation of above-mentioned offer should be counted as different to can be applied to
The essential illustration of possible examples of implementation.
Claims (4)
1. multi-beam integrated Doppler log, it is characterised in that including：
Acoustics basic matrix, GPS unit, INS units, Sound speed profile instrument, processing system, multichannel transmitting-receiving converting unit and multichannel are phased
Power amplification unit, acoustics basic matrix, multichannel receive and dispatch converting unit, multichannel phase control power amplifying unit, processing system phase successively
Even, in addition, processing system is also connected with GPS unit, INS units, Sound speed profile instrument；
Wherein, acoustics basic matrix is the circular flat being spaced by 484 the first piezoelectricity primitives and 484 the second piezoelectricity primitives
Face basic matrix, the first piezoelectricity primitive and the second piezoelectricity primitive specification are identical；Circular flat basic matrix is arranged in 32 rows 32 and arranged, each row and each
The piezoelectricity primitive number of row is even number, and adj acent piezoelectric primitive center spacing is the half of transmitted wave wavelength；Respectively by acoustics basic matrix
The independent tap of first piezoelectricity primitive of each row is in parallel, obtains 32 submatrixs of X-direction；Acoustics basic matrix is respectively arranged respectively second
The independent tap of piezoelectricity primitive is in parallel, obtains 32 submatrixs of Y-direction.
2. multi-beam integrated Doppler log as claimed in claim 1, it is characterised in that：
Described the first piezoelectricity primitive and the second piezoelectricity primitive is square.
3. multi-beam integrated Doppler log as claimed in claim 1, it is characterised in that：
Described multichannel transmitting-receiving converting unit includes No. 64 emitters and No. 64 receivers, and each road emitter drives each son respectively
Battle array, each road receiver receives the echo-signal that each submatrix is received respectively.
4. the underwater terrain matching navigation system based on acoustic Doppler log, it is characterised in that including：
Multi-beam integrated Doppler log described in claim 1, DGPS, platform compass, data acquisition
Module and sea-floor relief matching module, multi-beam integrated Doppler log, DGPS, platform compass, seabed
Terrain match module is connected with data acquisition module；Wherein：
Multi-beam integrated Doppler log be used for obtain multi-measuring point bathymetric data and submarine navigation device longitudinal velocity and
Lateral velocity；DGPS is used for obtaining the latitude and longitude information and course information of submarine navigation device；Platform compass is used
To obtain attitude information of the submarine navigation device under operational configuration；Data acquisition module is more for gathering and storing multi-beam synthesis
It is general to strangle the data that log, DGPS, platform compass are obtained；Sea-floor relief matching module is used for adopting based on data
Collect the data of module collection, build landform benchmark database, and carry out sea-floor relief matching.
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| CN105547300A (en) * | 2015-12-30 | 2016-05-04 | 航天恒星科技有限公司 | All-source navigation system and method used for AUV (Autonomous Underwater Vehicle) |
| CN106767836B (en) * | 2017-02-17 | 2019-12-06 | 哈尔滨工程大学 | AUV terrain matching navigation filtering method |
| CN107328601B (en) * | 2017-07-21 | 2023-12-05 | 长沙矿山研究院有限责任公司 | Submarine surface solid mineral sampling device and sampling method |
| CN108318034B (en) * | 2018-01-09 | 2020-05-22 | 浙江大学 | AUV docking navigation method based on sonar map |
| CN108710133B (en) * | 2018-05-07 | 2022-02-18 | 哈尔滨工程大学 | Planar phased array transducer array and phase control method |
| CN112740073A (en) * | 2018-10-01 | 2021-04-30 | 特励达仪器有限公司 | Acoustic dual-frequency phased array with common beam angle |
| CN109612685B (en) * | 2019-01-15 | 2020-04-03 | 西南交通大学 | Integrated measuring device and method for flow speed and depth of water tank test |
| CN110763234B (en) * | 2019-10-15 | 2022-10-28 | 哈尔滨工程大学 | Submarine topography matching navigation path planning method for underwater robot |
| CN113124865B (en) * | 2021-04-20 | 2023-05-26 | 中山大学 | Navigation positioning system and control method for underwater vehicle |
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| CN100339721C (en) * | 2004-09-22 | 2007-09-26 | 中国船舶重工集团公司第七一五研究所 | Phase control transducer array and phase control method for acoustic Doppler ocean current profile instrument |
| EP2318860A4 (en) * | 2008-08-11 | 2012-07-04 | Marport Canada Inc | Multi-function broadband phased-array software defined sonar system and method |
| CN101436074B (en) * | 2008-12-06 | 2011-01-26 | 中国海洋大学 | Autonomous type underwater robot by simultaneous positioning and map constructing method |
| FR2974422B1 (en) * | 2011-04-21 | 2014-04-18 | Ixsea Sas | METHOD FOR GLOBALLY ACOUSTIC POSITIONING OF A MARINE OR UNDERWATER TARGET |
| CN104061930B (en) * | 2013-12-05 | 2017-06-16 | 东南大学 | A kind of air navigation aid based on strap-down inertial guidance and Doppler log |
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