CN103823205B - Underwater locating navigation system and method - Google Patents
Underwater locating navigation system and method Download PDFInfo
- Publication number
- CN103823205B CN103823205B CN201410073287.0A CN201410073287A CN103823205B CN 103823205 B CN103823205 B CN 103823205B CN 201410073287 A CN201410073287 A CN 201410073287A CN 103823205 B CN103823205 B CN 103823205B
- Authority
- CN
- China
- Prior art keywords
- navigation
- base station
- signal
- underwater
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an underwater locating navigation system and method. The system is composed at least four base stations and at least one underwater locating navigation receiver. The base stations need to be synchronous in time, and the base stations are arranged on the water face, in water and underwater. The positions of the base stations are fixed, or the base stations can move. The base stations spread navigation signals into the water. Spectrum spreading is conducted on the navigation signals through a pseudorandom spreading code, and the spreading code has a function of a ranging code at the same time. The underwater locating navigation receiver does not need to emit a signal to the outside, the position of the underwater locating navigation receiver itself is solved and time synchronization with the base stations is achieved by receiving the navigation signals of the base stations. A plurality of underwater locating navigation receivers can be arranged in the system to receive the navigation signals at the same time, and the number of the underwater locating navigation receivers is not limited. The underwater locating navigation system and method can be applied to the fields of underwater exploration, underwater construction, underwater security and protection, underwater navigation and the like.
Description
Technical field
The present invention relates to Underwater Navigation navigation field, the location navigation in the case of more particularly, to submarine target is hidden is with timely
Between simultaneous techniquess.
Background technology
Underwater navigation location and navigation technology is in marine monitoring, seafari, ocean right-safeguarding, under water archaeology, underwater construction, water
There is very important using value in the field such as lower security and military affairs.Underwater Navigation navigation system based on acoustics is according to underwater sound signal
Propagation path, be broadly divided into two classes: round trip pattern and single pass mode.
Round trip pattern is also referred to as answer-mode, needs Underwater Navigation device configuration transmitting-receiving transponder.Base station and transponder it
Between bidirectional transmit-receive underwater sound signal realize positioning.Traditional Long baselines, short baseline and ultra short baseline locating system are mostly round trip moulds
Formula.The advantage of round trip pattern is not need time synchronized under water between transponder and base station.Shortcoming is: 1. transponder needs under water
Outwardly launch acoustic signals, increased power consumption, disguised poor.2. due to needing bidirectional transmit-receive signal, the number of transponder under water
The restricted disposal ability with base station of mesh is it is impossible to unlimited increase.
Single pass mode is also known as non-answer-mode.Between base station and Underwater Navigation equipment, one-way transmission signal can achieve and determines
Position.At present one way alignment system be all subsea beacon to base station sending signal, base station calculates according to the feature receiving signal
The position of subsea beacon.Under this pattern, the number of subsea beacon is subject to base station disposal ability.
Current one way and round trip pattern, it is all to complete in base station or ship base, bank base that the position of its beacon resolves.Beacon
Self-position can not be directly obtained.If underwater installation (as underwater vehicle) needs to realize autonomous navigation according to self-position,
Then need, by extra communication link, positional information to be sent to underwater installation from base station.
Through retrieval, the patent of invention of Chinese Patent Application No. cn200310118440 discloses one kind, and gps positioning is led under water
Boat method and system, it is possible to achieve submarine target location navigation and time service.The method has following limitation: 1. part needed for system
Huge, need at least 5 buoys (base station), data center, sea wireless communication link, underwater wireless communication link.2. under water
Navigation neceiver and base station need two-way communication.Underwater Navigation navigation neceiver needs to emission underwater sound signal, power consumption big and
It is unfavorable for hidden.3. Underwater Navigation navigation neceiver quantity can not infinitely increase.4. underwater navigation receiver cannot directly obtain
Self-position.After data center resolves out position, Underwater Navigation navigation neceiver is sent to by underwater sound communication link.Increase
The positioning required time, reduce reliability.
Content of the invention
For the defect of prior art, the present invention provides a kind of Underwater Navigation navigation system and method, realizes based on spread spectrum
The one way Underwater Navigation navigation of communication broadcast mode.
According to an aspect of the present invention, provide a kind of Underwater Navigation navigation system, this system is by least 4 base stations and extremely
Few Underwater Navigation navigation neceiver composition, wherein:
Time synchronized between described base station, by the pattern of spread spectrum communication to broadcasts navigational signals under water, wherein use pseudo- with
Machine spreading code spreads to navigation signal, and spreading code simultaneously works as the effect of ranging code；
Described Underwater Navigation navigation neceiver does not need outside portion transmission signal, according to the base station signal receiving, resolves
Go out self-position, and realize and base station time synchronism.Multiple stage Underwater Navigation navigation neceiver can be had in system to receive lead simultaneously
Boat signal, its quantity is unrestricted.
Preferably, described arrangement of base stations is in the water surface, water or water-bed.The position of base station is fixed or mobile.
Preferably, the navigation signal of described base station adopts bipolar binary to encode, and that is, its value is+1 or -1, right respectively
Answer binary zero and 1, navigation signal comprises ranging code, navigation message information:
Described ranging code is the fixing pseudo noise code of one group of length, and its length is pz, the cycle is pp.Each base station corresponding one
The pseudo noise code of individual particular sequence, is designated as pi, different piMutually accurate orthogonal, i.e. the peak value p of their cross-correlation functioncmiWith oneself
The peak value p of correlation functioncsiBetween relation meet
According to ranging code piCan determine that its corresponding base station si；
Described navigation message comprises base station time, base station position information, and the length of each binary digit of navigation message is
Ranging code period ppIntegral multiple.
According to the second aspect of the invention, provide a kind of Underwater Navigation air navigation aid, the method comprises: Base Transmitter navigation
Signal, Underwater Navigation navigation neceiver receive base station signal and carry out location navigation resolving；
Described Base Transmitter navigation signal, specific as follows:
1. generate navigation message, be designated as di, navigation message is made up of synchronization frame and information frame, and synchronization frame is one group of fixation
Binary data, is designated as t；Information frame contains base station time and base station location coordinate；
2. by the use of ranging code as spreading code, navigation message is spread, obtain spread-spectrum signal, be designated as ki, ki=di×
pi；
3. using the signal k after spread spectrumi, carrier wave is modulated, all base station time synchronisms, it is possible to achieve carrier wave is same
Step, that is, the carrier frequency-phase of all base stations is synchronous, is designated as c, navigation signal is designated as xi, xi=c × ki=c × di×pi；
4. by navigation signal xiIt is transmitted in water by the underwater acoustic transducer of base station；
Described Underwater Navigation navigation neceiver receives base station signal and carries out location navigation resolving, specific as follows:
Under water, its coordinate is r to positioning and navigation receiverci=(x, y, z), with the distance between base station beAt first, the time (being designated as t) of receiver, with base station time t0No
Synchronous, its time difference is δ t=t0-t.Receive the navigation signal of Base Transmitter, be designated as y.There are multiple base stations in system, receive
To signal y contain the signal of multiple Base Transmitter, then carry out location navigation resolving.
Compared with prior art, the present invention has a following beneficial effect:
The present invention passes through above method, and Underwater Navigation navigation neceiver obtains itself position coordinates with respect to base station,
And obtained time difference with base station it is achieved that time synchronized.Underwater Navigation navigation neceiver does not need outside transmission signal.Under water
Positioning and navigation receiver quantity is unrestricted.
Brief description
The detailed description with reference to the following drawings, non-limiting example made by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the system principle diagram of one embodiment of the invention.
Fig. 2 is the system architecture diagram of one embodiment of the invention.
Fig. 3 is the theory diagram of base station in one embodiment of the invention.
Fig. 4 is the theory diagram of Underwater Navigation navigation neceiver in one embodiment of the invention.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some deformation can also be made and improve.These broadly fall into the present invention
Protection domain.
As shown in figure 1, being the Position Fixing Navigation System block diagram of one embodiment of the invention, by 4 base stations 11,12,13,14 and 1
Individual Underwater Navigation navigation neceiver 15 forms.Base station is designated as si, wherein i=1,2 ..., m.Wherein, m is base station number, m >=4.
Hereinafter, i, m implication is identical.The position coordinateses of base station s respectivelyci=(xi,yi,zi).Arrangement of base stations is in the water surface, water or water
Bottom.Clock between base station is synchronous, is designated as t0.Base station is in the form of a sound wave to broadcast transmission navigation signal in water.Navigation signal
Using bipolar binary coding, that is, its value is+1 or -1, corresponds to binary zero and 1 respectively.
Navigation signal comprises following information.
1. ranging code.Ranging code is the fixing pseudo noise code of one group of length, and its length is pz, the cycle is pp.Each base station pair
Answer the pseudo noise code of a particular sequence, be designated as pi.Different piMutually accurate orthogonal, i.e. the peak value p of their cross-correlation functioncmi
Peak value p with auto-correlation functioncsiBetween relation meet
According to ranging code piCan determine that its corresponding base station si.
2 navigation messages.Navigation message comprises base station time, base station position information.Each binary digit of navigation message
Length is ranging code period ppIntegral multiple.
The mode of Base Transmitter navigation signal is as follows:
1. generate navigation message.It is designated as di.Navigation message is made up of synchronization frame and information frame.Synchronization frame is one group of fixation
Binary data, is designated as t.Information frame contains base station time and base station location coordinate.
2. by the use of ranging code as spreading code, navigation message is spread, obtain spread-spectrum signal, be designated as ki.ki=di×
pi.
3. using the signal k after spread spectrumi, carrier wave is modulated.All base station time synchronisms, it is possible to achieve carrier wave is same
Step, that is, the carrier frequency-phase of all base stations is synchronous, is designated as c, navigation signal is designated as xi, xi=c × ki=c × di×pi.
4. by navigation signal xiIt is transmitted in water by the underwater acoustic transducer of base station.
Under water, its coordinate is r to positioning and navigation receiverci=(x, y, z), with the distance between base station beAt first, the time (being designated as t) of receiver, with base station time t0No
Synchronous, its time difference is δ t=t0-t.Receive the navigation signal of Base Transmitter, be designated as y.There are multiple base stations in system, receive
To signal y contain the signal of multiple Base Transmitter.
Fig. 2 is the system architecture diagram of another embodiment.4 base stations 21,22,23,24 are placed on the bottom, using submarine cable
26 realize the time synchronized between base station.Positioning and navigation receiver 25 is arranged on carrier (underwater vehicle), follows carrier fortune
Dynamic.
Fig. 3 is base station theory diagram in another embodiment.In the present embodiment, base station is mainly by transmitting transducer 31, impedance
Adapter 32, power amplifier 33, ad transducer 34, embedded system 35 form.
Embedded system 35 realizes calculating and the generation of ranging code, navigation message, carrier wave and navigation signal.
Navigation signal is converted to analog form by digital form by ad transducer 34.
Analogue navigation signal is amplified by power amplifier 33, impedance matching box 32 and transmitting transducer 31 successively, impedance
Join and be transmitted in water.
Fig. 4 is Underwater Navigation navigation neceiver theory diagram in another embodiment.In the present embodiment, Underwater Navigation navigation connects
Receiving owner will be by receive transducer 41, filter amplifier 42, and ad transducer 43 and embedded system 44 form.
Acoustic signals are converted to the signal of telecommunication by receive transducer 41, after filtering amplifier 42 filtering interference signals, then by
Analog electrical signal is converted to digital signal by ad transducer 43.
Embedded system 44 is processed to digital signal, realizes ranging code separation, tracking, frame synchronization pseudo range measurement, position
Put time resolving etc..
In the present embodiment, carry out location navigation resolving in accordance with the following methods:
1. signal demodulation separates.Using code ranging code piOrthogonality, the signal of each base station is demodulated and separates.
Concrete grammar is, successively by each ranging code piCarry out related operation with signal y successively.If the result of related operation is more than set
(threshold value is according to the peak value p of cross-correlation function for fixed threshold valuecmiChoose), Ze Gai road signal has corresponded to i-th Base Transmitter, passes through
After water body is propagated, the signal that received by receiver, it is designated as yi.
2. signal trace.After realizing Signal separator, to each road signal yiFollow the tracks of respectively.Method is in t, by signal
yiSuccessively with corresponding survey code piCarry out related operation, measure correlation peak with respect to starting position time, referred to as code phase
3. frame synchronization and navigation message parsing.The signal y receivingiCompare with synchronization frame t, determine the beginning of navigation message
In the moment, it is designated as tsi, from tsiIn the moment, counting complete cycle is carried out to ranging code, count value is designated as ni.Successively navigation message is entered
Row parsing, obtains base station location and base station time.
4. pseudo range measurement.Using count value n starting from frame synchronizationiAnd code phaseCan calculate navigation signal from
Base station siPropagation time t to receiveri,Can be with calculation base station according to spread speed c in water for the sound wave
siPseudorange l to receiveri, li=c × ti.Propagation time tiContain the time difference δ t of receiver and base station, so pseudorange li
It is not base station siActual range l between receiversi, its relation is: li=lsi+cδt.
5. positioning calculation.Underwater Navigation navigation neceiver receives the signal of a base station, you can obtain a pseudorange.Connect
After receiving whole m base station signals, you can obtain m pseudorange equation, form equation below group
Above equation group has 4 unknown numbers: x, y, z, δ t.Number m >=4 of independent equation, solving equation in equation group
Group, must obtain the position coordinateses x of receiver, y, z and the time difference δ t with base station.Using δ t, receiver time is repaiied
Just, you can realize receiver time t and base station time t0Synchronous.
As base station number m ＞ 4, Underwater Navigation navigation neceiver do not need to receive the signal of whole base stations it is only necessary to
Receive the signal of 4 base stations.Underwater Navigation receiver quantity does not limit.The absolute position of base station or relative position are
Know, between base station, keep clock synchronous.
In the present invention, in the form of a sound wave, to underwater emission navigation signal, signal modulation pattern adopts spread spectrum communication for base station
Pattern.Underwater Navigation receiver does not need to launch any signal.Under conditions of silent hiding, by receiving the navigation letter of base station
Number, determine itself position with respect to base station, thus realizing Underwater Navigation navigation.Underwater Navigation receiver passes through to receive base station
Acoustic signals, but realize and base station time synchronism.
Application the present invention, it is possible to achieve underwater installation (such as underwater robot, underwater vehicle) in the case of hidden (i.e.
Underwater installation does not need outwardly transmission signal), realize autonomous positioning, realize base station time synchronism simultaneously, can apply to water
The fields such as lower construction, under water prospecting, under water security, undersea surveillance and underwater navigation guidance.
It is the section Example of the present invention above, although present disclosure has been made by above-mentioned section Example in detail
Thin introduction, but it should be appreciated that the description above is not considered as limitation of the present invention.Read in those skilled in the art
After the above, the multiple modifications and substitutions for the present invention all will be apparent from.Therefore, protection scope of the present invention
Should be limited to the appended claims.
Claims (6)
1. a kind of Underwater Navigation navigation system, this system is by least 4 base stations and at least one Underwater Navigation navigation neceiver group
Become, wherein:
Time synchronized between described base station, by the pattern of spread spectrum communication to broadcasts navigational signals under water, is wherein expanded with pseudorandom
Frequency code spreads to navigation signal, and spreading code simultaneously works as the effect of ranging code；
Described Underwater Navigation navigation neceiver does not need outside portion transmission signal, and according to the base station signal receiving, resolving is come from
Body position, and realize and base station time synchronism；There is multiple stage Underwater Navigation navigation neceiver to receive navigation signal in system simultaneously, its
Quantity is unrestricted；
The navigation signal of described base station adopts bipolar binary to encode, and that is, its value is+1 or -1, corresponds to binary zero respectively
With 1, navigation signal comprises ranging code, navigation message information:
Described ranging code is the fixing pseudo noise code of one group of length, and its length is pz, the cycle is pp；Each base station corresponds to a spy
The pseudo noise code of sequencing row, is designated as pi, different piMutually accurate orthogonal, i.e. the peak value p of their cross-correlation functioncmiWith auto-correlation
The peak value p of functioncsiBetween relation meet
According to ranging code piCan determine that its corresponding base station si；
Described navigation message comprises base station time, base station position information, and the length of each binary digit of navigation message is range finding
Code period ppIntegral multiple.
2. a kind of Underwater Navigation navigation system according to claim 1 it is characterised in that the absolute position of described base station or
Person's relative position is it is known that keep clock synchronous between base station.
3. a kind of Underwater Navigation navigation system according to claim 1 and 2 is it is characterised in that described arrangement of base stations is in water
In face, water or water-bed, the position of base station is fixed or mobile.
4. a kind of Underwater Navigation navigation system according to claim 1 and 2 is it is characterised in that described base station is with sound wave
Form, to underwater emission navigation signal, signal modulation pattern adopts spread spectrum communication pattern.
5. a kind of Underwater Navigation air navigation aid, the method includes Base Transmitter navigation signal step, Underwater Navigation navigation neceiver
Receive base station signal and carry out location navigation process of solution；
Base station is designated as si, wherein i=1,2 ..., m, wherein m are base station number, m >=4, the position coordinateses s respectively of base stationci=(xi,
yi,zi)；Ranging code is the fixing pseudo noise code of one group of length, and its length is pz, the cycle is pp；Each base station correspondence one is specific
The pseudo noise code of sequence, is designated as pi；
Described Base Transmitter navigation signal step, specific as follows:
1. generate navigation message, be designated as di, navigation message is made up of synchronization frame and information frame, and synchronization frame is the two of one group of fixation to enter
Data processed, is designated as t；Information frame contains base station time and base station location coordinate；
2. by the use of ranging code as spreading code, navigation message is spread, obtain spread-spectrum signal, be designated as ki, ki=di×pi；
3. using the signal k after spread spectrumi, carrier wave is modulated, all base station time synchronisms, realizes carrier synchronization, be i.e. all bases
The carrier frequency-phase stood is synchronous, is designated as c, navigation signal is designated as xi, xi=c × ki=c × di×pi；
4. by navigation signal xiBy Base Transmitter in water；
Described Underwater Navigation navigation neceiver receives base station signal and carries out location navigation resolving, specific as follows:
Under water, its coordinate is r to positioning and navigation receiverci=(x, y, z), with the distance between base station beAt first, the time of receiver, it is designated as t, with base station time t0Different
Step, its time difference is δ t=t0-t；Receive the navigation signal of Base Transmitter, be designated as y, have multiple base stations in system, receive
Signal y contain the signal of multiple Base Transmitter, then carry out location navigation resolving.
6. a kind of Underwater Navigation air navigation aid according to claim 5, it is characterised in that described location navigation resolves, has
Body step is as follows:
1. signal demodulation separates: using code ranging code piOrthogonality, the signal of each base station is demodulated and separates；That is: according to
Secondary by each ranging code piCarry out related operation with signal y successively, if the result of related operation is more than the threshold value setting, should
Road signal has corresponded to i-th Base Transmitter, after water body is propagated, the signal that received by receiver, and it is designated as yi；
2. signal trace: after realizing Signal separator, to each road signal yiFollow the tracks of respectively；I.e. in t, by signal yiSuccessively with
Corresponding survey code piCarry out related operation, measure correlation peak with respect to starting position time, referred to as code phase
3. frame synchronization and navigation message parsing: the signal y receivingiCompare with synchronization frame t, determine the start time of navigation message,
It is designated as tsi, from tsiIn the moment, counting complete cycle is carried out to ranging code, count value is designated as ni；Successively navigation message is solved
Analysis, obtains base station location and base station time；
4. pseudo range measurement: using count value n starting from frame synchronizationiAnd code phaseCalculate navigation signal from base station siTo connecing
The propagation time t of receipts machinei,According to spread speed c calculation base station s in water for the sound waveiPuppet to receiver
Away from li, li=c × ti；Propagation time tiContain the time difference δ t of receiver and base station, pseudorange li, base station siTo receiver it
Between actual range lsiRelation is: li=lsi+cδt；
5. positioning calculation: Underwater Navigation navigation neceiver receives the signal of a base station, that is, obtain a pseudorange, receives complete
After m, portion base station signal, that is, obtain m pseudorange equation, form equation below group
Above equation group has 4 unknown numbers: x, y, z, δ t, number m >=4 of independent equation in equation group, and solving equation group obtains
Obtain position coordinateses x, y, z and the time difference δ t with base station of receiver, using δ t, receiver time is modified, that is, real
Existing receiver time t and base station time t0Synchronous.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073287.0A CN103823205B (en) | 2014-02-28 | 2014-02-28 | Underwater locating navigation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073287.0A CN103823205B (en) | 2014-02-28 | 2014-02-28 | Underwater locating navigation system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103823205A CN103823205A (en) | 2014-05-28 |
| CN103823205B true CN103823205B (en) | 2017-01-18 |
Family
ID=50758357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410073287.0A Active CN103823205B (en) | 2014-02-28 | 2014-02-28 | Underwater locating navigation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103823205B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104581927B (en) * | 2014-12-22 | 2018-11-27 | 大唐移动通信设备有限公司 | A kind of method and apparatus that base station time is synchronous |
| CN105974363B (en) * | 2016-05-05 | 2018-08-31 | 哈尔滨工程大学 | A kind of underwater enhancing localization method based on sounding error correlation |
| FR3052436B1 (en) * | 2016-06-09 | 2021-07-09 | Codol Jean Marie | DEVICE AND METHOD FOR POSITIONING A UNDERWATER DEVICE |
| CN106291665A (en) * | 2016-07-15 | 2017-01-04 | 中国石油天然气集团公司 | Shot point coordinate acquisition system and acquisition method thereof in seismic prospecting |
| CN108303678B (en) * | 2016-08-25 | 2020-11-20 | 苏州触达信息技术有限公司 | Interactive system and interactive method based on indoor accurate positioning |
| CN110068331A (en) * | 2018-01-24 | 2019-07-30 | 北京致感致联科技有限公司 | Underwater navigation positioning device and system |
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| CN111473787A (en) * | 2019-01-23 | 2020-07-31 | 北京致感致联科技有限公司 | Underwater navigation positioning equipment and system |
| CN109597032B (en) * | 2019-01-31 | 2020-02-14 | 中国科学院深海科学与工程研究所 | Underwater acoustic positioning communication method |
| CN110095756B (en) * | 2019-05-21 | 2023-01-03 | 中国科学院深海科学与工程研究所 | Underwater target speed calculation method based on underwater acoustic positioning system |
| CN111366897B (en) * | 2020-04-02 | 2023-03-21 | 中国科学院深海科学与工程研究所 | Signal design and processing method for high-precision underwater sound positioning system |
| CN112068078B (en) * | 2020-07-20 | 2024-03-15 | 中国船舶重工集团公司第七一五研究所 | Combined long-baseline deep sea underwater sound positioning method |
| CN112230182B (en) * | 2020-08-20 | 2022-10-25 | 中国科学院水生生物研究所 | Tracking and positioning system for finless porpoise |
| CN112213746B (en) * | 2020-10-13 | 2024-07-09 | 北京首科信通科技有限责任公司 | Positioning method and device |
| CN112649789A (en) * | 2020-12-07 | 2021-04-13 | 深圳先进技术研究院 | Underwater remote positioning technology based on high-power low-frequency broadband pulse sound source |
| CN114281455A (en) * | 2021-12-21 | 2022-04-05 | 深圳市智慧海洋科技有限公司 | Underwater positioning display method and device, monitoring equipment and system |
| CN114679199B (en) * | 2022-05-27 | 2022-09-02 | 三亚深海科学与工程研究所 | Underwater sound positioning and communication integrated signal design method |
| CN115999137A (en) * | 2022-12-13 | 2023-04-25 | 九江古玛机电有限公司 | Manufacturing method of dragon boat race electronic referee system based on wireless positioning technology |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1547039A (en) * | 2003-12-16 | 2004-11-17 | 中国测绘科学研究院 | Underwater GPS positioning navigation method and system without high stable frequency scale |
| CN200976046Y (en) * | 2006-12-01 | 2007-11-14 | 哈尔滨工程大学 | Positioning communication integrated dobber |
| CN101644759A (en) * | 2008-12-23 | 2010-02-10 | 中国科学院声学研究所 | Submarine object-locating system based on dualistic structure and locating method |
| EP1908682B1 (en) * | 2000-03-20 | 2011-04-20 | Francois Bernard | Navigation processor, processor arrangement and measuring system comprising such a navigation processor and a method of measuring position and attitude of an underwater system |
| CN102608640A (en) * | 2012-03-14 | 2012-07-25 | 桂林电子科技大学 | Method and system for locating underwater vehicle on basis of global navigation satellite system (GNSS) satellite |
-
2014
- 2014-02-28 CN CN201410073287.0A patent/CN103823205B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1908682B1 (en) * | 2000-03-20 | 2011-04-20 | Francois Bernard | Navigation processor, processor arrangement and measuring system comprising such a navigation processor and a method of measuring position and attitude of an underwater system |
| CN1547039A (en) * | 2003-12-16 | 2004-11-17 | 中国测绘科学研究院 | Underwater GPS positioning navigation method and system without high stable frequency scale |
| CN200976046Y (en) * | 2006-12-01 | 2007-11-14 | 哈尔滨工程大学 | Positioning communication integrated dobber |
| CN101644759A (en) * | 2008-12-23 | 2010-02-10 | 中国科学院声学研究所 | Submarine object-locating system based on dualistic structure and locating method |
| CN102608640A (en) * | 2012-03-14 | 2012-07-25 | 桂林电子科技大学 | Method and system for locating underwater vehicle on basis of global navigation satellite system (GNSS) satellite |
Non-Patent Citations (1)
| Title |
|---|
| 水下GPS系统的时间同步标定研究与试验;秘金钟等;《测绘科学》;20070531;第32卷(第3期);36-37,193 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103823205A (en) | 2014-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103823205B (en) | Underwater locating navigation system and method | |
| CN103823229B (en) | A kind of Underwater Navigation navigation system based on DGPS buoy and method | |
| RU2599902C1 (en) | Method of navigating underwater objects and system for its implementation | |
| CN1271422C (en) | Gps-based underwater cable positioning system | |
| CN104272132B (en) | Determining position of underwater node | |
| JP2001337157A (en) | Local positioning system using ultrasonic wave | |
| CN104297727A (en) | Integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission | |
| CN103152818B (en) | Based on distributed sensor self aligning system and the localization method of node cluster | |
| CN102608640A (en) | Method and system for locating underwater vehicle on basis of global navigation satellite system (GNSS) satellite | |
| JP6987854B2 (en) | Devices and methods for positioning underwater devices | |
| CN105974363B (en) | A kind of underwater enhancing localization method based on sounding error correlation | |
| US20170067993A1 (en) | Underwater acoustic tracking and two way messaging system | |
| CN202563095U (en) | Underwater vehicle positioning system based on GNSS satellite | |
| CN107064943B (en) | A kind of ocean bottom cable fixed sonar system and localization method | |
| CN109814069A (en) | A kind of underwater mobile node passive location method and its system based on single localizer beacon | |
| CN108445453B (en) | Positioning method, device, system and computer storage medium | |
| Sun et al. | Inverted ultra-short baseline signal design for multi-AUV navigation | |
| Krishna et al. | A hybrid localization scheme for underwater wireless sensor networks | |
| JP2004245779A (en) | System for determining position of submerging vessel and sonobuoy | |
| US6721234B2 (en) | Temporal and spectral spread submarine locator transmitter, and method and installation using same | |
| CN103576122A (en) | Rescue locating method based on burst distress signal | |
| KR20000065273A (en) | System for locating sound generation source | |
| Ambroziak et al. | Ground-based, Hyperbolic Radiolocation System with Spread Spectrum Signal-AEGIR | |
| CN112649789A (en) | Underwater remote positioning technology based on high-power low-frequency broadband pulse sound source | |
| Chen et al. | Underwater Acoustic Ranging Between Smartphones |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |