CN106205256A - A kind of simulation training naval vessels underwater emission behaviour's thunder alignment system - Google Patents

Abstract

The present invention relates to a kind of simulation training naval vessels underwater emission behaviour's thunder alignment system, it includes naval vessels processor, beacon apparatus and hand-held display, wherein, described naval vessels processor includes search processor, signal modulator, data processing module, signal receiving module and search antenna, after behaviour's thunder launched by naval vessels, beacon apparatus launches tracking signal to described naval vessels processor, and described naval vessels processor obtains transmitted reference, determines the transmitting boundary of search signal；Described naval vessels processor transmitting search signal, described buoy senses backward described naval vessels processor and launches feedback information；Described naval vessels processor receives signal, by described data processing module according to the feedback information of described buoy, determines the angle theta of behaviour's thunder drop point and datum line and grasps thunder drop point distance r apart from naval vessels；And send this information to described hand-held display shows.

Description

A kind of simulation training naval vessels underwater emission behaviour's thunder alignment system

Technical field

The present invention relates to marine naval vessels positioning field, particularly relate to a kind of simulation training naval vessels underwater emission behaviour's thunder location system System.

Background technology

Marine positioning system of the prior art typically uses GPS to position, and the confidentiality of this kind of location mode is poor, And depend on the situation of external network, to shot point, torpedo landing position detection on lack independent operability.

Wherein, existing behaviour's thunder controls device, because should pass at the bottom of target ship after behaviour's thunder is launched under normal circumstances, if Torpedo keel depth crosses shallow meeting damage target ship, crosses and deeply can penetrate seabed；So once there is above-mentioned situation, controlling device will Automatically drop circuit and gas circuit, torpedo can float automatically.It is also equipped with pyrotechnics box, when torpedo floats to sea, and hydraulic pressure senses on behaviour's thunder When device pressure is zero, pyrotechnics box will be emerged colored smoke, indicates behaviour thunder position.The position of existing behaviour's thunder is by colored smoke. Do not see Chu when meeting weather low visibility, find behaviour's thunder difficult.

Further, because of behaviour, thunder scientific and technological content is higher, involve great expense, and launches to reclaim every time and reuses, the behaviour of training Thunder value also has up to a million, and therefore salvaging behaviour's thunder becomes inevitable.

In view of drawbacks described above, creator of the present invention obtains this creation finally through research for a long time and practice.

Summary of the invention

It is an object of the invention to provide a kind of simulation training naval vessels underwater emission behaviour's thunder alignment system, above-mentioned in order to overcome Technological deficiency.

For achieving the above object, the present invention provides a kind of simulation training naval vessels underwater emission behaviour's thunder alignment system, and it includes Naval vessels processor, beacon apparatus and hand-held display, wherein,

Described naval vessels processor includes search processor, signal modulator, data processing module, signal receiving module and searches Rope antenna,

Described beacon apparatus is arranged on the front end launching behaviour's thunder, and it includes a buoy；After behaviour's thunder launched by naval vessels, beacon fills Putting to launch to described naval vessels processor and follow the tracks of signal, described naval vessels processor obtains transmitted reference, determines the transmitting of search signal Scope；After behaviour's fulminating is fried, described naval vessels processor transmitting search signal, described buoy senses backward described naval vessels processor and launches Feedback information；Described naval vessels processor receives signal, by described data processing module according to the feedback information of described buoy, determines Grasp the angle theta of thunder drop point and datum line and grasp thunder drop point distance r apart from naval vessels；And send this information to described hand-held display Device shows；

The hunting zone computing formula of described naval vessels processor is:

R=H/tan (φ) * (T_f-T_dl-T_ul-T_TTG-T_RTG)

Wherein, Tf is the physical frame length of described search processor, and Tdl is the downlink frame length of described search processor, Tul is the uplink frame length of described search processor；TTTG is the protection time slot between descending sub frame and sub-frame of uplink, and TRTG is Protection time slot between the descending sub frame of sub-frame of uplink and next frame, H is the base station height of naval vessels, and φ is the sky, base station of naval vessels The line elevation angle；

Above-mentioned searching element scope, when the emissive porwer of described naval vessels is the strongest, the scope of covering is the biggest, by adjusting signal Tranmitting frequency, changes signal cover；

Described data processing module determines that behaviour's thunder drop point with the formula of the angle theta of datum line OA is:

$\mathrm{\θ}=\frac{sin\frac{1}{2}(\arctan \frac{{\mathrm{\Δ\θ}}_{\min }}{D}+\arctan \frac{{\mathrm{\θ}}_2-{\mathrm{\θ}}_1}{D})}{sin\frac{1}{2}\left(\arctan \frac{{\mathrm{\θ}}_2-{\mathrm{\θ}}_1}{D-d}\right)}$

In formula, θ is the angle of buoy and datum line OA, Δ θ_minThe minimum angular range allowed for system, its by naval vessels and Behaviour's thunder determines, θ₂The behaviour's thunder drop point determined for system and the maximum angle of datum line, θ₁The behaviour's thunder drop point determined for system and benchmark The minimum angle of line, D is the ultimate range of behaviour's thunder drop point distance naval vessels, and d is the minimum range of behaviour's thunder drop point distance naval vessels；

$r=\frac{sin\frac{1}{2}({\mathrm{\δ}}_{\min }+\mathrm{\θ})}{sin\frac{1}{2}\mathrm{\θ}}\mathrm{\λ}f(t_2-t_1)$

In formula, r is the distance of behaviour's thunder drop point distance naval vessels, δ_minError compensation for behaviour's thunder drop point with the angle of datum line Value, f is the tranmitting frequency of search signal, and λ is the transmitting wavelength of search signal, t₂Buoy feedback letter is received for naval vessels processor The moment of breath, t₁Moment for naval vessels processor transmitting search signal.

Further, described buoy includes temperature sensor, sonar generator, beacon processor, signal transmitting and receiving module,

Wherein, this information, when grasping thunder and running, is transmitted to institute by described temperature sensor by described signal emission module Stating naval vessels processor, described naval vessels processor determines the operation reference route of behaviour's thunder according to this signal；

Ocean temperature and the degree of depth, after buoy is overboard, are detected by described temperature sensor and sonar generator, and instead It is fed to described beacon processor；

Described signal transmitting and receiving module, when described naval vessels send search signal, obtains search information and at described beacon Being decrypted in reason device, described beacon processor sends confirmation by described signal transmitting and receiving module, and emitted antenna is launched.

Further, behaviour's thunder drop point with the error compensation value of the angle of datum line is:

${\mathrm{\δ}}_{\min }=\arctan \frac{{\mathrm{\Δd}}_{\min }}{D}$

In formula, Δ d_minThe minimum range scope allowed for system, D is the ultimate range of behaviour's thunder drop point distance naval vessels.

Further,

Also setting up an encrypting module in described search processor, described encrypting module includes a key generation module, one adds Close management module and a conversion module, wherein,

Key generation module produces a random key key and is stored in encryption handling module, described conversion module, offsets In breath frame, data1 or data2 i.e. message part and key key carry out shift transformation respectively；

Described conversion module, carries out product of transformation to the message part after shift transformation and key part, and to described right In above-mentioned steps, product of transformation result carries out shift transformation, data1 or data2 i.e. information portion in the message frame after being encrypted Point；

Described conversion module, shifts respectively to the initial key K_known and key key of encryption handling unit storage Converting, the initial key K_known and the key part that store the encryption handling unit after shift transformation carry out product of transformation, and To described, product of transformation result in above-mentioned steps is carried out shift transformation, the key key after being encrypted.

Further, the beacon processor of described buoy is provided with a corresponding deciphering module, described deciphering mould Block includes an authentication module, deciphering management module and an inverse transform module,

Wherein authentication module carries out CRC check and unpaired message checking to information；If a pair message frame received, have One CRC check result mistake, then abandon two message frames, and deciphering management module sends request to optical line terminal, waits light Towpath terminal retransmits；If check results is correct, then message frame is carried out pair verification, choose a pair message that unpaired message is consistent Frame is delivered in inverse transform module be decoded.

Further, described inverse transform module, first by initial key k_known pair of described deciphering management module stores Key key deciphers, described inverse transform module, to key key in message frame and the initial key k_ of deciphering management module stores Known carries out backward shift bit map, to key key in the message frame after shift transformation and the initial key of deciphering management module stores K_known carries out inverse product of transformation, to described, product of transformation result in above-mentioned steps is carried out backward shift bit map, obtains key key；

Described inverse transform module, after with key key, two message frames depositing data1, data2 are deciphered respectively, described Inverse transform module, carries out backward shift bit map, to shift transformation to key key in message frame and data1, the data2 in message frame After message frame in data1, data2 in key key and message frame carry out inverse product of transformation, take advantage of in above-mentioned steps described Product transformation result carries out backward shift bit map, inverse transform module deciphered after information, information after deciphering is sent to control module.

The beneficial effects of the present invention is compared with prior art: the present invention arranges search processor on naval vessels, and Within it the hunting zone of signal calculated, scans for buoy in the range of determining, saves search time and sends Circular radiation signal, does not relies on existing location network, it is ensured that the accuracy of signal transmitting and receiving and confidentiality.Only by measuring The location information such as behaviour's thunder drop point, relative to the references angle of naval vessels and distance, i.e. can determine that the position of drop point, longitude and latitude.Location dress The effect of putting is prevented from grasping thunder and penetrates seabed, prevents sea surface weather low visibility from not seeing Chu's searching behaviour's thunder difficult,

It is respectively provided with encryption and decryption modules, it is ensured that position determines in the processor of described naval vessels and the processor of buoy Accuracy.

The present invention also sets up a hand-held display, facilitates operator to understand behaviour's thunder drop point information in time, has training result Observation information intuitively.

Accompanying drawing explanation

Fig. 1 is the functional block diagram of simulation training naval vessels underwater emission of the present invention behaviour's thunder alignment system；

Fig. 2 is the schematic diagram of search procedure of the present invention；

Fig. 3 is the functional block diagram of the encrypting module of the present invention；

Fig. 4 is the functional block diagram of the deciphering module of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing, to the present invention, above-mentioned and other technical characteristic and advantage are described in more detail.

Referring to shown in Fig. 1, it is the functional block diagram of simulation training naval vessels underwater emission of the present invention behaviour's thunder alignment system, this Invention naval vessels underwater emission behaviour's thunder, a salvaging ship following naval vessels training coordinates training, after naval vessels underwater emission behaviour's thunder, salvages Ship is responsible for finding target and is salvaged behaviour's thunder.The present invention includes naval vessels processor, beacon apparatus and hand-held display, wherein, described warship Ship processor is arranged on described salvaging ship.

Described beacon apparatus is arranged on the front end launching behaviour's thunder, and it includes a buoy；After behaviour's thunder launched by naval vessels, beacon fills Putting to launch to described naval vessels processor and follow the tracks of signal, described naval vessels processor arranges a transmitted reference；After behaviour's fulminating is fried, described warship Ship processor transmitting search signal, described buoy senses backward described naval vessels processor and launches feedback information；Described naval vessels process Device receives signal and processes, and determines the positional information of behaviour's thunder, such as latitude and longitude information；And send this information to described hand-held aobvious Show in device and show.

Described buoy includes a temperature sensor, sonar generator, beacon processor, signal transmitting and receiving module, wherein, institute State temperature sensor when grasping thunder and running, by described signal emission module by the transmission of this information to described naval vessels processor, institute State naval vessels processor and determine the operation reference route of behaviour's thunder according to this signal；Described temperature sensor and sonar generator are at buoy After overboard, ocean temperature and the degree of depth are detected, and feed back to described beacon processor；Described signal transmitting and receiving module, in institute State naval vessels when sending search signal, obtain search information and be also decrypted in described beacon processor, described beacon processor Sending confirmation by described signal transmitting and receiving module, emitted antenna is launched；Data in described naval vessels processor process mould Tuber determines its positional information according to the buoy information received.

Described naval vessels processor includes search processor, signal modulator, data processing module, signal receiving module and searches Rope antenna, described search processor, after behaviour's fulminating is fried, obtains the benchmark data in described data processing module, and with this benchmark Data determine intensity and the scope of search signal, send modulated signal to described signal modulator, and described signal modulator is exchanged Signal processed carries out shaping and is amplified by signal through signal amplifier；Concurrently it is incident upon described search antenna

Described data processing module, according to the feedback information of described buoy, determines the angle theta of behaviour's thunder and datum line and grasps thunder Distance r of drop point distance naval vessels.

Referring to shown in Fig. 2, it is the schematic diagram of search procedure of the present invention, and described search processor is according to the benchmark determined OA, and naval vessels and the attribute of behaviour's thunder, determine hunting zone BCDE.

The hunting zone computing formula of described naval vessels processor is:

R=H/tan (φ) * (T_f-T_dl-T_ul-T_TTG-T_RTG) (1)

Wherein, Tf is the physical frame length of described search processor, and Tdl is the downlink frame length of described search processor, Tul is the uplink frame length of described search processor；TTTG is the protection time slot between descending sub frame and sub-frame of uplink, and TRTG is Protection time slot between the descending sub frame of sub-frame of uplink and next frame, H is the base station height of naval vessels, and φ is the sky, base station of naval vessels The line elevation angle.Above-mentioned searching element scope, when the emissive porwer of described naval vessels is the strongest, the scope of covering is the biggest, by adjusting signal Tranmitting frequency, changes signal cover.

The hunting zone that described search processor determines be centered by naval vessels to extraradial circular scope.Thus, Described data processing module only need to determine the angle with datum line OA and the distance of distance center point O.

After described naval vessels processor obtains buoy information, described data processing module determines behaviour's thunder drop point and datum line OA The formula of angle theta be:

$\mathrm{\θ}=\frac{sin\frac{1}{2}(\arctan \frac{{\mathrm{\Δ\θ}}_{\min }}{D}+\arctan \frac{{\mathrm{\θ}}_2-{\mathrm{\θ}}_1}{D})}{sin\frac{1}{2}\left(\arctan \frac{{\mathrm{\θ}}_2-{\mathrm{\θ}}_1}{D-d}\right)}---\left(2\right)$

In formula, θ is the angle of buoy and datum line OA, Δ θ_minThe minimum angular range allowed for system, its by naval vessels and Behaviour's thunder determines, θ₂The behaviour's thunder drop point determined for system and the maximum angle of datum line, θ₁The behaviour's thunder drop point determined for system and benchmark The minimum angle of line, D is the ultimate range of behaviour's thunder drop point distance naval vessels, and d is the minimum range of behaviour's thunder drop point distance naval vessels.

$r=\frac{sin\frac{1}{2}({\mathrm{\δ}}_{\min }+\mathrm{\θ})}{sin\frac{1}{2}\mathrm{\θ}}\mathrm{\λ}f(t_2-t_1)---\left(3\right)$

In formula, r is the distance of behaviour's thunder drop point distance naval vessels, δ_minError compensation for behaviour's thunder drop point with the angle of datum line Value, f is the tranmitting frequency of search signal, and λ is the transmitting wavelength of search signal, t₂Buoy feedback letter is received for naval vessels processor The moment of breath, t₁Moment for naval vessels processor transmitting search signal.

Wherein, behaviour's thunder drop point with the error compensation value of the angle of datum line is:

${\mathrm{\δ}}_{\min }=\arctan \frac{{\mathrm{\Δd}}_{\min }}{D}---\left(4\right)$

In formula, Δ d_minThe minimum range scope allowed for system, D is the ultimate range of behaviour's thunder drop point distance naval vessels.

Described data processing module obtains behaviour's thunder drop point and the angle theta of datum line OA, the distance of behaviour's thunder drop point distance naval vessels R, after being converted into latitude and longitude information, sends to described hand-held display.

Referring to shown in Fig. 3, it is the functional block diagram of encrypting module of the present invention, also sets up in described search processor One encrypting module, described encrypting module includes a key generation module, an encryption handling module and a conversion module, wherein key Generation module produces a random key key and is stored in management module, described conversion module, to data1 in message frame or Data2 i.e. message part and key key carry out shift transformation respectively, and described conversion module, to the message part after shift transformation Carry out product of transformation with key part, and to described, product of transformation result in above-mentioned steps is carried out shift transformation, encrypted After message frame in data1 or data2 i.e. message part.

Described conversion module, shifts respectively to the initial key K_known and key key of encryption handling unit storage Converting, the initial key K_known and the key part that store the administrative unit after shift transformation carry out product of transformation, and to institute State and product of transformation result in above-mentioned steps is carried out shift transformation, the key key after being encrypted.

Referring to shown in table 1, table 2, it is message frame architecture figure, and table 1 is data1 part messages frame format figure, table 2 For data2 part messages frame format figure, wherein encrypting module produces one group of identical random number, believes as the pairing adding confidential information Breath, adds data1 part in confidential information and chooses the radix position of information, and data2 part chooses the even bit of information, and key is to information Encryption and decryption keys, CRC validation is a kind of error check code, whether has error code in checking transmitting procedure.

Unpaired message

data1

key

CRC check

Table 1

Unpaired message

data2

key

CRC check

Table 2

Referring to shown in Fig. 4, it is the functional block diagram of deciphering module of the present invention, at the beacon processor of described buoy In be provided with a corresponding deciphering module, described deciphering module includes an authentication module, an a deciphering management module and inversion Die change block, wherein authentication module carries out CRC check and unpaired message checking to information.If a pair message frame received, have One CRC check result mistake, then abandon two message frames, and deciphering management module sends request to optical line terminal, waits light Towpath terminal retransmits.If check results is correct, then message frame is carried out pair verification, choose a pair message that unpaired message is consistent Frame is delivered in inverse transform module be decoded.

Described inverse transform module, key key is deciphered by the initial key k_known first by management module stores, institute State inverse transform module, the initial key k_known of key key in message frame and deciphering management module stores is carried out the change of backward shift position Change, the initial key k_known of key key in the message frame after shift transformation and management module stores is carried out inverse product change Change, to described, product of transformation result in above-mentioned steps is carried out backward shift bit map, obtain key key.

Described inverse transform module, after with key key, two message frames depositing data1, data2 are deciphered respectively, described Inverse transform module, carries out backward shift bit map, to shift transformation to key key in message frame and data1, the data2 in message frame After message frame in data1, data2 in key key and message frame carry out inverse product of transformation, take advantage of in above-mentioned steps described Product transformation result carries out backward shift bit map, inverse transform module deciphered after information, information after deciphering is sent to control module.

Signal transmitting and receiving module in described buoy is additionally provided with manipulator and amplifier, feedback signal is modulated And amplification, transmission is to launching in antenna.

The present invention arranges search processor on naval vessels, and the hunting zone of within it signal calculated, in the scope determined In buoy is scanned for, save search time and send circle radiation signal, do not rely on existing location network, Ensure accuracy and the confidentiality of signal transmitting and receiving.Only by measuring behaviour's thunder drop point relative to the references angle of naval vessels and distance, i.e. Can determine that the position of behaviour's thunder, longitude and latitude etc. positions information.

It is respectively provided with encryption and decryption modules, it is ensured that position determines in the processor of described naval vessels and the processor of buoy Accuracy.

The present invention also sets up a hand-held display, facilitates operator to understand behaviour's thunder drop point information in time, has training result Observation information intuitively.

The foregoing is only presently preferred embodiments of the present invention, be merely illustrative for invention, and nonrestrictive. Those skilled in the art understands, it can be carried out many changes, revise in the spirit and scope that invention claim is limited, Even equivalence, but fall within protection scope of the present invention.

Claims (6)

1. simulation training naval vessels underwater emission behaviour's thunder alignment system, it is characterised in that it includes that naval vessels processor, beacon fill Put and hand-held display, wherein,

Described naval vessels processor is arranged on salvaging ship, and it includes search processor, signal modulator, data processing module, letter Number receiver module and search antenna,

Described beacon apparatus is arranged on the front end launching behaviour's thunder, and it includes a buoy；Naval vessels launch behaviour thunder after, beacon apparatus to Tracking signal launched by described naval vessels processor, and described naval vessels processor obtains transmitted reference, determines the transmitting boundary of search signal； After behaviour's fulminating is fried, described naval vessels processor transmitting search signal, described buoy senses backward described naval vessels processor and launches feedback Information；Described naval vessels processor receives signal, by described data processing module according to the feedback information of described buoy, determines behaviour's thunder The angle theta of drop point and datum line and behaviour's thunder drop point are apart from distance r of naval vessels；And send this information in described hand-held display Show；

The hunting zone computing formula of described naval vessels processor is:

R=H/tan (φ) * (T_f-T_dl-T_ul-T_TTG-T_RTG)

Wherein, Tf is the physical frame length of described search processor, and Tdl is the downlink frame length of described search processor, and Tul is The uplink frame length of described search processor；TTTG is the protection time slot between descending sub frame and sub-frame of uplink, and TRTG is up Protection time slot between the descending sub frame of subframe and next frame, H is the base station height of naval vessels, and φ is that the antenna for base station of naval vessels is faced upward Angle；

Above-mentioned search element scope, when the emissive porwer of described naval vessels is the strongest, the scope of covering is the biggest, by adjust signal transmitting Frequency, changes signal cover；

Described data processing module determines that behaviour's thunder drop point with the formula of the angle theta of datum line OA is:

$\mathrm{\θ}=\frac{sin\frac{1}{2}(\arctan \frac{{\mathrm{\Δ\θ}}_{\min }}{D}+\arctan \frac{{\mathrm{\θ}}_2-{\mathrm{\θ}}_1}{D})}{sin\frac{1}{2}\left(\arctan \frac{{\mathrm{\θ}}_2-{\mathrm{\θ}}_1}{D-d}\right)}$

In formula, θ is the angle of buoy and datum line OA, Δ θ_minThe minimum angular range allowed for system, it is by naval vessels and behaviour's thunder Determine, θ₂The behaviour's thunder drop point determined for system and the maximum angle of datum line, θ₁The behaviour's thunder drop point determined for system and datum line Minimum angle, D is the ultimate range of behaviour's thunder drop point distance naval vessels, and d is the minimum range of behaviour's thunder drop point distance naval vessels；

$r=\frac{sin\frac{1}{2}({\mathrm{\δ}}_{\min }+\mathrm{\θ})}{sin\frac{1}{2}\mathrm{\θ}}\mathrm{\λ}f(t_2-t_1)$

In formula, r is the distance of behaviour's thunder drop point distance naval vessels, δ_minFor the error compensation value of behaviour's thunder drop point with the angle of datum line, f For searching for the tranmitting frequency of signal, λ is the transmitting wavelength of search signal, t₂Buoy feedback information is received for naval vessels processor Moment, t₁Moment for naval vessels processor transmitting search signal.

The most according to claim 1, it is characterised in that described buoy includes temperature sensor, sonar generator, beacon Processor, signal transmitting and receiving module,

Wherein, described temperature sensor is when grasping thunder and running, by described signal emission module by the transmission of this information to described warship Ship processor, described naval vessels processor determines the operation reference route of behaviour's thunder according to this signal；

Ocean temperature and the degree of depth, after buoy is overboard, is detected, and feed back to by described temperature sensor and sonar generator Described beacon processor；

Described signal transmitting and receiving module, when described naval vessels send search signal, obtains search information and at described beacon processor In be decrypted, described beacon processor by described signal transmitting and receiving module send confirmation, emitted antenna launch.

Simulation training naval vessels underwater emission the most according to claim 2 behaviour's thunder alignment system, it is characterised in that behaviour's thunder drop point With the error compensation value of the angle of datum line it is:

${\mathrm{\δ}}_{\min }=\arctan \frac{{\mathrm{\Δd}}_{\min }}{D}$

In formula, Δ d_minThe minimum range scope allowed for system, D is the ultimate range of behaviour's thunder drop point distance naval vessels.

Simulation training naval vessels underwater emission the most according to claim 1 and 2 behaviour's thunder alignment system, it is characterised in that

Also setting up an encrypting module in described search processor, described encrypting module includes a key generation module, an encryption pipe Reason module and a conversion module, wherein,

Key generation module produces a random key key and is stored in encryption handling module, and described conversion module, to message frame Middle data1 or data2 i.e. message part and key key carry out shift transformation respectively；

Described conversion module, carries out product of transformation to the message part after shift transformation and key part, and to described to above-mentioned In step, product of transformation result carries out shift transformation, data1 or data2 i.e. message part in the message frame after being encrypted；

Described conversion module, carries out displacement change respectively to the initial key K_known and key key of encryption handling unit storage Changing, the initial key K_known and the key part that store the encryption handling unit after shift transformation carry out product of transformation, and right Described product of transformation result in above-mentioned steps is carried out shift transformation, the key key after being encrypted.

Simulation training naval vessels underwater emission the most according to claim 4 behaviour's thunder alignment system, it is characterised in that described Being provided with a corresponding deciphering module in the beacon processor of buoy, described deciphering module includes an authentication module, a deciphering Management module and an inverse transform module,

Wherein authentication module carries out CRC check and unpaired message checking to information；If a pair message frame received, there is one CRC check result mistake, then abandon two message frames, and deciphering management module sends request to optical line terminal, waits optical line Terminal retransmits；If check results is correct, then message frame being carried out pair verification, a pair message frame choosing unpaired message consistent passes It is delivered in inverse transform module be decoded.

Simulation training naval vessels underwater emission the most according to claim 5 behaviour's thunder alignment system, it is characterised in that described inversion Die change block, key key is deciphered by the initial key k_known first by described deciphering management module stores, described inverse transformation Module, carries out backward shift bit map, to shifting to the initial key k_known of key key in message frame and deciphering management module stores In message frame after bit map, the initial key k_known of key key and deciphering management module stores carries out inverse product of transformation, right Described product of transformation result in above-mentioned steps is carried out backward shift bit map, obtain key key；

Described inverse transform module, after with key key, two message frames depositing data1, data2 are deciphered respectively, described inversion Die change block, carries out backward shift bit map, after shift transformation to key key in message frame and data1, the data2 in message frame In message frame, data1, the data2 in key key and message frame carries out inverse product of transformation, becomes product in above-mentioned steps to described Change result and carry out backward shift bit map, inverse transform module deciphered after information, information after deciphering is sent to control module.