CN106526598A - Side-scan sonar underwater high-precision positioning system and method - Google Patents
Side-scan sonar underwater high-precision positioning system and method Download PDFInfo
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- CN106526598A CN106526598A CN201611258831.4A CN201611258831A CN106526598A CN 106526598 A CN106526598 A CN 106526598A CN 201611258831 A CN201611258831 A CN 201611258831A CN 106526598 A CN106526598 A CN 106526598A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 52
- 238000010276 construction Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 15
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a side-scan sonar underwater high-precision positioning system and method. The system comprises a measuring ship, a tow fish and an ultra-short baseline positioning module, and is characterized in that the measuring ship is provided with a GPS unit and a control unit, and the control unit is respectively connected to the GPS unit and the ultra-short baseline positioning module; the ultra-short baseline positioning module is used for determining relative three-dimensional position coordinates of the tow fish and a specific component thereon relative to the measuring ship; the control unit is used for determining position coordinates of the measuring ship by using the GPS unit; and performing positioning on the tow ship according to the relative three-dimensional position coordinates and the position coordinates of the measuring ship so as to acquire positioning information.
Description
Technical field
The present invention relates to Underwater Navigation field, more particularly to a kind of side-scan sonar High precision underwater positioning system and method.
Background technology
Side scan sonar has high-resolution and Real-time image display function, can accurately differentiate sub-sea floor targets feature, visits
The shape of bright barrier, size, substantially proud exposure, property and sediment type overview, which is played the part of in construction context of detection
Very important role.
It is presently used for submarine target to sweep more than the side-scan sonar of survey using stern pull-type, the length of tow is according to water
It is longer that deep difference has 5m, 20m, 50m to be likely to, and this operating type cannot obtain the dynamic position of towfish under water in real time, many
By with the relativeness of gps antenna using experimental simple estimation determining the position of side-scan sonar towfish under water, it is this
The positioning precision of the submarine target of the swept survey of mode can not possibly be very high, in addition by stormy waves, flow action, sweeps dragging for operation for side
Fish can be cooked random motion in water, and the precision for ultimately resulting in measurement and positioning will be at 1 meter or more than several meters, it is impossible to meet actual
Production need, often also need to further confirm that using other e measurement technology means, this will result in economy and time into
This waste, the positioning precision for how improving towfish is a difficult point.
The content of the invention
In order to solve above technical problem, the invention provides a kind of side-scan sonar High precision underwater positioning system, including
Surveying vessel, towfish and ultra-short baseline locating module, the surveying vessel are provided with GPS unit and control unit, described control unit
Connect the GPS unit and ultra-short baseline locating module respectively；
The ultra-short baseline locating module to determine the towfish or thereon particular elements relative to the surveying vessel
Relative dimensional position coordinates；
Described control unit to：
The position coordinates of the surveying vessel is determined using the GPS unit；
According to the relative dimensional position coordinates and the position coordinates of surveying vessel, the towfish is positioned, is determined
Position information.
Optionally, the ultra-short baseline locating module is included located at the transmitting receiving unit of the surveying vessel and located at institute
State the respond beacon under water on towfish；
The transmitting receiving unit and the communication of respond beacon under water, and then：
It is described transmitting receiving unit to：
Send acoustic signals, and the echo signal of respond beacon feedback under water described in receiving；
The relatively described oblique distance value for launching receiving unit of the respond beacon under water is determined by the echo signal, and then
Obtain the relative dimensional coordinate position of the respond beacon under water relative to the transmitting receiving unit；
Described control unit also to：
According to the relative dimensional coordinate position and the position coordinates of surveying vessel, it is determined that the position of the respond beacon under water
Put, and then the towfish is positioned, obtain location information.
Optionally, the transmitting receiving unit includes acoustic emission module, acoustic receiver module, respectively to launch sound wave
To the Underwater Navigation beacon, and the echo signal for being received from the Underwater Navigation beacon feedback and coming.
Optionally, the transmitting receiving unit also includes determining the magnetic compass of itself directional information and determines from figure
The attitude transducer of state information, the respond beacon under water relative to it is described transmitting receiving unit relative dimensional coordinate position according to
It is worth to according to itself directional information, itself attitude information and the oblique distance.
Optionally, the respond beacon under water is located at the center of the towfish.
Optionally, the towfish is provided with bar linkage structure, is connected by towing cable between the surveying vessel and bar linkage structure, and
The respond beacon under water is enabled around the center rotating of the towfish, wherein, scope of the rotational angle without departing from preset value.
Present invention also offers a kind of side-scan sonar High precision underwater positioning method, comprises the steps：
S0：Surveying vessel, towfish and ultra-short baseline locating module are provided, the surveying vessel is provided with GPS unit；
S1：The relatively described surveying vessel of particular elements on the towfish or towfish is determined using the ultra-short baseline locating module
Relative dimensional coordinate position；
S2：The position coordinates of the surveying vessel is determined according to the relative dimensional position coordinates and the GPS unit, it is right
The towfish is positioned, and obtains location information.
Optionally, the ultra-short baseline locating module is included located at the transmitting receiving unit of the surveying vessel and located at institute
State the respond beacon under water on towfish；Step S1 is specifically included：
S11：The transmitting receiving unit sends acoustic signals, and the echo letter of respond beacon feedback under water described in receiving
Number；
S12：The relatively described oblique distance value for launching receiving unit of the respond beacon under water is determined by the echo signal,
And then obtain the relative dimensional coordinate position of the respond beacon under water relative to the transmitting receiving unit.
Optionally, after step S3, also include：The result that step S2 is positioned and the positioning of RTK measuring systems are tied
Fruit mutually compares, and verifies positioning precision.
Optionally, after step S3, also include：Resulting location information is carried out into Coordinate Conversion, to be accorded with
Close the coordinate data of construction requirement.
The present invention innovatively proposes for ultra-short baseline to access side-scan sonar, and two kinds of system effective integrations can be measured in real time
The dynamic position of towfish under water.When operation is swept in side, beacon is directly anchored on towfish, receiving unit is launched by ultra-short baseline
Acceptance is fixed on the location information of towfish center beacon, so as to the precise location information provided for towfish.The coordinate position of target
No longer directly provided by GPS, but provided using ultra-short baseline measurement, the precision of measurement position depends primarily on ultra-short baseline
Certainty of measurement.
Description of the drawings
Fig. 1 is the schematic diagram of side-scan sonar positioning in prior art；
Fig. 2 is the schematic diagram of side-scan sonar High precision underwater positioning system in an alternate embodiment of the present invention；
Fig. 3 is the scheme of installation of respond beacon under water in an alternate embodiment of the present invention；
Fig. 4 is the comparison schematic diagram of positioning result and positioning result in prior art in alternative embodiment of the present invention；
In figure, 1- surveying vessels；2- towfish；3-GPS units；4- launches receiving unit；5- respond beacons under water；6-.
Specific embodiment
The side-scan sonar High precision underwater positioning system that the present invention is provided is carried out below with reference to Fig. 1 to Fig. 3 detailed
Description, which is optional embodiment of the present invention, it is believed that those skilled in the art are not changing spirit of the invention and content
In the range of, which can be modified and polish.
Fig. 1 to Fig. 3 is refer to, the invention provides a kind of side-scan sonar High precision underwater positioning system, including surveying vessel
1st, towfish 2 and ultra-short baseline locating module, the surveying vessel 1 are provided with GPS unit 3 and control unit, described control unit point
Do not connect the GPS unit 3 and ultra-short baseline locating module；
The ultra-short baseline locating module to determine the towfish 2 or thereon particular elements relative to the surveying vessel 1
Relative dimensional position coordinates；
Described control unit to：
The position coordinates of the surveying vessel 1 is determined using the GPS unit 3；
According to the relative dimensional position coordinates and the position coordinates of surveying vessel 1, the towfish 2 is positioned, is obtained
Location information.
The relevant ultra-short baseline locating module：
The ultra-short baseline locating module includes located at the transmitting receiving unit 4 of the surveying vessel 1 and located at described dragging
Respond beacon 5 under water on fish 2；
The transmitting receiving unit 4 is communicated with respond beacon 5 under water, and then：
It is described transmitting receiving unit 4 to：
Send acoustic signals, and the echo signal of the feedback of respond beacon 5 under water described in receiving；
The relatively described oblique distance value for launching receiving unit 4 of the respond beacon 5 under water is determined by the echo signal, is entered
And obtain the relative dimensional coordinate position of the respond beacon 5 under water relative to the transmitting receiving unit 4；Can also describe
For：Transmitting receiving unit 4 is received from the signal that respond beacon 5 sends under water, measures the oblique distance of transmitting receiving unit 4 and beacon
Value, obtains the three-dimensional location coordinates of the relative basic matrix of beacon by corresponding short Baselines relation.
In the installation of ultra-short baseline locating module, it is important that the installation of the probe to launching receiving unit 4, due to its work
Received with the transmitting for being signal, the installation of probe will firmly, it is stable, apart from engine farther out, the less place of noise.Install
After good, the echo signal sent by the beacon that reception is fixed on towfish 2 is positioned.
Described control unit also to：
According to the relative dimensional coordinate position and the position coordinates of surveying vessel 1, it is determined that the position of the respond beacon under water 5
Put, and then the towfish 2 is positioned, obtain location information.
The transmitting receiving unit 4 includes acoustic emission module, acoustic receiver module, respectively to launch sound wave to described
Underwater Navigation beacon, and the echo signal for being received from the Underwater Navigation beacon feedback and coming.
In optional embodiment of the present invention, the transmitting receiving unit 4 also includes determining the magnetic of itself directional information
Compass and the attitude transducer for determining itself attitude information, the respond beacon under water 5 is relative to the transmitting receiving unit 4
Relative dimensional coordinate position is worth to according to itself directional information, itself attitude information and the oblique distance.Built-in magnetic
Compass and attitude transducer.
In the preferred embodiment of the invention, the respond beacon under water 5 is located at the center of the towfish 2.Further
In optional scheme, the towfish is provided with bar linkage structure, is connected by towing cable 6 between the surveying vessel 1 and bar linkage structure, and
The respond beacon under water 5 is enabled around the center rotating of the towfish 2, wherein, model of the rotational angle without departing from preset value
Enclose.Specifically, it is not affect side to sweep attitude when towfish is measured and ensure that location data information fully reflects the true of towfish
Position, subsea beacon are fixedly mounted on towfish and towing cable phase connecting rod, when operation is swept in side, by beacon with connecting rod using movable joint
It is directly anchored to slightly rotate along towfish center, the physical location of towfish can be accurately reflected out in real time.
Refer to Fig. 3, the bar linkage structure includes towing cable connecting portion 7, rotating part 8, and basic courses department 9, the basic courses department 9
The towfish 2 is fixed at, the towing cable connecting portion 7 connects the towing cable 6, and the towing cable connecting portion 7 passes through the rotating part 8
Rotate around the basic courses department 9, the respond beacon under water 5 is installed on the towing cable connecting portion 7.
Further in optional embodiment, one end of the rotating part 8 is rotated around the basic courses department 9, the basic courses department 9
Rotary stopper part (not shown) is provided with, and then the anglec of rotation of the rotating part 8 is caused without departing from the scope of preset value.Specifically
Spacing means, there is many alternatives in this area and near field, even if so not doing concrete expansion, also not existing
The situation of insufficient disclosure.
Present invention also offers a kind of side-scan sonar High precision underwater positioning method, comprises the steps：
S0：Surveying vessel 1, towfish 2 and ultra-short baseline locating module are provided, the surveying vessel 1 is provided with GPS unit 3；
S1：The relatively described measurement of particular elements on the towfish 2 or towfish 2 is determined using the ultra-short baseline locating module
The relative dimensional coordinate position of ship 1；
In the further alternative embodiment of the present invention, the ultra-short baseline locating module is included located at the surveying vessel 1
Transmitting receiving unit 4 and respond beacon 5 under water on the towfish 2；Step S1 is specifically included：
S11：The transmitting receiving unit 4 sends acoustic signals, and the echo letter of the feedback of respond beacon 5 under water described in receiving
Number；
S12：The relatively described oblique distance for launching receiving unit 4 of the respond beacon 5 under water is determined by the echo signal
Value, and then obtain the relative dimensional coordinate position of the respond beacon 5 under water relative to the transmitting receiving unit 4.
S2：The position coordinates of the surveying vessel 1 is determined according to the relative dimensional position coordinates and the GPS unit 3,
The towfish 2 is positioned, location information is obtained.
Optionally, after step S3, also include：The result that step S2 is positioned and the positioning of RTK measuring systems are tied
Fruit mutually compares, and verifies positioning precision.Specifically, corresponding coordinate comparison work can be carried out, using ultra-short baseline measurement is
System, the coordinate of the same Beacon Point of RTK-DGPS measuring system synchro measures, compare both mutual deviations, after checking accesses ultra-short baseline
Side sweep positioning precision.
Optionally, after step S3, also include：Resulting location information is carried out into Coordinate Conversion, to be accorded with
Close the coordinate data of construction requirement.That is, measurement and positioning information input to side can be swept in software control system, data are entered by system
Row Coordinate Conversion forms the coordinate data for meeting construction requirement.
Additionally, it is also pointed out that, it is the integrated application for improving subsea beacon location data and side scan sonar, develops data sieve
Choosing, Smoothing fit and conversion software, it is ensured that sweep the most reliable submarine target data of offer for side, tested by on-the-spot test
Card, the stability and reliability of data are higher, do not occur producing false bearing information by ultrashort because impurities in water affects
Baseline transmission receiver receives the location information for being fixed on towfish center beacon, so as to the precise location information provided for towfish.
In other words, in step S11, S12 and S2, can also include respectively to measured data and the number for obtaining
According to the process screened, which can exclude improper data, such as beyond the data of theoretical probable value, then with the number after screening
According to subsequent step is entered, in step S3, also include geometric locus being obtained according to location information, and geometric locus is carried out
The process of Smoothing fit.
In specific implementation process, can carry out coming and going measurement respectively once along the plan line.In measurement process, by measurement people
Member carries out the collection of Pile Foundation of Wharf data in the way of artificial RTK is measured.By processing the position coordinates for obtaining Pile Foundation of Wharf,
Compare with the artificial RTK location datas of identical measuring point, difference is compared in 20cm or so；And do not access ultrashort base
Line, pulls GPS location mode using tradition, and the Pile Foundation of Wharf position coordinates of acquisition is compared with artificial RTK measurement data, and difference exists
1.8m or so, it was demonstrated that the system effectively improves the positioning precision for verifying barrier under water.
During another being embodied as, traditional pulling mode is respectively adopted and ultra-short baseline positioning is accessed, along water
Lower toothed component sweeps survey, chooses the outcome data of the survey line file along same survey line, identical course, compares, and compares altogether
Point count 41.
Compared with tooth shaped component actual coordinate using the data of traditional pulling mode and GPS location, difference is larger, and maximum reaches
3m, and the data measured using ultra-short baseline positioning mode are compared with tooth shaped component actual coordinate, difference is less than 0.4m.
It can be seen that, using side scan sonar measuring system based on ultra-short baseline underwater position fixing technique, than it is more complete, solve exactly
Determine 2 positioning precision problem of towfish.
In sum, the present invention innovatively proposes for ultra-short baseline to access side-scan sonar, and two kinds of system effective integrations can
The dynamic position of towfish under water is measured in real time.When operation is swept in side, beacon is directly anchored on towfish, is launched by ultra-short baseline
Receiving unit receives the location information for being fixed on towfish center beacon, so as to the precise location information provided for towfish.Target
Coordinate position is no longer directly provided by GPS, but is provided using ultra-short baseline measurement, and the precision of measurement position is depended primarily on
The certainty of measurement of ultra-short baseline.
Claims (10)
1. a kind of side-scan sonar High precision underwater positioning system, it is characterised in that：Position including surveying vessel, towfish and ultra-short baseline
Module, the surveying vessel are provided with GPS unit and control unit, and described control unit connects the GPS unit and ultrashort respectively
Baseline locating module；
The ultra-short baseline locating module to determine the towfish or thereon particular elements relative to the relative of the surveying vessel
Three-dimensional location coordinates；
Described control unit to：
The position coordinates of the surveying vessel is determined using the GPS unit；
According to the relative dimensional position coordinates and the position coordinates of surveying vessel, the towfish is positioned, obtain positioning letter
Breath.
2. side-scan sonar High precision underwater positioning system as claimed in claim 1, it is characterised in that：The ultra-short baseline positioning
Module includes the transmitting receiving unit and the respond beacon under water on the towfish located at the surveying vessel；
The transmitting receiving unit and the communication of respond beacon under water, and then：
It is described transmitting receiving unit to：
Send acoustic signals, and the echo signal of respond beacon feedback under water described in receiving；
The relatively described oblique distance value for launching receiving unit of the respond beacon under water is determined by the echo signal, and then is obtained
The relative dimensional coordinate position of the respond beacon under water relative to the transmitting receiving unit；
Described control unit also to：
According to the relative dimensional coordinate position and the position coordinates of surveying vessel, it is determined that the position of the respond beacon under water, enters
And the towfish is positioned, obtain location information.
3. side-scan sonar High precision underwater positioning system as claimed in claim 2, it is characterised in that：The transmitting receiving unit
Including acoustic emission module, acoustic receiver module, respectively launching sound wave to the Underwater Navigation beacon, and institute is received from
The echo signal stated Underwater Navigation beacon feedback and come.
4. side-scan sonar High precision underwater positioning system as claimed in claim 2 or claim 3, it is characterised in that：The transmitting is received
Unit also includes determining the magnetic compass of itself directional information and determines the attitude transducer of itself attitude information, it is described under water
Respond beacon is relative to the relative dimensional coordinate position for launching receiving unit according to itself directional information, itself attitude
Information and the oblique distance are worth to.
5. side-scan sonar High precision underwater positioning system as claimed in claim 1, it is characterised in that：The respond beacon under water
Located at the center of the towfish.
6. side-scan sonar High precision underwater positioning system as claimed in claim 5, it is characterised in that：The towfish is provided with company
Bar structure, is connected by towing cable between the surveying vessel and bar linkage structure, and enables the respond beacon under water around described
The center rotating of towfish, wherein, scope of the rotational angle without departing from preset value.
7. a kind of side-scan sonar High precision underwater positioning method, it is characterised in that：Comprise the steps：
S0：Surveying vessel, towfish and ultra-short baseline locating module are provided, the surveying vessel is provided with GPS unit；
S1：The phase of the relatively described surveying vessel of particular elements on the towfish or towfish is determined using the ultra-short baseline locating module
To three-dimensional coordinate position；
S2：The position coordinates of the surveying vessel is determined according to the relative dimensional position coordinates and the GPS unit, to described
Towfish is positioned, and obtains location information.
8. side-scan sonar High precision underwater positioning method as claimed in claim 7, it is characterised in that：The ultra-short baseline positioning
Module includes the transmitting receiving unit and the respond beacon under water on the towfish located at the surveying vessel；Step S1 has
Body includes：
S11：The transmitting receiving unit sends acoustic signals, and the echo signal of respond beacon feedback under water described in receiving；
S12：The relatively described oblique distance value for launching receiving unit of the respond beacon under water is determined by the echo signal, and then
Obtain the relative dimensional coordinate position of the respond beacon under water relative to the transmitting receiving unit.
9. side-scan sonar High precision underwater positioning method as claimed in claim 7, it is characterised in that：After step S3,
Also include：The result that step S2 is positioned mutually is compared with the positioning result of RTK measuring systems, positioning precision is verified.
10. side-scan sonar High precision underwater positioning method as claimed in claim 7, it is characterised in that：After step S3,
Also include：Resulting location information is carried out into Coordinate Conversion, to obtain meeting the coordinate data of construction requirement.
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| CN201611258831.4A CN106526598A (en) | 2016-12-30 | 2016-12-30 | Side-scan sonar underwater high-precision positioning system and method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107202988A (en) * | 2017-05-23 | 2017-09-26 | 国家海洋局第三海洋研究所 | A kind of easy hydrolocation method |
| CN110119492A (en) * | 2019-05-28 | 2019-08-13 | 西北工业大学 | A kind of three-dimensional collision prevention method based on echo stream |
| CN110456803A (en) * | 2019-08-22 | 2019-11-15 | 嘉兴中科声学科技有限公司 | The control device and its application method of acoustic marker, acoustic marker |
| CN111522013A (en) * | 2020-05-18 | 2020-08-11 | 浙江大学城市学院 | Submarine target positioning device based on side scan sonar |
| CN111638524A (en) * | 2020-06-16 | 2020-09-08 | 无锡新蓝图测绘技术有限公司 | Side-scan sonar underwater positioning system stable in operation |
| CN111780743A (en) * | 2020-06-05 | 2020-10-16 | 上海中车艾森迪海洋装备有限公司 | Positioning system and positioning method of underwater trenching cable laying machine |
| CN113589227A (en) * | 2021-07-14 | 2021-11-02 | 飞马滨(青岛)智能科技有限公司 | Underwater robot positioning system and method |
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