CN107843899A - Submariner device make a return voyage direction positioning method, apparatus and system - Google Patents
Submariner device make a return voyage direction positioning method, apparatus and system Download PDFInfo
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- CN107843899A CN107843899A CN201710934652.6A CN201710934652A CN107843899A CN 107843899 A CN107843899 A CN 107843899A CN 201710934652 A CN201710934652 A CN 201710934652A CN 107843899 A CN107843899 A CN 107843899A
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- Prior art keywords
- return voyage
- submariner device
- making
- fore
- submariner
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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
- G01S15/88—Sonar systems specially adapted for specific applications
Abstract
The embodiment of the present disclosure provides a kind of method that submariner device makes a return voyage direction positioning, including：When detect make a return voyage instruction when, control submariner device rotation, homeward signal is indicated with being used for of receiving that linear array receives that destination of making a return voyage sends by sonar；When receiving when being used to indicate homeward signal of destination transmission of making a return voyage, control submariner device stops the rotation；The direction that fore points to when submariner device is stopped the rotation is positioned as direction of making a return voyage.The embodiment of the present disclosure receives linear array using sonar and carries out directional reception, the signal for receiving a direction of linear array relative to sonar and sending can only be received, arbitrary orientation outside this direction can not all receive signal, therefore when receiving when being used to indicate homeward signal of destination transmission of making a return voyage, the fore direction of submariner device is orientation where destination of making a return voyage.Now control submariner device stops the rotation, and is driven into along fore direction to destination of making a return voyage.Such as dropout in traveling process, said process is repeated.
Description
Technical field
The embodiment of the present disclosure is related to submariner device field, more particularly to a kind of submariner device makes a return voyage the method, apparatus of direction positioning
And system.
Background technology
Autonomous underwater vehicle, English name Unmanned underwater vehicle are that nobody drives, by remote control or automatic
The utensil navigated by water under water is controlled, those is referred mainly to and carries out deep-sea detecting, lifesaving, exclusion instead of diver or manned midget submarine
The intellectualizing system of the high risk underwater operation such as submarine mine.Therefore, autonomous underwater vehicle is also referred to as " diving robot " or " underwater
Robot ".
Usable remote control sends signal transmission information by sonar and instructed at present, and submariner device is remotely controlled.But work as
When needing the submariner device to make a return voyage, scheme can carry out more accurate positioning to the direction of making a return voyage of submariner device.
Therefore, the direction how maked a return voyage to submariner device, which carries out more accurate positioning, turns into demand urgently to be resolved hurrily.
The content of the invention
The embodiment of the present disclosure provides the method, apparatus and system that a kind of submariner device makes a return voyage direction positioning, to be returned to submariner device
The direction of boat is more accurately positioned.
In a first aspect, the disclosure provides a kind of method that submariner device makes a return voyage direction positioning, line is received applied to provided with sonar
The submariner device of array, the sonar receive linear array relative to submariner device hull horizontal arrangement in the fore of submariner device, including：
When detect make a return voyage instruction when, control the submariner device to rotate, received with to receive linear array by the sonar and returned
What boat destination was sent is used to indicate homeward signal；
When receiving when being used to indicate homeward signal of destination transmission of making a return voyage, the submariner device is controlled to stop rotation
Turn；
The direction that fore points to when the submariner device is stopped the rotation is positioned as direction of making a return voyage.
Second aspect, the disclosure provide the device that a kind of submariner device makes a return voyage direction positioning, and line is received applied to provided with sonar
The submariner device of array, the sonar receive linear array relative to submariner device hull horizontal arrangement in the fore of submariner device, including：
Control module, for when detect make a return voyage instruction when, control the submariner device to rotate, to be received by the sonar
Linear array receive make a return voyage destination transmission be used for indicate homeward signal；
The control module, be additionally operable to when receive make a return voyage destination transmission be used for indicate homeward signal when,
The submariner device is controlled to stop the rotation；
Locating module, the direction that fore points to during for the submariner device to be stopped the rotation are positioned as direction of making a return voyage.
The third aspect, the disclosure provide the system that a kind of submariner device makes a return voyage direction positioning, including the purpose earth signal hair that makes a return voyage
Injection device and submariner device, the submariner device are provided with sonar and receive linear array, and the sonar receives linear array relative to submariner device ship
Body horizontal arrangement is in the fore of submariner device；
The destination sender unit that makes a return voyage, it is used to indicate homeward signal for launching；
The submariner device, for when detect make a return voyage instruction when, control the submariner device to rotate, to be connect by the sonar
Take-up array received is used to indicate homeward signal；When receiving for when indicating homeward signal, described in control
Submariner device stops the rotation；The direction that fore points to when the submariner device is stopped the rotation is positioned as direction of making a return voyage.
The embodiment of the present disclosure receives linear array using sonar and carries out directional reception, i.e., can only receive and be connect relative to sonar
The signal that a direction of take-up array is sent, the arbitrary orientation outside this direction can not all receive signal, therefore work as and connect
When being used to indicate homeward signal of destination transmission of making a return voyage is received, the fore direction of submariner device is destination institute of making a return voyage
In orientation.Now control submariner device stops the rotation, and is driven into along fore direction to destination of making a return voyage.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present disclosure or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this public affairs
Some embodiments opened, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is that the submariner device that some embodiments of the disclosure provide makes a return voyage the method schematic diagram of direction positioning；
Fig. 2 is that the disclosure submariner device that some embodiments provide in addition makes a return voyage the method schematic diagram of direction positioning；
Fig. 3 is the submariner device rotation mode schematic diagram that the alternative embodiment of the disclosure one provides；
Fig. 4 is the floor map for the predetermined angle threshold value that some embodiments of the disclosure provide；
Fig. 5 is that the submariner device that some embodiments of the disclosure provide makes a return voyage the schematic device of direction positioning；
Fig. 6 is that the disclosure submariner device that some embodiments provide in addition makes a return voyage the schematic device of direction positioning.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present disclosure clearer, below in conjunction with the embodiment of the present disclosure
In accompanying drawing, the technical scheme in the embodiment of the present disclosure is clearly and completely described, it is clear that described embodiment is
Disclosure part of the embodiment, rather than whole embodiments.Based on the embodiment in the disclosure, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belong to the scope of disclosure protection.
Referring to Fig. 1, some embodiments of the disclosure provide a kind of method that submariner device makes a return voyage direction positioning, this method application
In the submariner device that linear array is received provided with sonar, the sonar receives linear array relative to submariner device hull horizontal arrangement in submariner
The fore of device.Horizontal arrangement herein, refer to relative to submariner device hull level, be in horizontal, linear row in submariner device fore
Cloth.Submariner device shown in Fig. 1 make a return voyage direction positioning method can include：
In step 102, when detect make a return voyage instruction when, control the submariner device to rotate, line received to pass through the sonar
Array received make a return voyage destination transmission be used for indicate homeward signal.
In step 104, when receiving when being used to indicate homeward signal of destination transmission of making a return voyage, control described latent
Boat device stops the rotation.
In step 106, the direction that fore points to when the submariner device is stopped the rotation is positioned as direction of making a return voyage.
By the above method, the embodiment of the present disclosure receives linear array using sonar and carries out directional reception, i.e., can only receive
The signal sent to a direction that linear array is received relative to sonar, the arbitrary orientation outside this direction can not all receive
To signal, therefore when receiving when being used to indicate homeward signal of destination transmission of making a return voyage, the fore direction of submariner device is
For orientation where destination of making a return voyage.Now control submariner device stops the rotation, and is driven into along fore direction to destination of making a return voyage.
Referring to Fig. 2, some embodiments of the disclosure provide a kind of method that submariner device makes a return voyage direction positioning, this method application
In the submariner device that linear array is received provided with sonar, the sonar receives linear array relative to submariner device hull horizontal arrangement in submariner
The fore of device.Horizontal arrangement herein, refer to relative to submariner device hull level, be in horizontal, linear row in submariner device fore
Cloth.Submariner device shown in Fig. 2 make a return voyage direction positioning method can include：
In step 102, when detect make a return voyage instruction when, control the submariner device to rotate, line received to pass through the sonar
Array received make a return voyage destination transmission be used for indicate homeward signal.
Optionally, submariner device itself control system can control submariner device centered on the origin of coordinates, around geographic coordinate system
Z axis do and rotate horizontally counterclockwise (or clockwise), as shown in Figure 3.Optionally, the control system of latent ship device itself by pushing away more
Multivariant control (motion mode of generally achievable 6DOF) is realized in the setting for entering device, so as to realize control submariner device
Rotation.Such as：Six-freedom motion can be realized by way of 6 motors are set, can also pass through main thruster and the (control of multiple steering wheels
Duct blade processed) realize six-freedom motion；Wherein, when submariner device organism level navigates by water, the submariner device control system of itself
The differential force for controlling main thruster (usual 2) is the rotation (about the z axis) that organism level direction can be achieved.Wherein, the geography
The origin of coordinate system is fixed on a bit of earth surface, can be body center or the body left or right side of submarine device herein
Individual, X-axis refers to east orientation, and Y-axis refers to north orientation, and Z axis forms right hand rectangular coordinate system along local geographic vertical and X, Y-axis.
In step 104, when receiving when being used to indicate homeward signal of destination transmission of making a return voyage, control described latent
Boat device stops the rotation.
In step 106, the direction that fore points to when the submariner device is stopped the rotation is positioned as direction of making a return voyage.Afterwards, dive
Boat device can make a return voyage along the direction running that makes a return voyage.
In step 107, during along the direction running that makes a return voyage, when it is determined that the direction that fore points to is located at default model
Control the submariner device to rotate when outside enclosing and redefine direction of making a return voyage when receiving signal.Afterwards, submariner device can edge
The direction running that makes a return voyage makes a return voyage.
Optionally, submariner device during making a return voyage in real time monitoring fore point to direction whether positioned at preset range it
Outside, and when outside preset range repeat and determine homeward process：Control submariner device to rotate and receiving
Control submariner device to stop the rotation during to for indicating homeward signal, the direction that submariner device fore points to is defined as making a return voyage
Direction.
By method disclosed in the embodiment of the present disclosure, the direction of making a return voyage of the direction determining that is pointed to based on submariner device fore can be with
There is certain error range i.e. preset range, the preset range can be preset signal strength threshold value, or predetermined angle
Threshold value, it can also not limited herein according to actual specific setting, the disclosure.When the direction of making a return voyage in the right direction that fore points to
Without correction when in this preset range, need to be corrected by step 107 when beyond preset range.It is real by the disclosure
Example is applied, whether correct or whether within a preset range, and energy if can monitor direction of making a return voyage in real time during submariner device makes a return voyage
Enough it is in outside preset range or makes a return voyage in direction of making a return voyage when running signal is lost and redefine direction of making a return voyage so that submariner device energy
It is enough smoothly to make a return voyage, there is provided the preferably homeward localization method of fault-tolerance.
In an optional embodiment, when preset range is preset signal strength threshold value, step 107 is in the following manner
Redefine direction of making a return voyage：The submariner device is controlled when the signal intensity for monitoring to receive is less than preset signal strength threshold value
Rotation, when the signal intensity for judging to monitor to receive is more than or equal to predetermined threshold value, the submariner device is controlled to stop rotation
The direction for turning and pointing to fore when stopping the rotation is positioned as direction of making a return voyage.Signal strength threshold can according to circumstances actual set,
The disclosure does not limit herein.It is weaker or do not receive signal that the embodiment can provide the signal received when submariner device makes a return voyage
When fault-tolerant networks.
In other optional embodiment, when preset range is predetermined angle threshold value, step 107 weighs in the following manner
It is new to determine direction of making a return voyage：When the angle between the direction for judging fore sensing and direction of correctly making a return voyage is more than predetermined angle threshold value
When control the submariner device to rotate, until judging the angle between direction that fore points to and direction of correctly making a return voyage no more than pre-
If during angle threshold, the direction for controlling the submariner device to stop the rotation and point to fore when stopping the rotation is positioned as the side of making a return voyage
To.Predetermined angle threshold value can not limit herein according to actual set, the disclosure.The embodiment can be provided when submariner device makes a return voyage
Increasingly deviate fault-tolerant networks when correctly making a return voyage direction in the direction of traveling.Direction of correctly being maked a return voyage in this city can be by diving
Boat device current location straight line points to the direction for destination of making a return voyage, you can with by submariner device current location and the destination point-to-point transmission that makes a return voyage
Line be return route.
In above-mentioned optional embodiment, when preset range is predetermined angle threshold value, the predetermined angle threshold value can be
Sonar receives the directive property angle of linear array, optionally, the radian of solid line and dotted line cross section institute in directive property angle such as Fig. 4
The angle of covering.Referring to Fig. 4, solid line represents that sonar receives the directive property angle of linear array in Fig. 4, wherein most prominent direction
For the direction that energy is maximum, that is, the signal that signal can receive when this side up that makes a return voyage is most strong.Dotted line represents advance in Fig. 4
The threshold value of setting.When submariner device fore points to the normalization result of reception signal in one direction more than dotted line in this direction
Value, that is, think this direction in error range.Wherein, (two) intersection point of dotted line and solid line is connected with origin respectively, formation
Angle is predetermined angle threshold value.
Referring to Fig. 5, the embodiment of the present disclosure provides the device that a kind of submariner device makes a return voyage direction positioning, applied to provided with sonar
Receiving the submariner device of linear array, the sonar receives linear array relative to submariner device hull horizontal arrangement in the fore of submariner device,
The device includes：Control module 400 and locating module 402.The operation principle of each module is as follows.
Control module 400, for when detect make a return voyage instruction when, control the submariner device to rotate, to pass through the sonar
Receive linear array receive make a return voyage destination transmission be used for indicate homeward signal.
The control module 400, be additionally operable to when receive make a return voyage destination transmission be used for indicate homeward signal
When, control the submariner device to stop the rotation.
Locating module 402, the direction that fore points to during for the submariner device to be stopped the rotation are positioned as direction of making a return voyage.
Referring to Fig. 6, the device that the embodiment of the present disclosure provides also includes correction module 404, it is used for：Maked a return voyage along what is determined
During direction running, when it is determined that the direction that fore points to controlled when be located at outside preset range submariner device rotation and
Direction of making a return voyage in the right direction of making a return voyage in the right direction of making a return voyage is redefined when receiving signal.
In some optional embodiments, the correction module 404 is specifically used for：When the signal intensity for monitoring to receive
Control the submariner device to rotate during less than preset signal strength threshold value, be more than until the signal intensity for judging to monitor to receive or
During equal to predetermined threshold value, the direction for controlling the submariner device to stop the rotation and point to fore when stopping the rotation is positioned as the side of making a return voyage
To.
In other some optional embodiments, the correction module 404 is specifically used for：When the direction for judging fore sensing
Angle between direction of correctly making a return voyage controls the submariner device to rotate when being more than predetermined angle threshold value, until judging that fore refers to
To direction and the angle correctly maked a return voyage between direction be not more than predetermined angle threshold value when, control the submariner device to stop the rotation
And the direction for pointing to fore when stopping the rotation is positioned as direction of making a return voyage
The embodiment of the present disclosure receives linear array using sonar and carries out directional reception, i.e., can only receive and be connect relative to sonar
The signal that a direction of take-up array is sent, the arbitrary orientation outside this direction can not all receive signal, therefore work as and connect
When being used to indicate homeward signal of destination transmission of making a return voyage is received, the fore direction of submariner device is destination institute of making a return voyage
In orientation.Now control submariner device stops the rotation, and is driven into along fore direction to destination of making a return voyage.
The embodiment of the present disclosure also provides the system that a kind of submariner device makes a return voyage direction positioning, including purpose earth signal transmitting of making a return voyage
Device and submariner device.The submariner device is provided with sonar and receives linear array, and the sonar receives linear array relative to submariner device hull
Horizontal arrangement is in the fore of submariner device.
The destination sender unit that makes a return voyage, it is used to indicate homeward signal for launching.
The submariner device, for when detect make a return voyage instruction when, control the submariner device to rotate, to be connect by the sonar
Take-up array received is used to indicate homeward signal；When receiving for when indicating homeward signal, described in control
Submariner device stops the rotation；The direction that fore points to when the submariner device is stopped the rotation is positioned as direction of making a return voyage.
In summary, the embodiment of the present disclosure has the beneficial effect that：
The embodiment of the present disclosure receives linear array using sonar and carries out directional reception, i.e., can only receive and be connect relative to sonar
The signal that a direction of take-up array is sent, the arbitrary orientation outside this direction can not all receive signal, therefore work as and connect
When being used to indicate homeward signal of destination transmission of making a return voyage is received, the fore direction of submariner device is destination institute of making a return voyage
In orientation.Now control submariner device stops the rotation, and is driven into along fore direction to destination of making a return voyage.
By the embodiment of the present disclosure, can be monitored in real time during submariner device makes a return voyage direction of making a return voyage it is whether correct or
It is no within a preset range, and can be in outside preset range or make a return voyage in direction of making a return voyage when running signal is lost and redefine and return
Boat direction so that submariner device can smoothly make a return voyage, there is provided the preferably homeward localization method of fault-tolerance.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.Through the above description of the embodiments, those skilled in the art can be with
Each embodiment is well understood can add the mode of required general hardware platform to realize by software, naturally it is also possible to logical
Cross hardware.Based on such understanding, part that above-mentioned technical proposal substantially contributes to prior art in other words can be with
The form of software product is embodied, and the computer software product can be stored in a computer-readable storage medium, such as ROM/
RAM, magnetic disc, CD etc., including some instructions to cause a computer equipment (can be personal computer, server, or
Person's network equipment etc.) perform method described in some parts of each embodiment or embodiment.
Finally it should be noted that：Above example is only to illustrate the technical scheme of the disclosure, rather than its limitations；Although
The disclosure is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from each embodiment technical scheme of the disclosure spirit and
Scope.
Claims (9)
- A kind of method that direction positions 1. submariner device makes a return voyage, it is characterised in that applied to the submariner that linear array is received provided with sonar Device, the sonar receive linear array relative to submariner device hull horizontal arrangement in the fore of submariner device, including：When detect make a return voyage instruction when, control the submariner device to rotate, the mesh that makes a return voyage received to receive linear array by the sonar Ground send be used for indicate homeward signal；When receiving when being used to indicate homeward signal of destination transmission of making a return voyage, the submariner device is controlled to stop the rotation；The direction that fore points to when the submariner device is stopped the rotation is positioned as direction of making a return voyage.
- 2. according to the method for claim 1, it is characterised in that also include：In the process along the direction running that makes a return voyage determined In, when it is determined that the direction that fore points to controls the submariner device to rotate and weighed when receiving signal when be located at outside preset range It is new to determine direction of making a return voyage.
- 3. according to the method for claim 2, it is characterised in that described when the direction for determining fore sensing is located at preset range Outside when control the submariner device to rotate and redefine direction of making a return voyage when receiving signal, including：The submariner device is controlled to rotate when the signal intensity for monitoring to receive is less than preset signal strength threshold value, until judging When the signal intensity for monitoring to receive is more than or equal to predetermined threshold value, controls the submariner device to stop the rotation and will stop the rotation When fore point to direction be positioned as direction of making a return voyage.
- 4. according to the method for claim 2, it is characterised in that described when the direction for determining fore sensing is located at preset range Outside when control the submariner device to rotate and redefine direction of making a return voyage when receiving signal, including：When the angle between the direction for judging fore sensing and direction of correctly making a return voyage is more than predetermined angle threshold value described in control Submariner device rotates, until the angle for judging the direction of fore sensing between direction of correctly making a return voyage is not more than predetermined angle threshold value When, the direction for controlling the submariner device to stop the rotation and point to fore when stopping the rotation is positioned as direction of making a return voyage.Correctly return Navigate direction of making a return voyage in the right direction.
- The device that direction positions 5. a kind of submariner device makes a return voyage, it is characterised in that applied to the submariner that linear array is received provided with sonar Device, the sonar receive linear array relative to submariner device hull horizontal arrangement in the fore of submariner device, including：Control module, for when detect make a return voyage instruction when, control the submariner device to rotate, linear array received to pass through the sonar Row receive make a return voyage destination transmission be used for indicate homeward signal；The control module, it is additionally operable to, when receiving when being used to indicate homeward signal of destination transmission of making a return voyage, control The submariner device stops the rotation；Locating module, the direction that fore points to during for the submariner device to be stopped the rotation are positioned as direction of making a return voyage.
- 6. device according to claim 5, it is characterised in that also including correction module, be used for：In the side of making a return voyage along determination During traveling, when it is determined that the direction that fore points to controls the submariner device to rotate and connect when being located at outside preset range Direction of making a return voyage in the right direction of making a return voyage in the right direction of making a return voyage is redefined when receiving signal.
- 7. device according to claim 6, it is characterised in that the correction module is specifically used for：When monitoring to receive Signal intensity control when being less than preset signal strength threshold value the submariner device to rotate, until judging to monitor the signal received When intensity is more than or equal to predetermined threshold value, the direction for controlling the submariner device to stop the rotation and point to fore when stopping the rotation is determined Position is direction of making a return voyage.
- 8. device according to claim 6, it is characterised in that the correction module is specifically used for：When judgement fore points to Direction and the angle correctly maked a return voyage between direction control the submariner device to rotate when being more than predetermined angle threshold value, until judgement When angle between direction and direction of correctly making a return voyage that fore points to is not more than predetermined angle threshold value, the submariner device is controlled to stop Spin-ended turn and by when stopping the rotation fore point to direction be positioned as direction of making a return voyage.
- The system that direction positions 9. a kind of submariner device makes a return voyage, it is characterised in that including the destination sender unit and latent of making a return voyage Navigate device, and the submariner device is provided with sonar and receives linear array, and the sonar receives linear array relative to submariner device hull horizontal arrangement In the fore of submariner device；The destination sender unit that makes a return voyage, it is used to indicate homeward signal for launching；The submariner device, for when detect make a return voyage instruction when, control the submariner device to rotate, line received to pass through the sonar Array received is used to indicate homeward signal；When receive for indicate homeward signal when, control the submariner Device stops the rotation；The direction that fore points to when the submariner device is stopped the rotation is positioned as direction of making a return voyage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710934652.6A CN107843899B (en) | 2017-10-10 | 2017-10-10 | Method, device and system for positioning return direction of underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710934652.6A CN107843899B (en) | 2017-10-10 | 2017-10-10 | Method, device and system for positioning return direction of underwater vehicle |
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| CN107843899B CN107843899B (en) | 2020-08-14 |
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| CN106094819A (en) * | 2016-06-17 | 2016-11-09 | 江苏科技大学 | Underwater robot control system and course heading control method based on sonar image target recognition |
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| CN101598570A (en) * | 2009-07-23 | 2009-12-09 | 深圳市凯立德计算机系统技术有限公司 | Air navigation aid of making a return voyage in the navigational system and device |
| CN102288170A (en) * | 2011-07-14 | 2011-12-21 | 浙江大学 | Correction method of electronic compass in underwater vehicle |
| CN104035065A (en) * | 2014-06-23 | 2014-09-10 | 河北工业大学 | Sound source orienting device on basis of active rotation and method for applying sound source orienting device |
| CN105157715A (en) * | 2015-09-02 | 2015-12-16 | 深圳市天工测控技术有限公司 | Self-adaptive return method and self-adaptive return system based on Beidou navigation system |
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| Publication number | Publication date |
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| CN107843899B (en) | 2020-08-14 |
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