CN108414982A - A kind of communication buoy and its networking for hydrolocation - Google Patents
A kind of communication buoy and its networking for hydrolocation Download PDFInfo
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- CN108414982A CN108414982A CN201810528842.2A CN201810528842A CN108414982A CN 108414982 A CN108414982 A CN 108414982A CN 201810528842 A CN201810528842 A CN 201810528842A CN 108414982 A CN108414982 A CN 108414982A
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- Prior art keywords
- buoy
- communication
- hydrolocation
- underwater acoustic
- circuit
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Abstract
The invention discloses a kind of communication buoy for hydrolocation and its networking, the communication buoy is connect with integrated treatment display ＆ control system, including buoy ontology, underwater acoustic communication set, positioning system and radio communications system；The buoy ontology provides water surface buoyancy for communication buoy and supports；The positioning system and radio communications system are located at the top of buoy ontology, and the positioning system is used to provide location information for buoy；The radio communications system is used to the data that underwater acoustic communication set receives being sent to integrated treatment display ＆ control system；The radio communications system is additionally operable to the telecommand that real-time reception integrated treatment display ＆ control system sends over, and telecommand is sent to underwater acoustic communication set；The underwater acoustic communication set is located at the lower part of the buoy ontology, for receive submarine navigation device transmitting information and to submarine navigation device emit telecommand.The present invention also provides a kind of communication buoy networkings for hydrolocation, include at least 3 communication buoys for being used for hydrolocation.
Description
Technical field
The present invention relates to undersea detection fields, and in particular to a kind of communication buoy and its networking for hydrolocation.
Background technology
Ocean vast area, undersea detection environment is complicated severe, and equipment operation is difficult, under developing water unmanned autonomous system at
For the main flow direction of marine exploration.Intelligent submarine navigation device plays an important role in terms of national security and national economy, water
Lower aircraft is in development process, it is necessary to pass through underwater test, verify various functions index, including underwater 3 D flight path, navigation
Posture, working condition etc., it is therefore desirable to establish it is a set of can to submarine navigation device ship trajectory, navigation posture and working condition believe
The telemetry system remotely measured is ceased, while long-range wireless remote control can also be carried out to submarine navigation device.
Since last century the nineties, Autonomous Underwater Vehicle (AUV) has become one of main ocean power of the world
Most important prospecting tools have played weight in ocean environment observation, hydrographic survey, sea-floor relief scanning and shipwreck search field
It acts on.Aircraft is under water in operation process, it is necessary to carry out Underwater Navigation.It provides position and the cruise road of AUV to lash ship
Line, combined high precision long-base-line system, AUV, which can even follow the prescribed course, does high-precision cruise.Ranging technology is underwater
The basis of location technology, there are four types of now widely used distance measuring methods：Intensity (Received Signal are reached based on signal
Strength Indication, RSSI), based on time of arrival (toa) (Time of Arrival, TOA), based on signal reach
The time difference (Time Difference of Arrival, TDOA) is based on direction of arrival degree (Angel of Arrival, AOA),
Due to the decaying of underwater environment signal and the influences such as noise, RSSI rangings using less, ocean positioning device be widely used TOA and
Two kinds of distance measuring methods of TDOA carry out Underwater Navigation, and TOA synchronizes to obtain the time difference by clock, are multiplied by the velocity of sound and obtain distance,
TDOA obtains time delay by sending response mode by set time difference, avoids clock synchronization requirement, but channel accounts for
It is TOA twice with the time.On the basis of ranging technology, triangle relation is utilized in conjunction with positioning node coordinate by multiple point distance measurement
The coordinate of destination node can be calculated.The widely used short baseline (SBL) of Underwater Navigation, ultra-short baseline (USBL) and length at present
Baseline (LBL) location technology.
Energy converter is laid according to triangle relation on hull by short Baseline, right by receiving the TDOA modes of signal
Submarine target is positioned, and then the transducer array using distance less than 10cm carries out signal reception to ultra-short baseline, passes through phasometer
It calculates, obtains target location.Long baselines technology needs to lay four or more beacon seabeds, passes through the ranging sides TDOA according to triangle relation
The advantages of formula positions mobile target, this positioning method is positioning accuracy height.
In recent years, external that extensive research is expanded to underwater position fixing technique, produce various underwater position fixing techniques, and
Marine field is used widely.Pedro.Batista et al. devises a kind of novel positioning method, and USBL is installed on AUV
Basic matrix is received, AUV is positioned by water surface beacon, AUV may be implemented to go back to port automatically by receiving bootstrap information, and in ice
It is applied in lower environment.N.Kussat et al. has studied through boat-carrying GPS system, realizes and is positioned to underwater AUV
Long baselines location technology, the method for synchronization use transmission, the half-duplex ranging of response mode.The B.Crosbie in the U.S. et al. is answered
With the underwater acoustic communication set of Woods Hole research institutes, either simplex ranging is carried out using synchronised clock mode, realizes and underwater AUV is carried out
It is accurately positioned.In the latest 20 years, the fast development of water sound communication technique so that obtained extensively in conjunction with underwater sound communication positioning method
General application can be sent to Underwater Navigation equipment, Liam after water surface positioning device obtains location information by underwater acoustic communication set
Paull just proposes a kind of positioning method combining USBL and underwater sound communication, to correct the location information of AUV.
Current measuring system can not remotely obtain submarine navigation device navigation posture and task situation (such as in real time：Boat
To, roll, speed, convolution angular speed, detection estimation target bearing, distance etc.), submarine navigation device can not also be carried out remotely
Control is (such as：It stops in emergency, turn under crisis situations).Moreover, current submarine navigation device flight path measurement error is larger, also without
Method is accurately measured for crucial navigation section flight path, and cannot measure double submarine navigation device interaction distances.
Invention content
It is an object of the invention to solve current submarine navigation device flight path measurement accuracy it is not high and can not to key navigate by water
The problems such as Duan Jinhang is finely measured, it is proposed that a kind of communication buoy and networking for hydrolocation, realization and submarine navigation device
Communication.
To achieve the goals above, the present invention proposes one kind, a kind of communication buoy for hydrolocation, with General Office
Manage display ＆ control system connection, which is characterized in that the communication buoy includes buoy ontology, underwater acoustic communication set, positioning system and wireless
Electrical communication system；Wherein, the buoy ontology provides water surface buoyancy for communication buoy and supports；The positioning system and radio are logical
Letter system is located at the top of buoy ontology, and the positioning system is used to provide location information for buoy；The radio communication system
The data for receiving underwater acoustic communication set of uniting are sent to integrated treatment display ＆ control system；The radio communications system is additionally operable to
The telecommand that real-time reception integrated treatment display ＆ control system sends over, underwater acoustic communication set is sent to by telecommand；The water
Sound communication machine is located at the lower part of the buoy ontology, for receive submarine navigation device transmitting information and to submarine navigation device emit
Telecommand.
As a kind of improvement of above-mentioned apparatus, the communication buoy includes：Power-supply system is mounted on the upper of buoy ontology
Portion.
As a kind of improvement of above-mentioned apparatus, the underwater acoustic communication set includes governor circuit, electric power management circuit, high-power
Transmitter and underwater acoustic transducer；
The electric power management circuit, for realizing that the independence to governor circuit and transmitter supplies by the way that DC/DC modules are isolated
Electricity；
The governor circuit includes：Simulation receiving circuit, DSP governor circuits and FPGA, the simulation receiving circuit are used for
The electric signal for receiving underwater acoustic transducer conversion, builds bandwidth-limited circuit using diode and triode, realizes putting for electric signal
Greatly, and amplification factor adjustable gain；The DSP governor circuits are modulated the data of required transmitting by loading the communication of algorithms
Coding, then transfers data to FPGA by bus marco, after being handled by FPGA, by D/A converter by data conversion
At analog signal transmission to transmitter；
The transmitter, for by the way that inductance analog signal transmission by obtained by is isolated to high-power radiating circuit, by big
Power emission circuit converts a signal into the underwater sound by underwater acoustic transducer and passes by the data conversion of required transmission at high-voltage signal
It is defeated by submarine navigation device.
As a kind of improvement of above-mentioned apparatus, high-precise synchronization clock is set on the underwater acoustic communication set.
As a kind of improvement of above-mentioned apparatus, the positioning system includes GPS positioning module, will by Transistor-Transistor Logic level interface
The GPS position information real-time Transmission of buoy ontology gives DSP governor circuits, to realize that time service synchronizes.
As a kind of improvement of above-mentioned apparatus, the positioning system includes Beidou positioning module, will by Transistor-Transistor Logic level interface
The GPS position information real-time Transmission of buoy ontology gives DSP governor circuits, to realize that time service synchronizes.
The present invention also provides a kind of communication buoy networking for hydrolocation, includes at least 3 and above-mentioned be used for water
The communication buoy of acoustic fix ranging.
Advantage of the invention is that：
The communication buoy of the present invention has the advantages that communication distance is remote, structure is easy for assembly, may be implemented and underwater navigation
The underwater acoustic information of device interacts.
Description of the drawings
Fig. 1 is the positioning and communicating buoy electrical block diagram of the present invention.
Specific implementation mode
The present invention will be described in detail below in conjunction with the accompanying drawings.
The remote measuring and controlling section installed on submarine navigation device has synchronous acoustic marker, periodically can emit acoustical signal to buoy.Together
When, interior survey posture information and work state information are also sent to communication buoy by submarine navigation device remote measuring and controlling section.Multiple communications
Buoy constitutes long-base-line system, measures self-position using the Beidou receiver timing loaded thereon, receives submarine navigation device hair
The positioning signal penetrated, Estimated Time of Arrival, by wireless together with the aircraft posture information and work state information that receive
Electricity is sent to lash ship.Lash ship carries out integrated treatment to radio reception information, submarine target positioning and track estimation is completed, with appearance
State information, work state information are shown in indication control board together.Lash ship can according to comprehensive situation, by buoy to submarine navigation device into
The instruction control of row long distance wireless.Other than round voyage flight path measures, higher precision measurement side also can be used for key navigation section
Method.It crosses under water range measurement problem for double submarine navigation devices, signal is emitted using the remote measuring and controlling section of an aircraft, separately
The method that one aircraft receives estimates the distance that crosses.Three subsystem detailed designs are as follows：
Remote measuring and controlling section
Remote measuring and controlling section is mounted on submarine navigation device, for the transmitting of hydrolocation signal and telemetry intelligence (TELINT) signal and distant
Control the reception of information.It emits signal by high-precise synchronization clock timing, and communication buoy is obtained according to local synchronous clock reference
Propagation delay time is obtained, distance exam is carried out.In addition, can also be accurately calculated by synchronous positioning signal between two submarine navigation devices
Mutual distance carries out two aircraft and crosses the accurately calculating of distance.
Due to the special tectonic of submarine navigation device, which develops as a bay section of aircraft, using modularization
The mode of installation is mounted on submarine navigation device.Such as table 1：
Table 1
| Detect bay section | Remote measuring and controlling bay section | Buoyancy bay section | Battery bay section | Control bay section | Promote bay section |
The inside of remote measuring and controlling section forms：Digital signal panel, transmitter board, receiver card, power panel, transducing
Device.Wherein digital signal panel carries out underwater sound signal modulation, receiving signal demodulation and communicates work(with aircraft control unit
Can, transmitter board is used for amplifying the acoustoelectric signal of energy converter reception for emitting signal power amplification, receiver card, and power panel is used
To power to circuit board, underwater acoustic transducer is used for realizing the acoustic-electric conversion of underwater sound signal.
The remote measuring and controlling section component part include battery, digital signal panel, receiver card, high-power transmitter plate,
Power management plate, acoustic transducer, the composition of entire remote measuring and controlling section realize interior survey and the metric information of submarine navigation device
It obtains and transmits in real time, can be laid conveniently on lake, offshore universal.
For the battery portion of the remote measuring and controlling section, integrated confession is carried out to complete equipment using high-energy lithium battery
Electricity.A whole set of telecommunication circuit is managed by power management plate, which can be with recharge.
For the digital signal panel part of the remote measuring and controlling section, the main control chips such as including DSP, FPGA, SDRAM,
The storage chips such as DDR, high speed D/A, low speed DA, high-speed AD, the chips such as low speed AD constitute the core number of the set remote measuring and controlling section
Word signal-processing board completes the functions such as the transplanting of digital-to-analogue, analog-to-digital conversion, the communication of algorithms, the modulation and demodulation of communication code of data.
For the receiver card part of the remote measuring and controlling section, in such a way that catching diode protects analog signal, prevent
Only excessive voltage occurs, and protects the analog circuit of rear class, and late-class circuit carries out analog circuit by diode and triode etc.
Bandpass filtering and amplification, the overall power of receiver card is reduced with this, and realize undistorted ten thousand times of small signal amplifications, with profit
It is handled in the subsequent algorithm of digital signal panel.
For the high-power transmitter plate part of the remote measuring and controlling section, by the way of Simulation scale-up, by digital signal
The modulated signal emitted required for processing board is emitted, and by high-power amplifier chip, improves transmitting source level so that transducing
Signal can be emitted farther distance by device.
For DC, DC isolation module of the power management plate part of the remote measuring and controlling section, including decompression, at digital signal
Manage the power supply control chip of plate, the power supply control chip of transmitter board, MSP430 microcontrollers, bandpass filtering amplifying circuit.Pass through
MSP430 monitors the mode of underwater sound signal, and timesharing is automatically controlled to digital signal panel, receiver card, the confession of high-power transmitter plate
System realizes the power consumption for reducing entire remote measuring and controlling section.
For the acoustic transducer part of the remote measuring and controlling section, the interior survey for the submarine navigation device that will be sent and exterior measuring shape
The information such as state are converted into acoustical signal, are sent by underwater acoustic channel, and energy converter can also receive water surface float and send over
Control command acoustical signal, convert acoustic signals into electric signal, remote measuring and controlling section is receiving corresponding control command signal
Afterwards, the long-distance measure and control function to submarine navigation device is realized.
Communication buoy
As shown in Figure 1, communication buoy includes four parts：It is buoy ontology, underwater acoustic communication set, BEI-DOU position system, wireless
Electrical communication system.Wherein buoy ontology provides water surface buoyancy to whole system and supports, underwater acoustic communication set is completed to submarine navigation device
Hydrolocation and telemetry intelligence (TELINT) receive and underwater images order transmitting, and BEI-DOU position system provides accurate three-dimensional position letter for buoy
Breath, radio communications system complete the wireless communication between buoy and integrated treatment display ＆ control system.
Communication buoy is divided into waterborne and underwater two parts, and underwater portion installs underwater acoustic communication set, water surface part installation north
Struggle against positioning system, radio communications system and power-supply system.Multiple buoys obtain itself exact position by BEI-DOU position system
After information, a set of Long baselines positioning system is just constituted.
High-precise synchronization clock is housed, buoy is at work, it is necessary first to obtain oneself accurate position on underwater acoustic communication set
Confidence ceases, and when buoy floats on the surface, is influenced by stormy waves etc., and the position on the water surface has floating, so, buoy
All the time position is not fixed, is exactly here real-time in order to obtain buoy constantly with the purpose of high-precise synchronization clock
Precise time and location information.
Hydrolocation signal between submarine navigation device and buoy is synchronized by high-precise synchronization clock, and buoy passes through calculating
The distance between positioning signal time-delay calculation aircraft and buoy.BEI-DOU position system is by Transistor-Transistor Logic level interface to buoy time service
It is synchronous, and three-dimensional coordinate information is transmitted to by radio communications system, radio communications system and underwater sound communication by RS232 interface
Machine interacts with each other telemetry and telecommand information by RS232 RS422 interface communications, and radio communications system finally will be underwater
The range information and telemetry intelligence (TELINT) of aircraft and buoy are sent to integrated treatment display ＆ control system.
Buoy body part, floating block provide the buoyancy on the water surface for a whole set of float device, buoy ontology be divided into it is waterborne and
Underwater two parts, underwater portion install underwater acoustic communication set, and BEI-DOU position system and radio communications system are installed in water surface part,
To ensure wireless communication and the data processing of buoy and water surface integrated treatment display ＆ control system.
Underwater acoustic communication set is mounted on buoy underwater portion, hardware circuit part, electric power management circuit, by the way that DC/DC is isolated
Module is realized to the independently-powered of main control circuit part and high-power transmitter part, to prevent main control part and transmitter
Partial influences each other.Main control circuit part includes DSP and FPGA, and DSP is interior by loading the communication of algorithms, to the number of required transmitting
According to coding is modulated, by bus marco, FPGA is transferred data to, it, will by D/A converter after being handled by FPGA
Data conversion is at analog signal transmission to transmitter.High-power transmitter part is passed gained analog signal by the way that inductance is isolated
It is defeated by high-power radiating circuit, by high-power radiating circuit, can be passed through by the data conversion of required transmission at high-voltage signal
Energy converter converts a signal into the underwater sound and sends, and realizes underwater sound communication.
Governor circuit further includes：Receiving circuit is simulated, simulation receiving circuit is used to receive the electric signal of energy converter conversion, adopts
Bandwidth-limited circuit is built with diode and triode, the amplification to received signal, and times magnification are realized by receiving circuit
Number adjustable gain, receiving circuit part power consumption is very low, only 90mW.
BEI-DOU position system can also be that GPS positioning system is communicated using high-precision GPS locating module for hydrolocation
Buoy provides accurate location information, GPS position information real-time Transmission is given to DSP governor circuits by Transistor-Transistor Logic level interface, with reality
Existing time service synchronizes.
Radio communications system is mounted on buoy water surface part, and underwater acoustic communication set, which does the underwater sound communication data received, to be located
After reason, integrated treatment display ＆ control system is transferred data to by radio communications system.Meanwhile radio communications system can also
The telecommand that real-time reception integrated treatment display ＆ control system sends over, sends an instruction to underwater acoustic communication set, underwater acoustic communication set
After receiving instruction, according to the command information obtained, energy converter is sent to by high-power transmitter, is transmitted through underwater acoustic channel
Afterwards, order is transferred to submarine navigation device, to which submarine navigation device is operated accordingly according to institute's call instruction.
Integrated treatment display ＆ control system
Integrated treatment display ＆ control system includes two parts of radio communications system and display control program, and wherein radio is logical
Letter system is responsible for receiving the distance and telemetry intelligence (TELINT) of the submarine navigation device that multiple buoys transmit, the system can also be utilized to pass through floating
It marks unit and sends control instruction to submarine navigation device.Display control program is mainly made of a high-performance computer, is transported above
Row integrated treatment display control software, after which receives ranging and the aircraft telemetry intelligence (TELINT) of multiple buoys, operation positioning is calculated
Method calculates the exact position of submarine navigation device, and flight path is calculated using track algorithms such as nonlinear filterings, real-time display aircraft
Run flight path.Simultaneously on interface can also real-time display aircraft telemetry intelligence (TELINT), to allow testing crew to understand aircraft in real time
Operating status.Testing crew, can be by sending if it is observed that aircraft operating status is abnormal to buoy to submarine navigation device
Various control commands handle various unusual conditions.
Needed in integrated treatment display ＆ control system research process develop display control software, and in software realize positioning with
Track algorithm shows the three-dimensional navigation flight path of submarine navigation device, while the telemetry intelligence (TELINT) of real-time display aircraft, facilitates experiment people
Member's observation.The display and control software provides personnel's operation button, and testing crew sends control instruction by button to aircraft.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Right in.
Claims (7)
1. a kind of communication buoy for hydrolocation is connect with integrated treatment display ＆ control system, which is characterized in that the communication is floating
Mark includes buoy ontology, underwater acoustic communication set, positioning system and radio communications system；Wherein, the buoy ontology is that communication is floating
Mark provides water surface buoyancy and supports；The positioning system and radio communications system are located at the top of buoy ontology, the positioning system
System for buoy for providing location information；The data that underwater acoustic communication set receives for being sent to by the radio communications system
Integrated treatment display ＆ control system；The radio communications system be additionally operable to real-time reception integrated treatment display ＆ control system send over it is distant
Control instruction, underwater acoustic communication set is sent to by telecommand；The underwater acoustic communication set is located at the lower part of the buoy ontology, for connecing
It receives the information of submarine navigation device transmitting and emits telecommand to submarine navigation device.
2. the communication buoy according to claim 1 for hydrolocation, which is characterized in that the communication buoy includes：
Power-supply system is mounted on the top of buoy ontology.
3. the communication buoy according to claim 1 or 2 for hydrolocation, which is characterized in that the underwater acoustic communication set
Including governor circuit, electric power management circuit, high-power transmitter and underwater acoustic transducer；
The electric power management circuit, for being realized to the independently-powered of governor circuit and transmitter by the way that DC/DC modules are isolated；
The governor circuit includes：Receiving circuit, DSP governor circuits and FPGA are simulated, the simulation receiving circuit is for receiving
The electric signal of underwater acoustic transducer conversion, builds bandwidth-limited circuit using diode and triode, realizes the amplification of electric signal, and
Amplification factor adjustable gain；The DSP governor circuits are modulated coding by loading the communication of algorithms to the data of required transmitting,
Then FPGA is transferred data to by bus marco, after being handled by FPGA, mould is converted the data by D/A converter
Quasi- signal transmission is to transmitter；
The transmitter, for by the way that inductance analog signal transmission by obtained by is isolated to high-power radiating circuit, by high-power
Radiating circuit converts a signal into the underwater sound by underwater acoustic transducer and is transferred to by the data conversion of required transmission at high-voltage signal
Submarine navigation device.
4. the communication buoy according to claim 3 for hydrolocation, which is characterized in that set on the underwater acoustic communication set
Set high-precise synchronization clock.
5. the communication buoy according to claim 4 for hydrolocation, which is characterized in that the positioning system includes
GPS positioning module gives the GPS position information real-time Transmission of buoy ontology to DSP governor circuits, with reality by Transistor-Transistor Logic level interface
Existing time service synchronizes.
6. the communication buoy according to claim 4 for hydrolocation, which is characterized in that the positioning system includes north
Struggle against locating module, and the GPS position information real-time Transmission of buoy ontology is given to DSP governor circuits by Transistor-Transistor Logic level interface, to realize
Time service synchronizes.
7. a kind of communication buoy networking for hydrolocation, which is characterized in that include at least one of 3 claim 1-6 institutes
The communication buoy for hydrolocation stated.
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| CN108981481A (en) * | 2018-09-06 | 2018-12-11 | 北京航天控制仪器研究所 | Target ship miss distance measurement system on a kind of lake |
| CN109270541A (en) * | 2018-08-21 | 2019-01-25 | 中国科学院声学研究所 | A kind of wireless sonar system and method based on underwater sound communication |
| CN109541547A (en) * | 2018-11-21 | 2019-03-29 | 上海交通大学 | Unmanned boat based on hydrolocation enters a port guidance system and bootstrap technique |
| CN109856659A (en) * | 2019-01-21 | 2019-06-07 | 同济大学 | Preventing seabed base positions time service and data record system and method |
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| CN113904735A (en) * | 2021-09-30 | 2022-01-07 | 中国电子科技集团公司第五十四研究所 | Cross-medium networking communication equipment |
| CN114275101A (en) * | 2022-01-05 | 2022-04-05 | 中国人民解放军海军工程大学 | Positioning system of submarine optical cable diving buoy |
| CN114629568A (en) * | 2020-12-11 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Underwater robot real-time monitoring system and method based on acoustic communication |
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