CN108775897A - Underwater unmanned vehicle magnetic compass calibration system and method - Google Patents
Underwater unmanned vehicle magnetic compass calibration system and method Download PDFInfo
- Publication number
- CN108775897A CN108775897A CN201810630040.2A CN201810630040A CN108775897A CN 108775897 A CN108775897 A CN 108775897A CN 201810630040 A CN201810630040 A CN 201810630040A CN 108775897 A CN108775897 A CN 108775897A
- Authority
- CN
- China
- Prior art keywords
- magnetic compass
- calibration
- unmanned vehicle
- wireless transmitting
- receiving equipments
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 60
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses a kind of underwater unmanned vehicle magnetic compass calibration system and methods.The underwater unmanned vehicle magnetic compass calibration system includes mainly wireless transmitting-receiving equipments and external calibration equipment.The underwater unmanned vehicle magnetic compass calibration method includes：The default Magnetic Field of the magnetic compass is sent to an external calibration equipment by wireless transmitting-receiving equipments；The external calibration equipment receives the default Magnetic Field of the magnetic compass, and presetting Magnetic Field processing to this forms calibration data, and calibration data return is sent to the wireless transmitting-receiving equipments；The calibration data received is sent to the magnetic compass by the wireless transmitting-receiving equipments, so as to complete the wireless calibration operation of the magnetic compass.One aspect of the present invention so that calibration operation is more convenient, quick, on the other hand improves the security performance of underwater unmanned vehicle.
Description
Technical field
The present invention relates to submarine navigation device technical field more particularly to a kind of underwater unmanned vehicle magnetic compass calibration systems
And calibration method.
Background technology
In recent years, application of the underwater unmanned vehicle in deep-sea investigation, marine exploration and collection meteorological data etc.
It is more and more extensive.Magnetic compass as component part important in underwater unmanned vehicle navigation system, output information it is accurate
Degree will directly affect the navigation performance of underwater unmanned vehicle, therefore the calibration of magnetic compass always is that underwater unmanned vehicle enters
The preparation that water conservancy project must carry out before making.
In the related technology, two kinds are generally divided into the calibrating mode of underwater unmanned vehicle magnetic compass：It is a kind of to need water
Lower unmanned vehicles are dismantled, directly by communication cable one end access magnetic compass, other end accessing user's laptop, then
Calibration data transmission is carried out with the pose calibrating software on user's laptop；Another kind needs unmanned vehicles shell under water
There are magnetic compass calibration interface, one end of the interface to pass through communication cable and magnetic compass phase inside underwater unmanned vehicle for outside
Even, when need calibration when, reuse communication cable and the other end of the interface be connected with user's laptop, then with user
Pose calibrating software on laptop carries out calibration data transmission.
Communication cable is directly accessed to the calibrating mode of magnetic compass, is required for underwater unmanned vehicle in each calibration
Tear section open, operation is highly inconvenient, and being dismounted for multiple times underwater unmanned vehicle can also reduce its reliability；Especially operation at sea
When, air humidity is significantly increased, and aboard ship tears that section is not only inconvenient for operation, and underwater unmanned vehicle, which is dismantled, can also make inside it open
Electronic device exposes among wet air, causes great security risk.
The calibrating mode of vehicle hull exterior design calibration interface and communication cable is directly accessed into magnetic compass under water
Calibrating mode compare, although can be to avoid the security risk that section is brought is torn open, this mode needs to consider navigating in design
The reliability tandeming problems that opening band is come on row device shell, while needing to consider to design asking for end cover outside calibration interface
The quality of topic, end cover design processing directly affects the security performance of underwater unmanned vehicle, while frequently dismounting sealed end
Lid can also reduce its service life, and this calibrating mode still needs that by cable connection calibration, school could be completed
Problem inconvenient for operation is equally existed on time.
Therefore, it is necessary to which providing a kind of new technical solution improves one or more problem present in said program.
Invention content
The purpose of the present invention is to provide a kind of underwater unmanned vehicle magnetic compass calibration system and calibration method, Jin Erzhi
It is few to overcome the problems, such as caused by the limitation and defect of the relevant technologies one or more to a certain extent.
According to a first aspect of the embodiments of the present invention, a kind of underwater unmanned vehicle magnetic compass calibration system is provided, this is
System includes：
Magnetic compass communication connection in wireless transmitting-receiving equipments, with the aircraft, for believing the default magnetic field of the magnetic compass
Breath is sent；
External calibration equipment is wirelessly communicated with the wireless transmitting-receiving equipments and is connected, the default magnetic for receiving the magnetic compass
Field information presets Magnetic Field processing to this and forms calibration data, and calibration data return is sent to the wireless receiving and dispatching
Equipment；
The wireless transmitting-receiving equipments, the calibration data for being additionally operable to receive are sent to the magnetic compass, so as to complete
The wireless calibration operation of the magnetic compass.
In the embodiment of the present invention, a communications protocol is communicated to connect between the magnetic compass and the wireless transmitting-receiving equipments and is turned
Exchange device.
In the embodiment of the present invention, the communications protocol conversion equipment includes that different the first communication interfaces and second communicates
Interface, first communication interface are communicated to connect with the magnetic compass, second communication interface and the wireless transmitting-receiving equipments
Communication connection.
In the embodiment of the present invention, first communication interface is serial ports, and second communication interface is network interface.
In the embodiment of the present invention, the external calibration equipment includes communications protocol converting unit and pose calibrating unit,
The communications protocol converting unit is connected with pose calibrating unit by virtual communication port communications；Wherein：
The communications protocol converting unit, the default magnetic field letter sent for receiving the wireless transmitting-receiving equipments
Breath, and this is preset into Magnetic Field and is forwarded to the pose calibrating unit；
The pose calibrating unit forms the calibration data for presetting Magnetic Field processing to this；
The communications protocol converting unit is additionally operable to the calibration data being forwarded to the wireless transmitting-receiving equipments.
In the embodiment of the present invention, the communications protocol converting unit is network/serial data converting unit.
In the embodiment of the present invention, the external calibration equipment is a computer.
In the embodiment of the present invention, the communications protocol conversion equipment is made of embedded microprocessor.The reality of the present invention
It applies in example, the wireless transmitting-receiving equipments are wireless router.
According to a second aspect of the embodiments of the present invention, a kind of underwater unmanned vehicle magnetic compass calibration method, the boat are provided
Magnetic compass in row device communicates to connect a wireless transmitting-receiving equipments；This method includes：
The default Magnetic Field of the magnetic compass is sent to an external calibration equipment by the wireless transmitting-receiving equipments；
The external calibration equipment receives the default Magnetic Field of the magnetic compass, and presetting Magnetic Field processing to this forms calibration
Data, and calibration data return is sent to the wireless transmitting-receiving equipments；
The calibration data received is sent to the magnetic compass by the wireless transmitting-receiving equipments, so as to complete the magnetic compass
Wireless calibration operation.
The technical solution that the embodiment of the present invention provides can include the following benefits：
In a kind of embodiment of the present invention, since above-mentioned underwater unmanned vehicle magnetic compass calibration system will be in the aircraft
Magnetic compass and a wireless transmitting-receiving equipments communicate to connect so that the wireless transmitting-receiving equipments can be directly by the default magnetic of the magnetic compass
Information is sent to external calibration equipment, waits for that external calibration equipment presets Magnetic Field processing to this and forms calibration data, then by
The calibration data received is sent to the magnetic compass by wireless transmitting-receiving equipments, i.e., wirelessly completes underwater nothing
The calibration operation of people's aircraft magnetic compass, this aspect so that calibration operation is more convenient, quick, on the other hand also eliminate frequency
Numerous end cover for splitting off or dismounting outside underwater unmanned vehicle, improves the security performance of underwater unmanned vehicle.
Description of the drawings
Fig. 1 shows a kind of schematic diagram of underwater unmanned vehicle magnetic compass calibration system in disclosure exemplary embodiment；
Fig. 2 shows the signals of another underwater unmanned vehicle magnetic compass calibration system in disclosure exemplary embodiment
Figure；
Fig. 3 shows network in disclosure exemplary embodiment/serial data switching software interface schematic diagram.
Fig. 4 shows underwater unmanned vehicle magnetic compass calibration method flow chart in disclosure exemplary embodiment.
Specific implementation mode
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be in any suitable manner incorporated in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in attached drawing are work(
Energy entity, not necessarily must be corresponding with physically or logically independent entity.Software form may be used to realize these work(
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
A kind of underwater unmanned vehicle magnetic compass calibration system is provided firstly in this example embodiment, with reference in figure 1
Shown, which includes mainly wireless transmitting-receiving equipments 103 and the external calibration equipment end inside underwater unmanned vehicle end 100
200.Specifically, which can be wireless router, be transmitted using WIFI as wireless transmission means, but simultaneously
It is without being limited thereto.The external calibration equipment end 200 is connected with the wireless communication of the wireless transmitting-receiving equipments 103, described for receiving
The default Magnetic Field for the magnetic compass 101 that wireless transmitting-receiving equipments 103 are sent out, and Magnetic Field processing is preset to this and forms school
Quasi- data, then calibration data return is sent to the wireless transmitting-receiving equipments 103.The default Magnetic Field is the magnetic being collected into
Magnetic Field of the compass under different postures.Specifically, which can be a computer, but be not limited to
This.The wireless transmitting-receiving equipments 103, the calibration data for being additionally operable to receive are sent to the magnetic compass 101, so as to complete
The wireless calibration operation of the magnetic compass.
Referring to Fig.1 shown in, in one embodiment, the wireless transmitting-receiving equipments 103 can directly in the aircraft
Magnetic compass 101 communicates to connect, for sending the default Magnetic Field of the magnetic compass.For example, the magnetic compass 101 is electrical
Interface is network interface and matches with the electric interfaces of the wireless transmitting-receiving equipments 103 that then the magnetic compass 101 directly by cable and is somebody's turn to do
Wireless transmitting-receiving equipments 103 are connected.
In one embodiment, when the electric interfaces of the wireless transmitting-receiving equipments 103 and the electrical of the magnetic compass 101 connect
When mouth mismatches, as shown in Fig. 2, a communications protocol can also be communicated to connect between the magnetic compass 101 and the wireless transmitting-receiving equipments
Conversion equipment 102, the communications protocol conversion equipment 102 are made of embedded microprocessor.The communications protocol conversion equipment 102
Including different the first communication interface and the second communication interface, first communication interface is that serial ports and the magnetic compass 101 are logical
Letter connection, second communication interface are that network interface is communicated to connect with the wireless transmitting-receiving equipments 103.Specifically, in the present embodiment
The electric interfaces of the magnetic compass 101 provided are serial ports, then 104 microprocessor of built-in PC is selected to be set as communications protocol conversion
Standby 102, but it is not limited to this.First communication interface of 104 microprocessor of built-in PC is that serial ports passes through number with magnetic compass 101
It is connected according to transmission line, the second communication interface of 104 microprocessor of built-in PC is network interface and the wireless transmitting-receiving equipments 103
It is connected by cable.
In the present embodiment, refering to what is shown in Fig. 2, the external calibration equipment 200 includes communications protocol converting unit 202 and appearance
State alignment unit 201, the communications protocol converting unit 202 are connected with pose calibrating unit 201 by virtual communication port communications.
Wherein, the communications protocol converting unit 202 is used to receive the default magnetic field letter that the wireless transmitting-receiving equipments 103 are sent
Breath, and this is preset into Magnetic Field and is forwarded to the pose calibrating unit 201.The pose calibrating unit 201, for pre- to this
If Magnetic Field processing forms the calibration data, the communications protocol converting unit 202 is additionally operable to turn the calibration data
It is sent to the wireless transmitting-receiving equipments 103.Wherein, the communications protocol converting unit 202 is network/serial data converting unit.
Specifically, the communications protocol converting unit 202 can be network/serial port data forwarding software, the network/serial port data forwarding
For software interface schematic diagram with reference to figure 3, the pose calibrating unit 201 can be pose calibrating software, but and be not so limited.
A kind of underwater unmanned vehicle magnetic compass calibration method is additionally provided in this example embodiment, in the aircraft
Magnetic compass communicates to connect a wireless transmitting-receiving equipments.With reference to shown in figure 4, this method may include：
Step S101：The default Magnetic Field of the magnetic compass 101 is sent to an outside school by the wireless transmitting-receiving equipments 103
Standard apparatus 200；
Step S102：The external calibration equipment 200 receives the default Magnetic Field of the magnetic compass, and Magnetic Field is preset to this
Processing forms calibration data, and calibration data return is sent to the wireless transmitting-receiving equipments 103；
Step S103：The calibration data received is sent to the magnetic compass 101 by the wireless transmitting-receiving equipments 103,
So as to complete the wireless calibration operation of the magnetic compass.
In the particular embodiment, 101 electric interfaces of magnetic compass provided are serial ports, with 104 microprocessor of built-in PC
As communications protocol conversion equipment 102, using wireless router as wireless transmitting-receiving equipments 103, passed using WIFI transmission as wireless
Defeated means, using network/serial port data forwarding software as communications protocol switching software, using virtual serial port as pose calibrating software
With the communication interface crossover tool between network/serial port data forwarding software, filled using user's laptop as external calibration
Set 200.104 microprocessor of built-in PC is connected by serial ports with magnetic compass 101, is connected with wireless router by network interface
It connects, virtual serial port and network/serial port data forwarding software is installed on user's laptop.Be arranged user's laptop without
Line network ip address makes it be established with the wireless router inside underwater unmanned vehicle and connects.It is empty using virtual serial port tool
Two serial ports are drawn up, a serial ports distributes to pose calibrating software, and a serial ports distributes to network/serial port data forwarding software.
Network/serial port data forwarding software is opened, establishes and connects with pose calibrating software according to the baud rate of magnetic compass 101.Magnetic at this time
Compass calibration data transmission channel is then established in the form of wireless and is completed.
According to step S101~S103, pose calibrating software is opened, underwater unmanned vehicle magnetic compass 101 is collected
Magnetic Field operates.Magnetic Field is transmitted to wireless router by magnetic compass 101 by 104 microprocessor of built-in PC simultaneously, then
Be sent to the network on user's laptop/serial port data forwarding software by WIFI by wireless router, finally by network/
Magnetic Field is transmitted to pose calibrating software by serial port data forwarding software.Pose calibrating software receives Magnetic Field, by place
Reason forms calibration data, and calibration data is sent to wireless router by network/serial port data forwarding software by WIFI, then by
Wireless router is transmitted to magnetic compass 101 by 104 microprocessor of built-in PC, to realize underwater unmanned vehicle platform magnetic
The wireless calibration operation of compass.This just eliminate frequently split off or dismount in a calibration process it is close outside underwater unmanned vehicle
Sealing end lid not only so that calibration operation was convenient and efficient but also improves the security performance of underwater unmanned vehicle.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the disclosure, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the disclosure.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
What can be combined in any suitable manner in one or more embodiments or example.In addition, those skilled in the art can say this
Different embodiments or examples described in bright book are engaged and are combined.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by appended
Claim is pointed out.
Claims (10)
1. a kind of underwater unmanned vehicle magnetic compass calibration system, which is characterized in that the system includes：
Magnetic compass communication connection in wireless transmitting-receiving equipments, with the aircraft, for sending out the default Magnetic Field of the magnetic compass
It sees off；
External calibration equipment is wirelessly communicated with the wireless transmitting-receiving equipments and is connected, and the default magnetic field for receiving the magnetic compass is believed
Breath presets Magnetic Field processing to this and forms calibration data, and calibration data return is sent to the wireless transmitting-receiving equipments；
The wireless transmitting-receiving equipments, the calibration data for being additionally operable to receive is sent to the magnetic compass, so as to complete the magnetic
The wireless calibration operation of compass.
2. underwater unmanned vehicle magnetic compass calibration system according to claim 1, which is characterized in that the magnetic compass and institute
It states and communicates to connect a communications protocol conversion equipment between wireless transmitting-receiving equipments.
3. underwater unmanned vehicle magnetic compass calibration system according to claim 2, which is characterized in that the communications protocol turns
Exchange device includes different the first communication interface and the second communication interface, first communication interface and the magnetic compass communication link
It connects, second communication interface is communicated to connect with the wireless transmitting-receiving equipments.
4. underwater unmanned vehicle magnetic compass calibration system according to claim 3, which is characterized in that first communication connects
Mouth is serial ports, and second communication interface is network interface.
5. underwater unmanned vehicle magnetic compass calibration system according to claim 3, which is characterized in that
The external calibration equipment includes communications protocol converting unit and pose calibrating unit, the communications protocol converting unit and
Pose calibrating unit is connected by virtual communication port communications；Wherein：
The communications protocol converting unit, the default Magnetic Field sent for receiving the wireless transmitting-receiving equipments, and
This is preset into Magnetic Field and is forwarded to the pose calibrating unit；
The pose calibrating unit forms the calibration data for presetting Magnetic Field processing to this；
The communications protocol converting unit is additionally operable to the calibration data being forwarded to the wireless transmitting-receiving equipments.
6. underwater unmanned vehicle magnetic compass calibration system according to claim 5, which is characterized in that the communications protocol turns
It is network/serial data converting unit to change unit.
7. according to the underwater unmanned vehicle magnetic compass calibration system of claim 5 or 6, which is characterized in that the external school
Standard apparatus is a computer.
8. underwater unmanned vehicle magnetic compass calibration system according to claim 7, which is characterized in that the communications protocol turns
Exchange device is made of embedded microprocessor.
9. underwater unmanned vehicle magnetic compass calibration system according to claim 7, which is characterized in that the wireless receiving and dispatching is set
Standby is wireless router.
10. a kind of underwater unmanned vehicle magnetic compass calibration method, which is characterized in that the magnetic compass communication connection in the aircraft
One wireless transmitting-receiving equipments；This method includes：
The default Magnetic Field of the magnetic compass is sent to an external calibration equipment by the wireless transmitting-receiving equipments；
The external calibration equipment receives the default Magnetic Field of the magnetic compass, and presetting Magnetic Field processing to this forms calibration number
According to, and calibration data return is sent to the wireless transmitting-receiving equipments；
The calibration data received is sent to the magnetic compass by the wireless transmitting-receiving equipments, so as to complete the nothing of the magnetic compass
Line calibration operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810630040.2A CN108775897A (en) | 2018-06-19 | 2018-06-19 | Underwater unmanned vehicle magnetic compass calibration system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810630040.2A CN108775897A (en) | 2018-06-19 | 2018-06-19 | Underwater unmanned vehicle magnetic compass calibration system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108775897A true CN108775897A (en) | 2018-11-09 |
Family
ID=64026148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810630040.2A Pending CN108775897A (en) | 2018-06-19 | 2018-06-19 | Underwater unmanned vehicle magnetic compass calibration system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108775897A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4040109A1 (en) * | 2021-02-03 | 2022-08-10 | Upteko ApS | Automatic and autonomous calibration transfer between two devices |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106441253A (en) * | 2016-10-28 | 2017-02-22 | 易瓦特科技股份公司 | Calibration method and device |
-
2018
- 2018-06-19 CN CN201810630040.2A patent/CN108775897A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106441253A (en) * | 2016-10-28 | 2017-02-22 | 易瓦特科技股份公司 | Calibration method and device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4040109A1 (en) * | 2021-02-03 | 2022-08-10 | Upteko ApS | Automatic and autonomous calibration transfer between two devices |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208621962U (en) | A kind of distribution unmanned boat monitoring system | |
| CN104796924B (en) | It is directly connected to using wireless device management legacy WI-FI and WI-FI | |
| US6529743B1 (en) | Universal wireless telephone to modem adapter | |
| CN106254518A (en) | A kind of vehicle-mounted Ethernet system and automobile | |
| CN108292990A (en) | Communication system and communication means | |
| Krile et al. | NMEA communication standard for shipboard data architecture | |
| CN108775897A (en) | Underwater unmanned vehicle magnetic compass calibration system and method | |
| GB2444622A (en) | Detachable wireless adapter for vehicle communication modules | |
| CN1232338A (en) | Apparatus for synthesizing speech sounds of short message in hands free kit assisting mobile phone | |
| CN103812746B (en) | Bridging device based on linux operating systems and its communication means | |
| CN102594372B (en) | Software-radio-based intelligent bridge system for ship | |
| CN114662125A (en) | Unmanned ship heterogeneous link multi-scale data security reconstruction system | |
| CN208987073U (en) | A kind of capture apparatus and aircraft | |
| CN101281409B (en) | Autopilot | |
| CN206849495U (en) | Vehicle-mounted voice interactive terminal and interactive system for vehicle-mounted voice | |
| CN205666959U (en) | Terminal of talkbacking with communication function | |
| CN109616119A (en) | A kind of Multifunctional gateway equipment based on IPv6 agreement | |
| CN107070746A (en) | A kind of comprehensive cable tester and its method of testing | |
| CN112152700B (en) | Double-antenna system and selection method thereof | |
| CN201733307U (en) | Wireless microwave communication device and wireless integrated communication system | |
| CN103782550A (en) | Method and apparatus for null virtual local area network identification transformation | |
| CN211308456U (en) | Vehicle-mounted domain controller and vehicle | |
| CN114234960A (en) | Beidou AIS (automatic identification System) shipborne integrated communication navigation system | |
| CN211296738U (en) | Command vehicle system node single body detection and diagnosis equipment | |
| CN101237464A (en) | A three-meter control device based on mobile terminal and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181109 |
|
| RJ01 | Rejection of invention patent application after publication |