CN108791774A - A kind of submarine navigation device for communicating and positioning - Google Patents
A kind of submarine navigation device for communicating and positioning Download PDFInfo
- Publication number
- CN108791774A CN108791774A CN201810528845.6A CN201810528845A CN108791774A CN 108791774 A CN108791774 A CN 108791774A CN 201810528845 A CN201810528845 A CN 201810528845A CN 108791774 A CN108791774 A CN 108791774A
- Authority
- CN
- China
- Prior art keywords
- navigation device
- submarine navigation
- positioning
- section
- communicating
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of submarine navigation devices for communicating and positioning, including：It detects section, buoyancy bay section, battery bay section, control bay section and promotes bay section, the submarine navigation device further includes remote measuring and controlling section, status information and telemetry intelligence (TELINT) for emitting submarine navigation device, is additionally operable to receive remote information.The remote measuring and controlling section of the submarine navigation device of the present invention has low-power consumption standby design and rational power management scheme, it can realize the standby requirement of system low-power consumption, the remote measuring and controlling section has good anti-Doppler frequency displacement simultaneously, under water during high speed operation, there is reliable communication performance.
Description
Technical field
The present invention relates to undersea detection fields, and in particular to a kind of submarine navigation device for communicating and positioning.
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, several triangles are utilized in conjunction with positioning node coordinate by multiple point distance measurement
Relationship can calculate the coordinate of destination node.The widely used short baseline (SBL) of Underwater Navigation, ultra-short baseline (USBL) at present
With Long baselines (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 and technology need to lay four or more beacon seabeds, pass through TDOA rangings according to triangle relation
The advantages of mode 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 submarine navigation device for communicating and positioning has positioning, communication, remote control one
Body function can be that research and development, test, the evaluation etc. of domestic submarine navigation device equipment provide scientific and effective research technique.
To achieve the goals above, the present invention proposes a kind of submarine navigation device for communicating and positioning, including：Detection
Section, buoyancy bay section, battery bay section, control bay section and propulsion bay section, the submarine navigation device further includes remote measuring and controlling section, for sending out
The status information and telemetry intelligence (TELINT) for penetrating submarine navigation device are additionally operable to receive remote information.
As a kind of improvement of above-mentioned apparatus, the remote measuring and controlling section setting is between detection section and buoyancy bay section.
As a kind of improvement of above-mentioned apparatus, the remote measuring and controlling section includes：Receiver card, digital signal panel and hair
Penetrate machine plate；
The receiver card, for receive several underwater acoustic transducers transmission electric signal and carry out power amplification；
The digital signal panel, for modulating underwater sound signal, demodulated received signal and being controlled with submarine navigation device
Bay section is communicated；
The transmitter board, the analog signal for being sent to digital signal panel carries out power amplification, and is sent to
Underwater acoustic transducer.
As a kind of improvement of above-mentioned apparatus, the remote measuring and controlling section further includes：Lithium battery and power management plate；The lithium
Battery is used to carry out power management to remote measuring and controlling section for carrying out integration power supply, the power management plate.
As a kind of improvement of above-mentioned apparatus, the power management plate includes decompression DC, DC isolation module, at digital signal
Manage power supply control chip, microcontroller and the band logical of the power supply control chip of plate, the power supply control chip of receiver card, transmitter board
Filter amplification circuit；Underwater sound signal, power supply control chip, receiver of the timesharing to digital signal panel are monitored by microcontroller
The power supply control chip of plate, the power supply control chip of high-power transmitter plate are powered control.
As a kind of improvement of above-mentioned apparatus, the digital signal panel includes that DSP and FPGA governor circuits and 4 are logical
Road high-gain receives amplifying circuit；
Then DSP the and FPGA governor circuits read the master in SD card for loading BOOTLOADER by FLASH
Control program starts DSP and is encoded to the information of required transmission by the communication modulation demodulating algorithm inside DSP, data are led to
Bus transfer is crossed coded data is sent to DA chips and carries out digital-to-analogue conversion, the digital signal of DSP is converted into FPGA, PFGA
Analog signal；
4 channel high-gain receives amplifying circuit, and the analog signal for being exported to DA chips is amplified, then sends out
It send to transmitter board.
Further include that USB interface and CAN bus connect as a kind of improvement of above-mentioned apparatus, on the digital signal panel
Mouthful, it is communicated for the sensor with submarine navigation device, obtains depth, course, speed and the convolution of submarine navigation device in real time
Angular velocity information.
As a kind of improvement of above-mentioned apparatus, the receiver card includes several receivers, quantity and underwater acoustic transducer
Quantity it is identical, each receiver receive respectively a underwater acoustic transducer transmission data.
As a kind of improvement of above-mentioned apparatus, the receiver card is protected in such a way that catching diode protects analog signal
Late-class circuit is protected, and late-class circuit carries out bandpass filtering and the amplification of analog circuit by diode and triode.
As a kind of improvement of above-mentioned apparatus, the transmitter board is believed modulation to be launched by the way of Simulation scale-up
Number launch, and passes through high-power amplifier chip and improve transmitting source level.
Advantage of the invention is that：
The remote measuring and controlling section of the submarine navigation device for communicating and positioning of the present invention is with low-power consumption standby design and rationally
Power management scheme, can realize the standby requirement of system low-power consumption, at the same the remote measuring and controlling section have it is good anti-how general
Frequency displacement is strangled, under water during high speed operation, there is reliable communication performance.
Description of the drawings
Fig. 1 is the structural schematic diagram of the submarine navigation device of the present invention；
Fig. 2 is the structural schematic diagram of the remote measuring and controlling section of the submarine navigation device of the present invention.
Specific implementation mode
The present invention will be described in detail below in conjunction with the accompanying drawings.
Can communicate has synchronous acoustic marker with the remote measuring and controlling section installed on the submarine navigation device positioned, can be periodically to buoy
Emit acoustical signal.Meanwhile interior survey posture information and work state information are also sent to positioning by submarine navigation device remote measuring and controlling section
Communication buoy.Multiple water surface floats constitute long-base-line system, and self-position is measured using the Beidou receiver timing loaded thereon,
Receive the positioning signal of submarine navigation device transmitting, Estimated Time of Arrival, with the aircraft posture information and working condition received
Information is sent to lash ship by radio together.Lash ship carries out integrated treatment to radio reception information, and it is fixed to complete submarine target
Position and track estimation, indication control board is shown in together with posture information, work state information.Lash ship can pass through according to comprehensive situation
Buoy carries out long distance wireless instruction control to submarine navigation device.Other than round voyage flight path measures, may be used also for key navigation section
Using higher precision measurement method.It crosses under water range measurement problem for double submarine navigation devices, using the distant of aircraft
It surveys remote control section and emits signal, the method that another 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 water surface float 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.As shown in Figure 1, the submarine navigation device includes detection section, remote measuring and controlling section, floats
Power bay section, battery bay section, control bay section and propulsion bay section.The remote measuring and controlling section is not limited to setting in detection section and buoyancy bay section
Between.
As shown in Fig. 2, the inside composition of remote measuring and controlling section includes：Digital signal panel, transmitter board, receiver card,
Power supply and two underwater acoustic transducers.Wherein digital signal panel carries out underwater sound signal modulation, receiving signal demodulation and and boat
Row device control unit communication function, transmitter board include two receivers for emitting signal power amplification, receiver card, respectively
It receives the acoustoelectric signal that two underwater acoustic transducers are sent and is amplified, power supply is used for powering to circuit board, and underwater acoustic transducer is used
To realize the acoustic-electric conversion of underwater sound signal.The composition of entire remote measuring and controlling section realizes interior survey and the exterior measuring letter of submarine navigation device
The real-time acquisition and transmission of breath, can lay 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.
Digital signal panel includes DSP and FPGA governor circuits, and 4 channel high-gains receive amplifying circuit.DSP and FPGA
Main control part, DSP load BOOTLOADER by FLASH, and the primary control program then read in SD card passes through to start DSP
Communication modulation demodulating algorithm inside DSP carries out Software Coding to the information of required transmission, data is given by bus transfer
Coded data is sent to DA chips and carries out digital-to-analogue conversion by FPGA, PFGA, to which the digital signal of DSP is converted into simulation letter
Number, DA sends the data of required transmission using transmitter.
4 channel high-gains receive amplification circuits, and circuit uses compact miniaturization placement-and-routing, has area small,
Feature low in energy consumption, the electric signal that energy converter receives, is transferred to receiver circuit, receiver circuit after clamp diode is protected
The analog circuit being made up of diode and triode realizes bandpass filtering, is then again amplified obtained signal, and
Amplification factor can be controlled by DSP main control chips, realize that adjustable gain, amplification factor maximum can reach 10,000 times.Receiving circuit
The signal received carries out analog-to-digital conversion after enhanced processing, by A/D chip, converts analog signals into digital signal biography
It is defeated by FPGA, FPGA sends the data to DSP by bus, is carried out to obtained data by the communication of algorithms inside DSP
Demodulation, to obtain obtained information.
There are USB interface and CAN interface on digital signal panel, passes through these interfaces, digital signal panel
It can be communicated with each sensor of aircraft, obtain the letters such as depth, course, speed, the convolution angular speed of aircraft in real time
Breath.
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 underwater 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 underwater acoustic transducer can also receive water surface float transmission
The acoustical signal of the control command to come over, converts acoustic signals into electric signal, and remote measuring and controlling section is receiving corresponding control command
After signal, the long-distance measure and control function to submarine navigation device is realized.
Positioning and communicating buoy
Positioning and communicating buoy includes four parts：Buoy ontology, underwater acoustic communication set, BEI-DOU position system, radio communication
System.Wherein buoy ontology provides water surface buoyancy to whole system and supports, underwater acoustic communication set is completed fixed to the submarine navigation device underwater sound
Position and telemetry intelligence (TELINT) receive and underwater images order transmitting, BEI-DOU position system provide accurate three-dimensional location information, nothing for buoy
Line electrical communication system completes the wireless communication between buoy and integrated treatment display & control system.
Positioning and communicating buoy is divided into waterborne and underwater two parts, and underwater portion installs underwater acoustic communication set, water surface part peace
Fill BEI-DOU position system, radio communications system and power-supply system.Multiple buoys obtain itself accurately by triones navigation system
After location information, a set of Long baselines positioning system is just constituted.High-precise synchronization clock, underwater navigation are housed on underwater acoustic communication set
Hydrolocation signal between device and buoy is synchronized by high-precise synchronization clock, and buoy is by calculating positioning signal time-delay calculation
The distance between aircraft and buoy.Triones navigation system is synchronized by Transistor-Transistor Logic level interface to buoy time service, and passes through RS232
Three-dimensional coordinate information is transmitted to radio communications system by interface, radio communications system and underwater acoustic communication set by RS232 or
RS422 interface communications, interact with each other telemetry and telecommand information, radio communications system finally by submarine navigation device and buoy away from
It is sent to integrated treatment display & control system from information and telemetry intelligence (TELINT).
Hydrolocation communication buoy includes four parts：Buoy ontology, underwater acoustic communication set, BEI-DOU position system, radio
Communication system.Wherein buoy ontology provides water surface buoyancy to whole system and supports, underwater acoustic communication set is completed to submarine navigation device water
Acoustic fix ranging 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.
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.
BEI-DOU position system is mounted on buoy water surface part, floating for hydrolocation communication using high-precision GPS locating module
Mark provides accurate location information, and GPS position information real-time Transmission is given to DSP governor circuits by Transistor-Transistor Logic level interface, to realize
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 (10)
1. a kind of submarine navigation device for communicating and positioning, including：Detection section, battery bay section, controls bay section and pushes away buoyancy bay section
Into bay section, which is characterized in that the submarine navigation device further includes remote measuring and controlling section, the status information for emitting submarine navigation device
And telemetry intelligence (TELINT), it is additionally operable to receive remote information.
2. the submarine navigation device according to claim 1 for communicating and positioning, which is characterized in that the remote measuring and controlling section is set
It sets between detection section and buoyancy bay section.
3. the submarine navigation device according to claim 1 for communicating and positioning, which is characterized in that the remote measuring and controlling section packet
It includes：Receiver card, digital signal panel and transmitter board；
The receiver card, for receive several underwater acoustic transducers transmission electric signal and carry out power amplification；
The digital signal panel, for modulating underwater sound signal, demodulated received signal and controlling bay section with submarine navigation device
It is communicated；
The transmitter board, the analog signal for being sent to digital signal panel carries out power amplification, and is sent to the underwater sound
Energy converter.
4. the submarine navigation device according to claim 3 for communicating and positioning, which is characterized in that the remote measuring and controlling section is also
Including：Lithium battery and power management plate；The lithium battery is used for for carrying out integration power supply, the power management plate to telemetering
It is remotely controlled section and carries out power management.
5. the submarine navigation device according to claim 4 for communicating and positioning, which is characterized in that the power management plate packet
Include decompression DC, DC isolation module, the power supply control chip of digital signal panel, the power supply control chip of receiver card, transmitting
Power supply control chip, microcontroller and the bandpass filtering amplifying circuit of machine plate；Underwater sound signal is monitored by microcontroller, timesharing is to number
The power supply control chip of the power supply control chip of signal-processing board, the power supply control chip of receiver card, high-power transmitter plate
It is powered control.
6. the submarine navigation device for communicating and positioning according to one of claim 3-5, which is characterized in that the number letter
Number processing board includes that DSP and FPGA governor circuits and 4 channel high-gains receive amplifying circuits；
Then DSP the and FPGA governor circuits read the master control journey in SD card for loading BOOTLOADER by FLASH
Sequence starts DSP and is encoded to the information of required transmission by the communication modulation demodulating algorithm inside DSP, data is passed through total
Line is transferred to FPGA, and coded data is sent to DA chips and carries out digital-to-analogue conversion, the digital signal of DSP is converted into simulating by PFGA
Signal；
4 channel high-gain receives amplifying circuit, and the analog signal for being exported to DA chips is amplified, is then forwarded to
Transmitter board.
7. the submarine navigation device according to claim 6 for communicating and positioning, which is characterized in that the Digital Signal Processing
Further include USB interface and CAN interface on plate, communicated for the sensor with submarine navigation device, is obtained in real time underwater
Depth, course, speed and the convolution angular velocity information of aircraft.
8. the submarine navigation device according to claim 3 for communicating and positioning, which is characterized in that the receiver card includes
Several receivers, quantity is identical as the quantity of underwater acoustic transducer, and each receiver receives a underwater acoustic transducer and sends respectively
Data.
9. the submarine navigation device for communicating and positioning according to claim 3 or 7, which is characterized in that the receiver card
Protect late-class circuit in such a way that catching diode protects analog signal, and late-class circuit by diode and triode into
The bandpass filtering of row analog circuit and amplification.
10. the submarine navigation device according to claim 3 for communicating and positioning, which is characterized in that the transmitter board is adopted
Modulated signal to be launched is launched with the mode of Simulation scale-up, and emission sound source is improved by high-power amplifier chip
Grade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810528845.6A CN108791774A (en) | 2018-05-29 | 2018-05-29 | A kind of submarine navigation device for communicating and positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810528845.6A CN108791774A (en) | 2018-05-29 | 2018-05-29 | A kind of submarine navigation device for communicating and positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108791774A true CN108791774A (en) | 2018-11-13 |
Family
ID=64090836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810528845.6A Pending CN108791774A (en) | 2018-05-29 | 2018-05-29 | A kind of submarine navigation device for communicating and positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108791774A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606593A (en) * | 2018-12-21 | 2019-04-12 | 中国船舶重工集团公司第七0研究所 | Remote portable underwater robot for rescue |
| CN110127009A (en) * | 2019-05-08 | 2019-08-16 | 北京航天控制仪器研究所 | A kind of untetheredization communication submariner device |
| CN110224766A (en) * | 2019-06-03 | 2019-09-10 | 哈尔滨理工大学 | A kind of subsurface communication signal processing apparatus and method |
| CN110703206A (en) * | 2019-09-19 | 2020-01-17 | 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) | Underwater UUV communication and positioning integrated system |
| CN110992765A (en) * | 2019-12-25 | 2020-04-10 | 深圳金信诺高新技术股份有限公司 | Air-drop self-propelled target simulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1971649A (en) * | 2006-12-01 | 2007-05-30 | 哈尔滨工程大学 | Positioning and communicating integral buoy |
| CN101389976A (en) * | 2006-02-23 | 2009-03-18 | 海洋服务器技术有限公司 | System and method for determining the position of an underwater vehicle |
| CN101470196A (en) * | 2007-12-26 | 2009-07-01 | 中国科学院声学研究所 | System and method for passively positioning underwater target |
| JP2010139270A (en) * | 2008-12-09 | 2010-06-24 | Mitsubishi Heavy Ind Ltd | System for collecting under-water information |
| CN101907462A (en) * | 2010-06-25 | 2010-12-08 | 南京信息工程大学 | Small-scale underwater vehicle combined navigation device and method for correcting position |
| US20110162573A1 (en) * | 2009-06-12 | 2011-07-07 | Race Roger E | Towed antenna system and method |
| CN102608640A (en) * | 2012-03-14 | 2012-07-25 | 桂林电子科技大学 | Method and system for locating underwater vehicle on basis of global navigation satellite system (GNSS) satellite |
| CN104245500A (en) * | 2012-03-02 | 2014-12-24 | 行走科学集团有限公司 | Communication with an underwater vehicle |
-
2018
- 2018-05-29 CN CN201810528845.6A patent/CN108791774A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101389976A (en) * | 2006-02-23 | 2009-03-18 | 海洋服务器技术有限公司 | System and method for determining the position of an underwater vehicle |
| CN1971649A (en) * | 2006-12-01 | 2007-05-30 | 哈尔滨工程大学 | Positioning and communicating integral buoy |
| CN101470196A (en) * | 2007-12-26 | 2009-07-01 | 中国科学院声学研究所 | System and method for passively positioning underwater target |
| JP2010139270A (en) * | 2008-12-09 | 2010-06-24 | Mitsubishi Heavy Ind Ltd | System for collecting under-water information |
| US20110162573A1 (en) * | 2009-06-12 | 2011-07-07 | Race Roger E | Towed antenna system and method |
| CN101907462A (en) * | 2010-06-25 | 2010-12-08 | 南京信息工程大学 | Small-scale underwater vehicle combined navigation device and method for correcting position |
| CN104245500A (en) * | 2012-03-02 | 2014-12-24 | 行走科学集团有限公司 | Communication with an underwater vehicle |
| CN102608640A (en) * | 2012-03-14 | 2012-07-25 | 桂林电子科技大学 | Method and system for locating underwater vehicle on basis of global navigation satellite system (GNSS) satellite |
Non-Patent Citations (7)
| Title |
|---|
| 冯永峰: "一种多通道变增益放大电路的设计", 《五邑大学学报》 * |
| 卢军: "基于移动长基线的水下航行器定位和跟踪技术研究", 《兵工学报》 * |
| 尹彩玲: "水下高速目标定位的智能定位浮标系统研制", 《声学技术》 * |
| 张涛: "基于惯性及声学浮标辅助的水下航行器导航定位系统", 《中国惯性技术学报》 * |
| 张立川: "基于双水听器的多自主水下航行器协同导航方法", 《系统工程与电子技术》 * |
| 李改利: "ERT中多通道程控增益放大电路设计", 《电子科技》 * |
| 李瑞彬: "多通道程控增益放大电路的实现", 《中国测试技术》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606593A (en) * | 2018-12-21 | 2019-04-12 | 中国船舶重工集团公司第七0研究所 | Remote portable underwater robot for rescue |
| CN110127009A (en) * | 2019-05-08 | 2019-08-16 | 北京航天控制仪器研究所 | A kind of untetheredization communication submariner device |
| CN110224766A (en) * | 2019-06-03 | 2019-09-10 | 哈尔滨理工大学 | A kind of subsurface communication signal processing apparatus and method |
| CN110224766B (en) * | 2019-06-03 | 2021-07-30 | 哈尔滨理工大学 | Underwater communication signal processing device and method |
| CN110703206A (en) * | 2019-09-19 | 2020-01-17 | 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) | Underwater UUV communication and positioning integrated system |
| CN110992765A (en) * | 2019-12-25 | 2020-04-10 | 深圳金信诺高新技术股份有限公司 | Air-drop self-propelled target simulator |
| CN110992765B (en) * | 2019-12-25 | 2022-08-05 | 深圳金信诺高新技术股份有限公司 | Air-drop self-propelled target simulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108414982A (en) | A kind of communication buoy and its networking for hydrolocation | |
| CN108681338A (en) | A kind of telemetering and remote control system of submarine navigation device | |
| CN108791774A (en) | A kind of submarine navigation device for communicating and positioning | |
| CN203714144U (en) | Buoy device based on acoustics and GPS (global positioning system) intelligent positioning | |
| RU2119172C1 (en) | Method of remote control over unmanned underwater craft and device for its implementation | |
| CN101470196B (en) | System and method for passively positioning underwater target | |
| US10597128B2 (en) | Diver navigation, information and safety buoy | |
| CN103823229B (en) | A kind of Underwater Navigation navigation system based on DGPS buoy and method | |
| US11681041B2 (en) | Navigation system for underwater vehicles | |
| CN109884647B (en) | Node device for underwater sound passive detection or passive positioning and distributed node system | |
| CN103926560B (en) | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system | |
| Singh et al. | Underwater acoustic navigation with the WHOI micro-modem | |
| CN104267643A (en) | Target positioning recognition system of underwater robot | |
| CN104215988A (en) | Underwater target positioning method | |
| Austin et al. | PARADIGM: a buoy-based system for auv navigation and tracking | |
| CN104297727A (en) | Integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission | |
| CN110855343A (en) | Underwater sound positioning and timing buoy and working method thereof | |
| US20060215494A1 (en) | Autolocating underwater beacon and method for deployment thereof | |
| CN112346102A (en) | Underwater acoustic positioning navigation time service system | |
| CN109319074B (en) | Multi-orthogonal signal emission unmanned submersible vehicle sound guiding and recycling system | |
| CN108445453A (en) | Localization method, device, system and computer storage media | |
| CN114200401A (en) | Mesh division based underwater robot self-positioning system and method | |
| Cruz et al. | A versatile acoustic beacon for navigation and remote tracking of multiple underwater vehicles | |
| CN113167851A (en) | Underwater navigation | |
| CN104570032A (en) | Automatic positioning device for unmanned remote control boat and water surface indication floating body |
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: 20181113 |
|
| RJ01 | Rejection of invention patent application after publication |