CN108981481A - Target ship miss distance measurement system on a kind of lake - Google Patents
Target ship miss distance measurement system on a kind of lake Download PDFInfo
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- CN108981481A CN108981481A CN201811037592.9A CN201811037592A CN108981481A CN 108981481 A CN108981481 A CN 108981481A CN 201811037592 A CN201811037592 A CN 201811037592A CN 108981481 A CN108981481 A CN 108981481A
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- gps
- information
- watertight case
- hydrophone
- pps
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J9/00—Moving targets, i.e. moving when fired at
- F41J9/04—Seagoing targets
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Target ship miss distance measurement system on a kind of lake, including buoy subsystem identical at least more than three nested structures, every set buoy subsystem include GPS antenna etc.；The longitude and latitude of GPS antenna acquisition buoy subsystem, height, time are sent to watertight case, and radio antenna receives GPS differential signal and is sent to watertight case；Hydrophone acquires underwater sound signal, is sent to watertight case in real time；Fish lead connect with hydrophone, and hydrophone is made to keep plumbness, and anchor system unit is used for fixed buoy subsystem；Watertight case is mounted on buoyancy tank, so that watertight case floats on the surface；Watertight case extracts the longitude and latitude of the buoy subsystem of transmission, height, temporal information, GPS differential signal, underwater sound signal, is converted to underwater acoustic information corresponding with temporal information and location information and stores.The present invention can be realized the data fusion of buoy subsystem, self-positioning and data store, and can measure the miss distance information of dynamic target ship on lake after processed offline.
Description
Technical field
The present invention relates to target ship miss distances in Long baselines underwater sound Passive Positioning fields of measurement more particularly to a kind of inexpensive lake
Measuring system.
Background technique
In range test, it is that thrum is not hit that miss distance, which is the important indicator for measuring guided missile or weapon-shooting precision and performance,
The relative distance and angular amount of distance objective when middle target, it is also to measure bullet to the important indicator of target Damage ability.Currently,
Have to the main method of Miss distance measurement: Radio Law, optical method, video monitoring method, air-borne sound, asdic method etc., but it is preceding several
Method is affected by factors such as clutter, mist, wind, and asdic method will not be by the interference of these factors, therefore underwater acoustic measurement side
Method has oneself unique advantage.Compared to land target range, the Miss distance measurement difficulty on lake is bigger, it is by stormy waves factor, day
Multipath effect in gas factor, lake water etc. influences, and reliability and measurement accuracy to measuring device are proposed very high want
It asks.
In miss distance underwater acoustic measurement technology, according to the different length of baseline, and ultra-short baseline measuring technique, short can be divided into
Base line measurement technology and Long baselines measuring technique.Wherein ultra-short baseline measuring technique and short base line measurement technology are to the opposite of equipment
Installation site required precision is higher, and needs to do a large amount of calibration, and Long baselines measuring technique this is required it is lower, therefore
On lake in this larger range in measurement, Long baselines underwater acoustic measurement technology also becomes the one preferred technique in Miss distance measurement.
Long baselines measuring system needs to be laid in 3 or more array element i.e. buoy in the range of several hundred rice or upper kilometer, is covered with being formed
The formation of lid measured zone, and then receive signal when springing into water.
Currently, domestic existing hydrolocation measuring system structure, Hardware Design complexity and higher cost, have been realized
Short base line measurement system can only be measured for static target ship in water, dynamic target ship cannot be measured, be discontented with
The actual use demand of pedal system.For the shallower equal features of this phenomenon and lake headwater depth, towards target ship miss distance on lake
The mission requirements of measurement realize that low cost, simple in structure, stable performance, high certainty of measurement, the index of measurement dynamic target ship are wanted
It asks, is badly in need of designing target ship miss distance measurement system on the new inexpensive lake of one kind.
Summary of the invention
The technical problems to be solved by the present invention are: overcoming the shortcomings of existing short baseline miss distance measurement technology, provide
Target ship miss distance measurement system on a kind of lake, the system lay that recovery difficult is low, structure is simple, at low cost, measurement accuracy is high, energy
Enough data fusions for realizing single set buoy subsystem and self-positioning, data storage, processed offline measurable lake on dynamic target ship
Miss distance information.
The technical scheme adopted by the invention is that: target ship miss distance measurement system on a kind of lake, including at least more than three sets
The identical buoy subsystem of structure, every set buoy subsystem include GPS antenna, radio antenna, watertight case, buoyancy tank, hydrophone, lead
Fish, anchor system unit；The longitude and latitude of GPS antenna acquisition buoy subsystem, height, time are sent to watertight case, and radio antenna receives
GPS differential signal is sent to watertight case；Hydrophone acquires underwater sound signal, is sent to watertight case in real time；Fish lead connect with hydrophone,
Hydrophone is set to keep plumbness, hydrophone is located on the central axis of GPS antenna and is located at immediately below GPS antenna, and anchor system is single
Member is used for fixed buoy subsystem；Watertight case is mounted on buoyancy tank, so that watertight case floats on the surface；Watertight case floats transmission
It marks the longitude and latitude of subsystem, height, temporal information, GPS differential signal, underwater sound signal to extract, be converted to and temporal information
Corresponding underwater acoustic information and location information simultaneously store.
The GPS antenna and radio antenna are separately fixed at the external top of watertight case, GPS antenna and radio antenna difference
It is connected on two bnc interfaces in GPS receiver.
The watertight case includes GPS receiver, data fusion plate, the battery pack, DCDC conversion being fixed on inside watertight case
Device, GPS receiver pass through DC-DC converter with the power interface of data fusion plate respectively and connect on the battery pack, and battery pack is given
GPS receiver and data fusion plate are powered；GPS receiver receives longitude and latitude, the height, temporal information, radio station that GPS antenna is sent
The GPS differential signal that antenna is sent, after being calibrated using GPS Difference signal pair longitude and latitude, elevation information, by the warp after calibration
Latitude, elevation information, pps pulse per second (PPS) information, temporal information are sent to data fusion plate；Data fusion plate passes through serial ports and GPS
Receiver is connected, longitude and latitude that underwater sound signal that data fusion plate sends hydrophone, GPS receiver are sent, height, pps
Pulse per second (PPS), temporal information, GPS differential signal are converted to underwater acoustic information corresponding with temporal information and location information and store.
The data fusion plate includes double channel A/D converter, dsp processor, SD storage card, double channel A/D converter
Output end and dsp processor interconnect, SD storage card respectively with dsp processor interconnect；Double channel A/D converter is to underwater sound signal
Analog-to-digital conversion is carried out, is sent to dsp processor after being converted to digital signal, dsp processor receives GPS receiver by serial ports and sends out
The real time data sent includes longitude and latitude, height, pps pulse per second (PPS), temporal information, GPS differential signal, DSP processing in real time data
Device is equipped with data fusion program, and data fusion program is run as follows:
Step 1: completing the initialization of buoy subsystem, start SYS/BIOS, comprising: GPS receiver, A/D converter, SD
The enabled parameter configuration of storage card, interrupt parameters configuration, constitute thread task: task 1, task 2 and hardware thread interrupt: interrupting
1,2 are interrupted, interrupts 3；
Step 2: task 1 issues semaphore sem_task, start the underwater acoustic information that A/D converter acquires being put into caching；
Step 3: when pps pulse per second (PPS) then, to interrupt 1 set mark flag_pps；
Step 4: interrupting 2 set mark flag_uart when the complete GPS information of serial acquisition；
Step 5: what is set every one uses the period after booting of buoy subsystem, generates and once interrupt 3, and then control
The sample rate of A/D converter processed triggers A/D samplers sample, reads A/D transformation result, A/D change data is put into caching；
Step 6: pps pulse per second (PPS) or GPS information are put into caching when detecting flag_pps or flag_uart, in
After disconnected 3 execute 1~5 second, semaphore sem_SD is issued, task 2 is switched to；
Step 7: task 2 issues semaphore sem_main, it will underwater acoustic information corresponding with temporal information and location information
It is written in SD storage card, completes the storage of corresponding with temporal information a underwater acoustic information and location information data packet；
Step 8: repeating step 1 to step 7, the storage of next data packet is completed, until the acquisition of buoy subsystem
Task terminates.
The buoyancy tank includes two floating bodies, connecting cross beam, buoyancy tank connecting hole, and two floating bodies are connected by connecting cross beam, watertight
Case is connected by CARBURIZING FURNACE FOR STAINLESS FASTENER with the mounting hole on connecting cross beam, and watertight case is located above connecting cross beam.
The hydrophone is fixed on immediately below watertight bottom portion by watertight cable, and the output end and double channel A of hydrophone/
The input terminal of D converter connects, and fish lead is connected by tightrope with hydrophone.
Anchor system unit includes Kev drawstring, cement anchor block, and the both ends of Kev drawstring are that spiral shell buckles hook and spiral shell is buckled respectively
Hook, spiral shell button hook are interconnected with buoyancy tank connecting hole, and spiral shell button hook is interconnected with cement anchor block.
The watertight case is sealed case lid using sealing rubber ring.
The advantages of the present invention over the prior art are that:
1, system of the invention proposes Long baselines underwater sound passive measurement side towards target ship Miss distance measurement mission requirements on lake
Case instead of having short base line measurement scheme, and then realizes the measurement to dynamic target ship, improves and kick down area's effective measuring area
Range；
2, the present invention is in terms of hardware circuit: using data fusion plate and GPS receiver as main hardware, saving tradition
The hardware such as acoustic panel, change-over panel in buoy simplify the Redundancy Design of hardware system, improve signal measurement precision, reduce
Hardware cost；
3, the present invention is in configuration aspects: proposing a kind of packed structures up and down of buoyancy tank carrying watertight case, the structure is simple
Reliably, anchor system unit, which is easily installed, lays, and reduces engineer application difficulty, while watertight case can anti-rainforest and unrestrained splashing；
4, the present invention is in terms of data processing: by buoy subsystem GPS information collected, underwater acoustic information and temporal information
It is fused together, forms effective data packets, by calling drop point moment point that will obtain the moment corresponding underwater acoustic information and floating
Subsystem location information is marked, miss distance information can be resolved through processed offline；System of the invention has self-locating function, buoy
Subsystem battle array is not necessarily to self-correcting battle array, reduces engineering enforcement difficulty.
Detailed description of the invention
Fig. 1 is target ship miss distance measurement system general structure schematic diagram on lake of the present invention；
Fig. 2 is single set buoy subsystem overall appearance side view of the invention；
Fig. 3 is single set buoy subsystem overall appearance top view of the invention；
Fig. 4 is single set buoy subsystem watertight case internal structure block diagram of the invention；
Fig. 5 is that single set buoy subsystem data of the invention melts board structure block diagram；
Fig. 6 is data fusion programmed algorithm flow chart；
Fig. 7 is embodiment of the present invention on-the-spot schematic.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawing:
Fig. 1 be lake of the present invention on target ship miss distance measurement system general structure schematic diagram, it can be seen that system be include four
Identical buoy subsystem is covered, wherein every set buoy subsystem includes GPS antenna 1, radio antenna 2, watertight case 3, buoyancy tank 4, water
Listen device 5, fish lead 6, anchor system unit 7.When system starts execution task, buoy subsystem is dragged to bullet specified in advance with towboat
Drop point region transfers the anchor block in anchor system unit 7 into water, allows four sets of buoy subsystems to lay into square array, has been formed
Side length is greater than several hundred meters of Long baselines battle array, as shown in fig. 7, being powered on manually to each buoy subsystem again, waits target practice task
Beginning.
GPS antenna 1 and radio antenna 2 are separately fixed at the external top of watertight case 3, and GPS antenna 1 and radio antenna 2 divide
It is not connected on two bnc interfaces in GPS receiver 8；
As shown in Figure 2 and Figure 3, it can be seen that buoy point from the overall appearance side view and top view of single set buoy subsystem
System uses top-down packed structures, and main includes that two floating bodies 19 to float on the surface pass through connecting cross beam 20 for watertight
Case 3 is lifted more than the water surface, and the hydrophone 5 of connection fish lead 6 is hung in the underface of watertight case, so that hydrophone 5 is located at GPS days
On the central axis of line 1 and it is located at immediately below GPS antenna 1, in order to obtain accurate buoy subsystem location information, GPS days
Line 1 and radio antenna 2 are fixed on the surface of watertight case, and entire buoy subsystem is fixed on respective region by anchor system unit 7
On position.
Fig. 4, which is that the present invention is single, covers buoy subsystem watertight case internal structure block diagram, and watertight case 3 includes being fixed on watertight case 3
GPS receiver 8, data fusion plate 9, battery pack 10, the DC-DC converter 11 of the inside, GPS receiver 8 and data fusion plate 9
Power interface passes through DC-DC converter 11 respectively and is connected in battery pack 10, and DC-DC converter 11 exports respectively after system electrification
The voltage of 12V and 5V is powered to GPS receiver 8 and data fusion plate 9；After task starts, GPS receiver 8 receives GPS antenna 1
The GPS differential signal that longitude and latitude, height, temporal information, the radio antenna 2 of transmission are sent, utilizes GPS differential signal pair warp and weft
After degree, elevation information are calibrated, the longitude and latitude after calibration, elevation information, pps pulse per second (PPS) information, temporal information are sent to
Data fusion plate 9；Data fusion plate 9 is connected by serial ports with GPS receiver 8, and data fusion plate 9 sends hydrophone 5
Longitude and latitude, height, pps pulse per second (PPS), temporal information, the GPS differential signal that underwater sound signal, GPS receiver 8 are sent be converted to and when
Between the corresponding underwater acoustic information of information and location information and store.
Fig. 5 is that the single set buoy subsystem data of the present invention melts board structure block diagram, and data fusion plate 9 includes double channel A/D
Converter 12, dsp processor 13, SD storage card 15, double channel A/D converter 12 output end and dsp processor 13 interconnect, SD
Storage card 15 is interconnected with dsp processor 13 respectively；Double channel A/D converter 12 carries out analog-to-digital conversion to underwater sound signal, is converted to
Dsp processor 13 is sent to after digital signal, dsp processor 13 receives the real time data that GPS receiver 8 is sent by serial ports,
It include longitude and latitude, height, pps pulse per second (PPS), temporal information, GPS differential signal in real time data, dsp processor 13 is equipped with number
According to fusion program, several and time can be stored in the SD storage card 15 of every set buoy subsystem after the processing of data fusion program
The corresponding underwater acoustic information of information and location information data packet.
Fig. 6 is data fusion programmed algorithm flow chart, and data fusion program is run as follows:
Step 1: completing system initialization after each buoy subsystem powers on, starts SYS/BIOS, specifically include that peripheral hardware
The enabled parameter configuration of (GPS receiver 8, A/D converter 12, SD storage card 15), interrupt parameters configuration, are appointed with constituting thread
Business: task 1, task 2 and hardware thread interrupt: interrupting 1, interrupt 2, interrupt 3 two kinds of threads；
Step 2: task 1 issues semaphore sem_task, start to put the data underwater acoustic information that A/D converter 12 acquires
Enter caching；
Step 3: when pps pulse per second (PPS) then, to interrupt 1 set mark flag_pps；
Step 4: interrupting 2 set mark flag_ when the complete GPS information (longitude and latitude, height, time) of serial acquisition
uart；
Step 5:, every 20 μ s (buoy subsystem sample rate 50K), generating primary interrupt after the booting of buoy subsystem
3, and then the sample rate of A/D converter 12 is controlled, triggering A/D sampler 12 acquires, and reads A/D transformation result, A/D is converted number
It is cached according to being put into；
Step 6: pps pulse per second (PPS) or GPS information are put into caching when detecting flag_pps or flag_uart, in
After disconnected 3 execute 1 second, semaphore sem_SD is issued, task 2 is switched to；
Step 7: task 2 issues semaphore sem_main, it will underwater acoustic information corresponding with temporal information and location information
SD storage card 15 is written, SD storage card 15 completes a underwater acoustic information corresponding with temporal information and location information data at this time
The storage of packet；
Step 8: repeating step 1 to step 7, to complete the storage of next data packet, until system task terminates.
After above-mentioned eight steps, several and temporal information phase can be stored in the SD storage card 15 of every set buoy subsystem
Corresponding underwater acoustic information and location information data packet, i.e. each moment point can correspond to different underwater acoustic information and buoy point
System location information, to obtain the valid data practiced shooting in the period.
Buoyancy tank 4 includes two floating bodies 19, connecting cross beam 20, buoyancy tank connecting hole 21, and connecting cross beam 20 is by two 19 phases of floating body
Even, watertight case 3 is connected by CARBURIZING FURNACE FOR STAINLESS FASTENER with the mounting hole on connecting cross beam 20, and watertight case 3 is located on connecting cross beam 20
Side；
Hydrophone 5 is fixed on immediately below 3 bottom of watertight case by watertight cable, the output end and double channel A/D of hydrophone 5
The input terminal of converter 12 connects, and fish lead 6 is connected by tightrope with hydrophone 5；
Anchor system unit 7 includes Kev drawstring 22, cement anchor block 23, and the both ends of Kev drawstring 22 are that spiral shell buckles 24 Hes of hook respectively
Spiral shell button hook 25, spiral shell button hook 24 are interconnected with buoyancy tank connecting hole 21, and spiral shell button hook 25 is interconnected with cement anchor block 23.
Watertight case 3 is sealed case lid using sealing rubber ring.
Fig. 7 is embodiment of the present invention on-the-spot schematic, and when target ship navigation is by buoy subsystem battle array, bullet can hit target
Ship will generate the underwater sound signal struck waters when bullet does not hit target ship, and underwater sound signal is received by each buoy subsystem, work as target practice
After the test, it fetches SD card and carries out data analysis to calculate drop point and miss distance information.
Unspecified part of the present invention belongs to technology well known to those skilled in the art.
Claims (8)
1. target ship miss distance measurement system on a kind of lake, which is characterized in that including buoy identical at least more than three nested structures point
System, every set buoy subsystem include GPS antenna (1), radio antenna (2), watertight case (3), buoyancy tank (4), hydrophone (5), lead
Fish (6), anchor system unit (7)；The longitude and latitude of GPS antenna (1) acquisition buoy subsystem, height, time are sent to watertight case (3),
Radio antenna (2) receives GPS differential signal and is sent to watertight case (3)；Hydrophone (5) acquires underwater sound signal, is sent to water in real time
Close case (3)；Fish lead (6) connect with hydrophone (5), and hydrophone (5) is made to keep plumbness, and hydrophone (5) is located at GPS antenna
(1) on central axis and it is located at immediately below GPS antenna (1), anchor system unit (7) is used for fixed buoy subsystem；Watertight case (3)
It is mounted on buoyancy tank (4), so that watertight case (3) floats on the surface；Watertight case (3) to the longitude and latitude of the buoy subsystem of transmission,
Highly, temporal information, GPS differential signal, underwater sound signal extract, be converted to underwater acoustic information corresponding with temporal information and
Location information simultaneously stores.
2. target ship miss distance measurement system on a kind of lake according to claim 1, it is characterised in that: the GPS antenna (1)
The external top of watertight case (3) is separately fixed at radio antenna (2), GPS antenna (1) and radio antenna (2) are connected to
On two bnc interfaces in GPS receiver (8).
3. target ship miss distance measurement system on a kind of lake according to claim 1 or 2, it is characterised in that: the watertight case
It (3) include GPS receiver (8), data fusion plate (9), the battery pack (10), DC-DC converter being fixed on inside watertight case (3)
(11), the power interface of GPS receiver (8) and data fusion plate (9) passes through DC-DC converter (11) respectively and is connected to battery pack
(10) on, battery pack (10) is powered to GPS receiver (8) and data fusion plate (9)；GPS receiver (8) receives GPS antenna (1)
The GPS differential signal that longitude and latitude, height, temporal information, the radio antenna (2) of transmission are sent, utilizes GPS differential signal pair warp and weft
After degree, elevation information are calibrated, the longitude and latitude after calibration, elevation information, pps pulse per second (PPS) information, temporal information are sent to
Data fusion plate (9)；Data fusion plate (9) is connected by serial ports with GPS receiver (8), and data fusion plate (9) is by hydrophone
(5) longitude and latitude, height, pps pulse per second (PPS), temporal information, the GPS difference letter of the underwater sound signal, GPS receiver (8) transmission that send
It number is converted to underwater acoustic information corresponding with temporal information and location information and stores.
4. target ship miss distance measurement system on a kind of lake according to claim 3, it is characterised in that: the data fusion plate
It (9) include double channel A/D converter (12), dsp processor (13), SD storage card (15), double channel A/D converter (12) is defeated
Outlet and dsp processor (13) interconnect, and SD storage card (15) is interconnected with dsp processor (13) respectively；Double channel A/D converter
(12) analog-to-digital conversion is carried out to underwater sound signal, is sent to dsp processor (13) after being converted to digital signal, dsp processor (13)
Receive the real time data that GPS receiver (8) are sent by serial ports, include in real time data longitude and latitude, height, pps pulse per second (PPS), when
Between information, GPS differential signal, dsp processor (13) is equipped with data fusion program, and data fusion program is transported as follows
Row:
Step 1: complete buoy subsystem initialization, start SYS/BIOS, comprising: GPS receiver (8), A/D converter (12),
The enabled parameter configuration of SD storage card (15), interrupt parameters configuration, constitute thread task: in task 1, task 2 and hardware thread
It is disconnected: to interrupt 1, interrupt 2, interrupt 3；
Step 2: task 1 issues semaphore sem_task, start the underwater acoustic information that A/D converter (12) acquire being put into caching；
Step 3: when pps pulse per second (PPS) then, to interrupt 1 set mark flag_pps；
Step 4: interrupting 2 set mark flag_uart when the complete GPS information of serial acquisition；
Step 5: what is set every one uses the period after booting of buoy subsystem, generates and once interrupt 3, and then control A/
The sample rate of D converter (12), triggering A/D sampler (12) acquisition, reads A/D transformation result, A/D change data is put into slow
It deposits；
Step 6: pps pulse per second (PPS) or GPS information are put into caching when detecting flag_pps or flag_uart, interrupt 3 and hold
After row 1~5 second, semaphore sem_SD is issued, task 2 is switched to；
Step 7: task 2 issues semaphore sem_main, it will underwater acoustic information corresponding with temporal information and location information write-in
In SD storage card (15), the storage of corresponding with temporal information a underwater acoustic information and location information data packet is completed；
Step 8: repeating step 1 to step 7, the storage of next data packet is completed, until the acquisition tasks of buoy subsystem
Terminate.
5. target ship miss distance measurement system on a kind of lake according to claim 1 or 2, it is characterised in that: the buoyancy tank (4)
Including two floating bodies (19), connecting cross beam (20), buoyancy tank connecting hole (21), two floating bodies (19) are connected by connecting cross beam (20),
Watertight case (3) is connected by CARBURIZING FURNACE FOR STAINLESS FASTENER with the mounting hole on connecting cross beam (20), and watertight case (3) is located at connecting cross beam
(20) top.
6. target ship miss distance measurement system on a kind of lake according to claim 1 or 2, it is characterised in that: the hydrophone
(5) it is fixed on immediately below watertight case (3) bottom by watertight cable, the output end and double channel A/D converter of hydrophone (5)
(12) input terminal connection, fish lead (6) are connected by tightrope with hydrophone (5).
7. target ship miss distance measurement system on a kind of lake according to claim 1 or 2, it is characterised in that: the anchor system is single
First (7) include Kev drawstring (22), cement anchor block (23), and the both ends of Kev drawstring (22) are that spiral shell buckles hook (24) and spiral shell is buckled respectively
It links up with (25), spiral shell button is linked up with (24) and buoyancy tank connecting hole (21) and interconnected, and spiral shell button is linked up with (25) and cement anchor block (23) and interconnected.
8. target ship miss distance measurement system on a kind of lake according to claim 3, it is characterised in that: the watertight case (3)
Case lid is sealed using sealing rubber ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811037592.9A CN108981481B (en) | 2018-09-06 | 2018-09-06 | Target-off-target measuring system for target ship on lake |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811037592.9A CN108981481B (en) | 2018-09-06 | 2018-09-06 | Target-off-target measuring system for target ship on lake |
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| Publication Number | Publication Date |
|---|---|
| CN108981481A true CN108981481A (en) | 2018-12-11 |
| CN108981481B CN108981481B (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811037592.9A Active CN108981481B (en) | 2018-09-06 | 2018-09-06 | Target-off-target measuring system for target ship on lake |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111427073A (en) * | 2020-03-20 | 2020-07-17 | 山东省科学院海洋仪器仪表研究所 | Multi-anchor-point buoy laying method based on GPS differential positioning system |
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| CN203714144U (en) * | 2014-01-09 | 2014-07-16 | 中国科学院声学研究所嘉兴工程中心 | Buoy device based on acoustics and GPS (global positioning system) intelligent positioning |
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| Publication number | Publication date |
|---|---|
| CN108981481B (en) | 2020-05-12 |
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