CN109263811B - Buoy with non-magnetic low-power-consumption direction identification and positioning functions and method - Google Patents
Buoy with non-magnetic low-power-consumption direction identification and positioning functions and method Download PDFInfo
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- CN109263811B CN109263811B CN201811152824.5A CN201811152824A CN109263811B CN 109263811 B CN109263811 B CN 109263811B CN 201811152824 A CN201811152824 A CN 201811152824A CN 109263811 B CN109263811 B CN 109263811B
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- 238000000034 method Methods 0.000 title claims description 14
- 238000009434 installation Methods 0.000 claims abstract description 26
- 229920006351 engineering plastic Polymers 0.000 claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 10
- 230000001154 acute effect Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 230000010354 integration Effects 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000005415 magnetization Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000000835 fiber Substances 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/16—Buoys specially adapted for marking a navigational route
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Hydrology & Water Resources (AREA)
- Power Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Combustion & Propulsion (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The buoy body is provided with three satellite positioning instrument mounting wells, the three satellite positioning instrument mounting wells are sealed by a well cover, and the middle part of the well cover is engineering plastic for receiving satellite signals; taking the buoy center to one of the wells as a datum line, the initial 0-degree direction of the carried observation equipment is consistent and coincident with the datum line. The buoy body is provided with a current meter installation well, a water quality instrument installation well and a standby installation well. The data acquired by the satellite positioning instrument is transmitted to the controller for operation processing to obtain accurate direction and position information. The invention is not limited by geographic position, can be deployed in any place of the world, does not need geomagnetism, is not limited by latitude geography, and can work normally only by the signal of a satellite navigation system; can be used under severe sea conditions, has no precise and complex mechanical structure, can withstand severe impact, and can be normally used after rolling; no requirement is made for the received satellites; low power consumption, low cost and orientation and positioning integration.
Description
Technical Field
The invention relates to a buoy with a non-magnetic low-power-consumption direction identification and positioning function and a method thereof, in particular to a buoy which can accurately identify and position the direction by a satellite positioning mode and provide a reference and a position for observing the true wind direction, the flow direction and the wave direction of the buoy, and belongs to the technical field of buoys.
Background
At present, three-dimensional electronic compass is used for identifying buoy directions of offshore business operation observation, and the three-dimensional electronic compass consists of a three-dimensional magnetic resistance sensor, a double-shaft inclination angle sensor and an MCU. The three-dimensional magnetic resistance sensor is used for measuring the earth magnetic field, and the inclination angle sensor compensates when the magnetometer is in a non-horizontal state; the MCU processes signals of the magnetometer and the inclination angle sensor, data output and soft iron and hard iron compensation. The magnetometer employs three mutually perpendicular magnetoresistive sensors, each of which detects the geomagnetic field strength in that direction. The magneto-resistance effect sensor is made according to the magneto-resistance effect of the magnetic material. The magnetic material is magnetized before use, after which the magnetization of the material is affected if a strong magnetic field of opposite direction is encountered, thus affecting the performance of the sensor. In the extreme case, the magnetization direction will be reversed 180. The use of electronic compasses is particularly problematic if magnetic fields other than the earth are present in the environment of use and cannot be effectively shielded. Most buoys for business operation observation are steel buoys with diameters of more than 6m, and long-term use of the three-dimensional electronic compass in the environment can cause deviation or opposite phenomenon of the direction of the observation buoys, so that inaccurate, unreliable and even wrong data such as wind direction, flow direction, wave direction and the like are caused. Only the use of gyroscopes to determine direction can be considered at this time. However, the gyroscope has poor real-time performance, and needs to be preheated before observation, and the one-time orientation time is ten minutes or more than one hour. And the price of the gyroscope is very expensive, the general mechanical gyroscope is nearly one hundred thousand yuan, and the optical fiber gyroscope is nearly one million yuan. Moreover, gyroscopes are very precise instruments that cannot be bumped hard, cannot be rolled over, etc. Finally, both the three-dimensional electronic compass and the gyroscope are limited by latitude, and cannot work normally in a high latitude area (more than 75 °). Therefore, the prior art is difficult to meet the requirements of the business operation buoy on the direction, and particularly the requirements of buoy observation in the two-pole area are met.
Disclosure of Invention
The invention aims to solve the problems of buoy direction identification and positioning in business operation observation, and provides a low-power-consumption system and a method for direction identification and positioning, namely a non-magnetic low-power-consumption direction identification and positioning buoy system and a method, which are not influenced by a floating steel buoy body and are not limited by geography.
The buoy with the functions of non-magnetic low-power consumption direction identification and positioning comprises a buoy body, and is characterized in that three satellite positioning instrument mounting wells are arranged on the buoy body, satellite positioning instruments are respectively mounted in the three satellite positioning instrument mounting wells and are sealed by a well lid, or the satellite positioning instruments are mounted at the lower bottom of the well lid; the middle part of the well lid is made of engineering plastic or the whole well lid is made of engineering plastic, and satellite signals can be received by the engineering plastic positioning instrument; the direction from the center of the buoy body to one of the installation wells is taken as a datum line, and the buoy body supplies power to the satellite positioning instrument through the cable pipeline.
The buoy with the direction identification and positioning functions of no magnetism and low power consumption is characterized in that the buoy body is further provided with wind observation equipment, wave observation equipment and ocean current observation equipment, the direction of the reference line to the observation equipment is used as a 0-degree reference line, namely, the initial 0-degree direction of the observation equipment is coincident with the reference line.
The buoy with the functions of non-magnetic low-power consumption direction identification and positioning is characterized in that the buoy body is provided with a current meter installation well, a water quality instrument installation well and a standby installation well; and the locating instrument is respectively arranged on the lower bottom surface of the well cover of the installation well, the water quality instrument installation well, the standby installation well or the three installation wells, engineering plastics are used for the middle part of the well cover of the installation well, and the direction and the accurate position of the buoy can be obtained as a result of processing.
Compared with the prior art, the invention has the following remarkable advantages:
the first innovation point is not limited by geographic position
The invention can be deployed in any place of the world, does not need geomagnetism, and is not limited by latitude geography. The satellite navigation system can work normally as long as the signals.
The second innovation point is not influenced by extreme environment
The invention can be used under severe sea conditions, firstly, the invention has no precise and complex mechanical structure, can withstand severe impact and can be normally used after rolling; 2. there is no requirement for the received satellites, as long as the basic requirements (three or more) for positioning are satisfied.
Third innovation point is low power consumption and low cost
The power consumption of the invention is one order of magnitude smaller than that of the optical fiber gyroscope and two orders of magnitude smaller than that of the mechanical gyroscope. And the cost is one hundredth of the fiber optic gyroscope and one tenth of the mechanical gyroscope.
Fourth innovation point orientation positioning integration
The invention can provide not only direction but also positioning information.
Drawings
Fig. 1 is a front elevational view of the general structure of the present invention.
Fig. 2 is a cross-sectional view of the general structure of the present invention.
Fig. 3 is a side view of the installation well of the present invention.
Fig. 4 is a schematic diagram of direction recognition with the buoy in the northern hemisphere, the first quadrant of the coordinate system.
Fig. 5 is a schematic diagram of direction recognition with the buoy in the northern hemisphere, the second quadrant of the coordinate system.
Fig. 6 is a schematic diagram of direction recognition with the buoy in the northern hemisphere, the third quadrant of the coordinate system.
Fig. 7 is a schematic diagram of direction recognition with the buoy in the northern hemisphere, the fourth quadrant of the coordinate system.
Fig. 8 is a schematic diagram of direction recognition with the buoy in the southern hemisphere, the first quadrant of the coordinate system.
Fig. 9 is a schematic diagram of direction recognition with the buoy in the southern hemisphere, the second quadrant of the coordinate system.
Fig. 10 is a schematic diagram of direction recognition with the buoy in the southern hemisphere, the third quadrant of the coordinate system.
Fig. 11 is a schematic diagram of direction recognition with the buoy in the southern hemisphere, the fourth quadrant of the coordinate system.
The solar energy water quality meter comprises a buoy body 1, a current meter mounting well 2, a water quality meter mounting well 3, a standby mounting well 4, a well cover 5, a datum line 6, a positioning instrument 7, a cable pipeline 8, a small platform 9, a small platform 10 and a solar cell panel bracket.
Detailed Description
1-3, a buoy with a direction identification and positioning function of no magnetism and low power consumption comprises a buoy body 1, and is characterized in that three satellite positioning instrument mounting wells are arranged on the buoy body 1, satellite positioning instruments 7 are respectively mounted in the three satellite positioning instrument mounting wells and are sealed by a well lid 5, or the satellite positioning instruments are mounted at the lower bottom of the well lid 5; the middle part of the well lid 5 is made of engineering plastics, or the whole well lid 5 is made of engineering plastics, and satellite signals can be received by the engineering plastics positioning instrument 7; taking the direction from the center of the buoy body 1 to one of the installation wells as a datum line 6; the buoy body 1 supplies power to the satellite positioning device 7 through the cable duct 8.
As shown in fig. 1, the buoy body 1 is further equipped with a wind observation device, a wave observation device, and a ocean current observation device, wherein the reference line 6 is used as a reference line of 0 ° for the direction of the observation device, that is, the initial 0 ° direction of the observation device is coincident with the reference line 6. Conventional designs of existing buoys can be used, with a small platform 9 and solar panel support 10 on the mast, and various devices can be mounted on the support at the same time.
As shown in figure 2, the non-magnetic low-power consumption buoy direction recognition and positioning system is characterized in that the buoy body 1 is provided with a current meter installation well 2, a water quality instrument installation well 3 and a standby installation well 4; and the positioning instrument 7 is respectively arranged on the lower bottom surfaces of the well covers of the installation well 2, the water quality instrument installation well 3 and the standby installation well 4 or the three installation wells, engineering plastics 5 are used for the middle part of the well cover of the installation well, and the direction and the accurate position of the buoy can be obtained as a result of processing.
The buoy is provided with the non-magnetic low-power-consumption direction and positioning system, the implementation is not limited by geographical conditions, the buoy can be used in a severe environment, and the buoy is low in power consumption and low in cost. The data acquired by the satellite positioning instrument 7 is transmitted to the controller for operation processing, so that accurate direction and position information can be obtained.
The direction identification and positioning method of the system comprises the following steps:
(1) The system is put into a designated sea area, three satellite positioners 7 respectively acquire satellite signals, and longitude values in the satellite signals are set as x 1 、x 2 、x 3 The latitude value is y 1 、y 2 、y 3 The coordinates are (x) 1 ，y 1 )、(x 2 ，y 2 )、(x 3 ，y 3 ) The method comprises the steps of carrying out a first treatment on the surface of the Setting a mounting well through which a reference line (6) passes as a first well (or taking the direction from the center of a buoy body 1 to the first mounting well as the reference line 6), wherein the reference line 6 is used for mounting the direction of observation equipment such as wind, waves, ocean currents and the like to a buoy system as a 0-degree reference line, and the initial 0-degree direction of the instrument equipment is coincident with the reference line 6;
(2) The obtained coordinates (x 1 ，y 1 )、(x 2 ，y 2 )、(x 3 ，y 3 ) The data information is transmitted to a host computer or a controller with the buoy for operation processing, the three points are taken as vertexes to construct a triangle, and the center coordinates (x 0 ，y 0 ) The radius of the circle is R, and the algorithm is as follows:
then the real-time position of the buoy is (x 0 ，y 0 )，x 0 Longitude, y 0 Is latitude.
(3) The central point of the buoy body 1 is taken as an origin, a Cartesian coordinate system is established, an acute angle between a datum line 6 and the X axis of the Cartesian coordinate system is set as phi, and the unit is degrees, then
After the included angle is further judged according to the following conditions, determining the azimuth theta of the buoy, wherein the unit is degree;
taking a longitudinal axis as a y axis according to a Cartesian coordinate system, wherein the direction from an origin is positive and the direction from the origin is negative; taking the horizontal axis as the x axis, taking the right from the original point as positive, and taking the left as negative; the plane rectangular coordinate system on the measurement takes the longitudinal axis in the north-south direction as the x axis, and takes the direction from the origin to north as positive and takes the direction from south as negative; the horizontal axis in the east-west direction is the y axis, and the origin is positive to the east and negative to the west.
1) If in the northern hemisphere, then
a)x 1 ≥x 0 And y is 1 ＞y 0 When the buoy azimuth θ is, see FIG. 4
θ＝90-φ
b)x 1 ＜x 0 And y is 1 ＞y 0 When the buoy azimuth θ is, see FIG. 5
θ＝270+φ
c)x 1 ＜x 0 And y is 1 ＜y 0 When the buoy azimuth θ is, see FIG. 6
θ＝270-φ
d)x 1 ＞x 0 And y is 1 ＜y 0 When the buoy azimuth θ is, see FIG. 7
θ＝90+φ
2) If in the southern hemisphere, then
a)x 1 ≥x 0 And y is 1 ＞y 0 When the buoy azimuth θ is, see FIG. 8
θ＝270-φ
b)x 1 ＜x 0 And y is 1 ＞y 0 When the buoy azimuth θ is, see FIG. 9
θ＝90+φ
c)x 1 ＜x 0 And y is 1 ≤y 0 When the buoy azimuth θ is, see FIG. 10
θ＝90-φ
d)x 1 ≥x 0 And y is 1 ≤y 0 When the buoy azimuth θ is, see FIG. 11
θ＝270+φ。
Claims (3)
1. The non-magnetic low-power-consumption direction identification and positioning method for the buoy is characterized in that the buoy comprises a buoy body (1), three satellite positioning instrument mounting wells are arranged on the buoy body (1), satellite positioning instruments (7) are respectively arranged in the three satellite positioning instrument mounting wells and are sealed by a well lid (5), or the satellite positioning instruments are arranged at the lower bottom of the well lid (5); the middle part of the well cover (5) is made of engineering plastics, or the whole well cover (5) is made of engineering plastics; taking the direction from the center of the buoy body (1) to one of the installation wells as a datum line (6), and supplying power to the satellite positioning instrument (7) by the buoy body (1) through a cable pipeline (8);
the positioning method comprises the following steps:
firstly, the buoy is put into a designated sea area, three satellite positioning instruments (7) respectively acquire satellite signals, and longitude values in the satellite signals are set as x 1 、x 2 、x 3 The latitude value is y 1 、y 2 、y 3 The coordinates are (x) 1 ，y 1 )、(x 2 ，y 2 )、(x 3 ，y 3 ) The method comprises the steps of carrying out a first treatment on the surface of the Setting a mounting well through which a datum line (6) passes as a first well;
(II) coordinates (x) 1 ，y 1 )、(x 2 ，y 2 )、(x 3 ，y 3 ) The data information is transmitted to a host computer or a controller with the buoy for operation processing, the three points are taken as vertexes to construct a triangle, and the center coordinates (x 0 ，y 0 ) The radius of the circle is R, and the algorithm is as follows:
then the real-time position of the buoy is (x 0 ，y 0 )，x 0 Longitude, y 0 Is latitude;
the direction identification method comprises the following steps:
setting up a Cartesian coordinate system by taking the central point of the buoy body (1) as an origin, setting an acute angle phi between the datum line (6) and the X axis of the Cartesian coordinate system, and setting the unit as degrees DEG
After the included angle is further judged according to the following conditions, determining the azimuth theta of the buoy, wherein the unit is degree;
taking a longitudinal axis as a y axis according to a Cartesian coordinate system, wherein the direction from an origin is positive and the direction from the origin is negative; taking the horizontal axis as the x axis, taking the right from the original point as positive, and taking the left as negative; the plane rectangular coordinate system on the measurement takes the longitudinal axis in the north-south direction as the x axis, and takes the direction from the origin to north as positive and takes the direction from south as negative; taking the horizontal axis in the east-west direction as the y axis, and taking the direction from the origin to the east as positive and taking the direction to the west as negative;
1) If in the northern hemisphere, then
a)x 1 ≥x 0 And y is 1 ＞y 0 When the buoy azimuth theta is
θ＝90-φ
b)x 1 ＜x 0 And y is 1 ＞y 0 When the buoy azimuth theta is
θ＝270+φ
c)x 1 ＜x 0 And y is 1 ＜y 0 When the buoy azimuth theta is
θ＝270-φ
d)x 1 ＞x 0 And y is 1 ＜y 0 When the buoy azimuth theta is
θ＝90+φ
2) If in the southern hemisphere, then
a)x 1 ≥x 0 And y is 1 ＞y 0 When the buoy azimuth theta is
θ＝270-φ
b)x 1 ＜x 0 And y is 1 ＞y 0 When the buoy azimuth theta is
θ＝90+φ
c)x 1 ＜x 0 And y is 1 ≤y 0 When the buoy azimuth theta is
θ＝90-φ
d)x 1 ≥x 0 And y is 1 ≤y 0 When the buoy azimuth theta is
θ＝270+φ。
2. The direction identifying and positioning method according to claim 1, wherein the buoy body (1) is further equipped with a wind observation device, a wave observation device and a ocean current observation device, and the reference line (6) is used as a reference line of 0 ° for the direction of the observation device, that is, the initial 0 ° direction of the observation device is coincident with the reference line (6).
3. The direction identification and positioning method according to claim 1, characterized in that the buoy body (1) is a buoy body with a current meter installation well (2), a water quality meter installation well (3), a standby installation well (4); and satellite positioning instruments (7) are respectively arranged in the current meter mounting well (2), the water quality instrument mounting well (3) and the standby mounting well (4), or the satellite positioning instruments (7) are respectively arranged on the lower bottom surfaces of the well covers of the current meter mounting well (2), the water quality instrument mounting well (3) and the standby mounting well (4), and engineering plastics are used for the middle parts of the well covers (5) of the observation equipment mounting well.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152824.5A CN109263811B (en) | 2018-09-29 | 2018-09-29 | Buoy with non-magnetic low-power-consumption direction identification and positioning functions and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811152824.5A CN109263811B (en) | 2018-09-29 | 2018-09-29 | Buoy with non-magnetic low-power-consumption direction identification and positioning functions and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109263811A CN109263811A (en) | 2019-01-25 |
| CN109263811B true CN109263811B (en) | 2024-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811152824.5A Active CN109263811B (en) | 2018-09-29 | 2018-09-29 | Buoy with non-magnetic low-power-consumption direction identification and positioning functions and method |
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| CN (1) | CN109263811B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102135624A (en) * | 2011-01-10 | 2011-07-27 | 天津海洋数码科技有限公司 | Ship heading detection system and detection method |
| CN102818566A (en) * | 2012-05-04 | 2012-12-12 | 中国人民解放军镇江船艇学院 | Method and device for locating ship |
| CN104050675A (en) * | 2014-06-30 | 2014-09-17 | 河南理工大学 | Feature point matching method based on triangle description |
| KR101453056B1 (en) * | 2013-10-30 | 2014-10-22 | 강릉원주대학교산학협력단 | Longshore current observation apparatus and operation method of same |
| CN204706640U (en) * | 2015-07-10 | 2015-10-14 | 嘉善金昌电子有限公司 | A kind of multi-functional anti-metal solar energy well lid antenna |
| CN106403901A (en) * | 2016-08-31 | 2017-02-15 | 国家海洋技术中心 | Measuring apparatus and method for attitude of buoy |
| CN108357634A (en) * | 2017-09-29 | 2018-08-03 | 国家海洋局南海调查技术中心 | No anchor system automatically resets far-reaching extra large ocean weather station observation buoy and method |
| CN209037789U (en) * | 2018-09-29 | 2019-06-28 | 刘愉强 | The buoy of direction discernment and positioning function with no magnetic low-power consumption |
-
2018
- 2018-09-29 CN CN201811152824.5A patent/CN109263811B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135624A (en) * | 2011-01-10 | 2011-07-27 | 天津海洋数码科技有限公司 | Ship heading detection system and detection method |
| CN102818566A (en) * | 2012-05-04 | 2012-12-12 | 中国人民解放军镇江船艇学院 | Method and device for locating ship |
| KR101453056B1 (en) * | 2013-10-30 | 2014-10-22 | 강릉원주대학교산학협력단 | Longshore current observation apparatus and operation method of same |
| CN104050675A (en) * | 2014-06-30 | 2014-09-17 | 河南理工大学 | Feature point matching method based on triangle description |
| CN204706640U (en) * | 2015-07-10 | 2015-10-14 | 嘉善金昌电子有限公司 | A kind of multi-functional anti-metal solar energy well lid antenna |
| CN106403901A (en) * | 2016-08-31 | 2017-02-15 | 国家海洋技术中心 | Measuring apparatus and method for attitude of buoy |
| CN108357634A (en) * | 2017-09-29 | 2018-08-03 | 国家海洋局南海调查技术中心 | No anchor system automatically resets far-reaching extra large ocean weather station observation buoy and method |
| CN209037789U (en) * | 2018-09-29 | 2019-06-28 | 刘愉强 | The buoy of direction discernment and positioning function with no magnetic low-power consumption |
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| Publication number | Publication date |
|---|---|
| CN109263811A (en) | 2019-01-25 |
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