CN109669192B - Use method of multi-station distance and direction measuring instrument in underwater acoustic test - Google Patents
Use method of multi-station distance and direction measuring instrument in underwater acoustic test Download PDFInfo
- Publication number
- CN109669192B CN109669192B CN201910137713.5A CN201910137713A CN109669192B CN 109669192 B CN109669192 B CN 109669192B CN 201910137713 A CN201910137713 A CN 201910137713A CN 109669192 B CN109669192 B CN 109669192B
- Authority
- CN
- China
- Prior art keywords
- control unit
- main control
- station
- human
- logic control
- 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.)
- Active
Links
Images
Classifications
-
- 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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
A multi-station distance and direction measuring instrument in an underwater sound test belongs to the field of underwater sound positioning navigation and underwater sound detection. The invention solves the problems that the existing GPS handset, radio base station and the like can not receive the information of a plurality of substations simultaneously, can not solve the distance and the direction between each substation and the main station, and is inconvenient to compare with the measurement result of a sonar system in real time. The main control unit is connected with the logic control unit through a bus, connected with the human-computer interface unit through an FPC (flexible printed circuit) interface and respectively connected with the azimuth attitude indicator and the GPS (global positioning system) receiver through serial ports; the main control unit is connected with an external radio station through a network port, and the logic control unit is connected with external sonar equipment. The invention utilizes GPS positioning technology and underwater positioning technology, solves the problems of the prior art, and simultaneously has the functions of synchronous time synchronization with a sonar system, providing adjustable synchronous pulse with higher precision for the sonar system, and real-time comparison with the measurement result of the sonar system.
Description
Technical Field
The invention relates to a multi-station distance and direction measuring instrument and a measuring method in an underwater sound test, and belongs to the field of underwater sound positioning navigation and underwater sound detection.
Background
In the process of development and use of underwater acoustic equipment, a lake sea test is an indispensable link, in the lake sea test, distance test and precision test are often indispensable test items, and in the test items, position information of each station is often required to be recorded so as to calculate distance and direction information. At present, although a GPS handset and a radio base station have the function of recording position information, the GPS handset and the radio base station cannot automatically acquire and display information of a plurality of substations, do not have the function of resolving distance and direction information of each substation and a main station, and are inconvenient to compare with a measurement result of an underwater system in real time. Therefore, it is necessary to provide a portable multi-station distance and orientation measuring instrument in an underwater acoustic test, which can acquire and display the position information of a plurality of stations in real time, solve the distance and orientation information between each substation and a main station in real time, and simultaneously realize synchronous time synchronization with an underwater sonar system.
Disclosure of Invention
The invention provides a multi-station distance and direction measuring instrument in an underwater acoustic test, aiming at solving the problems that the existing GPS handset cannot receive information of a plurality of substations, cannot solve the distance and direction between each substation and a main station, and is inconvenient to compare with the measurement result of a sonar system in real time.
The technical scheme of the invention is as follows:
multistation distance and position measuring instrument among the underwater acoustic test, its characterized in that: the intelligent control system comprises a main control unit, a logic control unit, a human-computer interface unit, a GPS receiver and a position attitude instrument, wherein the main control unit is connected with the logic control unit through a bus, is connected with the human-computer interface unit through an FPC (flexible printed circuit) interface, and is respectively connected with the position attitude instrument and the GPS receiver through serial ports; the main control unit is connected with an external radio station through a network port, the logic control unit is connected with external sonar equipment, the main control unit is an ARM microprocessor for transplanting a Linux operating system, and the logic control unit is a CPLD chip.
Preferably: the main control unit and the logic control unit adopt a data bus and an address bus as parallel data transmission interfaces, and the main control unit controls the logic control unit through chip selection, read enable and write enable control signals; the main control unit realizes the operation of the logic control unit through the interface function call in the character type device driver.
Preferably: the main control unit is respectively connected with the information acquisition module, the distance and azimuth calculation module and the data storage module; the information acquisition module comprises a GPS receiver and an azimuth attitude instrument, and the GPS receiver and the azimuth attitude instrument are respectively connected with the main control unit through serial ports; the data storage module is a data memory.
Preferably: the data memory comprises a U disk and an SD card.
Preferably: the logic control unit comprises an information interaction module, a synchronous time synchronization module and a synchronous pulse generation module which are connected; the logic control unit controls the information interaction module to communicate with the main control unit according to the specified read-write time sequence requirement and the communication protocol; the synchronous time synchronization module realizes that the logic control unit receives and executes commands issued by the human-computer interface unit; the logic control unit of the synchronous pulse generation and calibration module realizes the adjustability of synchronous pulses by frequency division of an external crystal oscillator, and the precision of the synchronous pulses is improved by high-precision GPS second pulse calibration, so that the high-precision synchronous pulses for calibration are provided for sonar equipment.
Preferably: according to the capacitive touch screen of the human-computer interface unit, the main control unit completes design and realization of a display operation interface of the human-computer interface unit in a Qt transplanting mode, and the main control unit realizes operation control of the human-computer interface unit through a driving program and a related configuration file.
Preferably: the man-machine interface unit displays the working states of the GPS receiver, the orientation attitude instrument and the logic control unit, the geographic position information of each station, the connection state of each substation, the distance and the orientation between each substation and the main station and the relative position information of each station under a geodetic coordinate system, and has instructions for issuing the synchronization time and the synchronization period and inquiring the current synchronization state and the synchronization period.
Preferably, the following components: the method for using the multi-site distance and orientation measuring instrument in the underwater acoustic test comprises the following steps,
firstly, electrifying a multi-station distance and direction measuring instrument in an underwater acoustic test, and initializing a main control unit, a logic control unit and a human-computer interface unit;
step two, the main control unit sets serial port and network port configuration information and sets logic control unit configuration information;
step three, the main control unit detects the working states of the GPS receiver, the azimuth attitude instrument and the logic control unit according to the configuration information;
step four, when the monitoring data of the GPS receiver and the orientation attitude instrument are successfully received and the state of the logic control unit is normal, the main control unit detects whether a human-computer event occurs on the human-computer interface, waits for the inquiry information of each substation to be replied, and returns to the step two to restart when the monitoring data is failed to be received or the state of the logic control unit is abnormal;
step five, successfully replying inquiry information of each substation, namely waiting for connection of each substation after the master station is ready, and returning to the step four to restart when the reply is not successful;
step six, after the sub-stations are connected, the main control unit waits for receiving the data of the successfully connected sub-stations, and when the sub-stations are not successfully connected, the sub-stations return to the step five to start again;
step seven, after the main control unit successfully receives the data of the successfully connected substations according to the communication protocol, the main control unit simultaneously saves the monitoring data of the GPS receiver and the orientation attitude instrument and the data of the substations into corresponding folders of the U disk, completes the information display of each station on the human-computer interface unit, simultaneously performs resolving processing on the data to obtain the distance orientation of the corresponding substations and the main station, the main control unit saves the distance orientation into a designated folder after resolving is successful, completes the distance orientation information display of the substations and the main station on the human-computer interface, and returns to the step seven to start again if resolving is failed;
step eight, when the step five, the step six and the step seven are carried out, if a human-computer event occurs in the human-computer interface unit, the main control unit reads a human-computer interface unit instruction, completes the instruction interaction with the logic control unit through the information interaction module, and returns to the step four to start again if the human-computer event does not occur.
Drawings
FIG. 1 is a block diagram of a multi-station distance and orientation measuring apparatus for underwater acoustic testing according to the present invention;
FIG. 2 is a block diagram of the components of the system of the multi-station distance and orientation measuring instrument in the underwater acoustic test according to the present invention;
FIG. 3 is a flow chart of the operation of the multi-station distance and orientation measuring apparatus in the underwater acoustic test according to the present invention;
fig. 4 is a flow chart of the synchronization pulse calibration of the present invention.
Detailed Description
The embodiments of the present invention will be described with reference to the accompanying drawings 1 to 4: the invention discloses a multi-station distance and direction measuring instrument in an underwater acoustic test, which comprises a main control unit, a logic control unit, a human-computer interface unit, a GPS receiver and a direction attitude instrument, as shown in figure 1. The system comprises a main control unit, a logic control unit and a data processing unit, wherein the main control unit is an ARM microprocessor transplanted with a Linux operating system, and the logic control unit is a CPLD chip; the human-computer interface unit is a capacitive touch screen. As shown in fig. 2, the main control unit includes an information acquisition module, a distance and azimuth calculation module, a data storage module, an information interaction module and a multitask management module; the logic control unit comprises an information interaction module, a synchronous time synchronization module and a synchronous pulse generation and calibration module; the human-computer interface unit comprises a display module and an instruction issuing module.
The master control unit is connected with the GPS receiver through a serial port to achieve acquisition of the geographic position information of the master station; the main control unit is connected with the azimuth attitude instrument through a serial port to acquire three-dimensional attitude information (horizontal course, pitch and roll) of the main station; the main control unit and each substation realize the acquisition of position information and three-dimensional attitude information of each substation through radio communication, wherein the network communication adopts a TCP protocol with higher reliability.
A bus communication mode with high communication speed and high stability is adopted between the main control unit and the logic control unit; selecting a data bus and an address bus as interfaces for parallel data transmission, and realizing the control of a logic control unit by a main control unit through control signals such as chip selection, read enable, write enable and the like; and the main control unit realizes the operation of the logic control unit through system function call in a character type device driver.
The main control unit is connected with the human-computer interface unit through an FPC interface, the main control unit completes design and realization of a display operation interface of the human-computer interface unit in a Qt transplanting mode, and operation on the human-computer interface unit is realized through a driving program and a configuration file.
As shown in fig. 4, the adjustable high-precision synchronization pulse generation module divides frequency of the external crystal oscillator through the logic control unit to realize synchronization pulse adjustability, and adopts pulse per second of the GPS receiver to eliminate accumulated errors generated by the external crystal oscillator within a certain clear period to improve synchronization pulse precision, and the synchronization pulse generation module provides high-precision synchronization pulses for sonar equipment.
As shown in fig. 3, how the main control unit implements multitasking such as master station information acquisition, information acquisition of each substation, synchronous instruction selection and execution. The method for using the multi-site distance and orientation measuring instrument in the underwater acoustic test comprises the following steps,
firstly, a multi-station distance and direction measuring instrument system in an underwater acoustic test is electrified and operated, the main control unit, the logic control unit and the human-computer interface unit are initialized, a serial port, a network port and related parameters are configured, and the main control unit waits for receiving GPS data and three-dimensional attitude data, detecting substation connection, detecting substation human-computer events and the like;
secondly, the main control unit detects the working states of the GPS receiver and the azimuth attitude instrument, receives monitoring data of the GPS receiver and the azimuth attitude instrument, respectively receives, processes, displays and stores the data according to the GPS data and the azimuth attitude instrument after the GPS receiver and the azimuth attitude instrument work and the GPS receiver enters a navigation mode, and returns to the first step to restart if the data fails;
thirdly, when the main control unit is communicated with each substation, the main control unit waits for the connection of each substation according to the configuration information, the substations send connection requests to the main control unit, the main control unit verifies the addresses of the substations, after the verification is successful, the substations are connected and the states of the substations are updated in the human-computer interface unit, the information sent by the substations is verified and received according to a communication protocol, after the verification is successful, data is stored and the distance and direction between the corresponding substations and the main station are solved, after the completion of the solution, the states and the geographical position information of the substations, the distance and direction between the substations and the main station are displayed in the human-computer interface unit, the corresponding station positions are imaged in a Gaussian coordinate system and a geographical coordinate system, and if the verification is failed, the substation returns to the first step to restart;
and fourthly, while the third step is carried out, the main control unit detects whether a human-computer event occurs in the human-computer interface unit, if so, the main control unit sets synchronous time and a synchronous period, inquires a synchronous state and a synchronous period in the human-computer interface unit, when the time of the GPS receiver is consistent with the set synchronous time, the main control unit and the logic control unit complete transmission of synchronous period instructions in a bus communication mode, and if no human-computer event occurs, the main control unit returns to the first step for detection again.
This embodiment is only illustrative of the patent and does not limit the scope of protection thereof, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.
Claims (7)
1. A use method of a multi-station distance and direction measuring instrument in an underwater sound test is characterized in that: the intelligent control system comprises a main control unit, a logic control unit, a human-computer interface unit, a GPS receiver and a position attitude instrument, wherein the main control unit is connected with the logic control unit through a bus, is connected with the human-computer interface unit through an FPC (flexible printed circuit) interface, and is respectively connected with the position attitude instrument and the GPS receiver through serial ports; the main control unit is connected with an external radio station through a network port, the logic control unit is connected with external sonar equipment, the main control unit is an ARM microprocessor transplanted with a Linux operating system, and the logic control unit is a CPLD chip;
the method comprises the following steps of (a) carrying out,
firstly, electrifying a multi-station distance and direction measuring instrument in an underwater acoustic test, and initializing a main control unit, a logic control unit and a human-computer interface unit;
step two, the main control unit sets serial port and network port configuration information and sets logic control unit configuration information;
step three, the main control unit detects the working states of the GPS receiver, the azimuth attitude instrument and the logic control unit according to the configuration information;
step four, when the monitoring data of the GPS receiver and the azimuth attitude instrument are successfully received and the state of the logic control unit is normal, the main control unit detects whether a human-computer event occurs on the human-computer interface, waits for replying inquiry information of each substation, and returns to the step two to restart when the receiving of the monitoring data fails or the state of the logic control unit is abnormal;
step five, successfully replying inquiry information of each substation, namely waiting for connection of each substation after the master station is ready, and returning to the step four to restart when the reply is not successful;
step six, after the sub-stations are connected, the main control unit waits for receiving the data of the successfully connected sub-stations, and when the sub-stations are not successfully connected, the sub-stations return to the step five to start again;
step seven, after the main control unit successfully receives the data of the successfully connected substations according to the communication protocol, the main control unit simultaneously saves the monitoring data of the GPS receiver and the orientation attitude instrument and the data of the substations into corresponding folders of the U disk, completes the information display of each station on the human-computer interface unit, simultaneously performs resolving processing on the data to obtain the distance orientation of the corresponding substations and the main station, the main control unit saves the distance orientation into a designated folder after resolving is successful, completes the distance orientation information display of the substations and the main station on the human-computer interface, and returns to the step seven to start again if resolving is failed;
step eight, when the step five, the step six and the step seven are carried out, if a human-computer event occurs in the human-computer interface unit, the main control unit reads the instruction of the human-computer interface unit and completes the interaction of the instruction with the logic control unit through the information interaction module, and if the human-computer event does not occur, the main control unit returns to the step four to start again.
2. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the main control unit and the logic control unit adopt a bus communication mode to transmit data in parallel; the main control unit realizes the operation and control of the logic control unit through a character type device driving program.
3. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the main control unit comprises an information acquisition module, a distance and direction calculation module, a data storage module, an information interaction module and a multi-task management module; the information acquisition module comprises a main station information acquisition module and each substation information acquisition module, the main station information acquisition module acquires the information of each substation through a GPS receiver and an azimuth attitude instrument, and the main control unit acquires the information of each substation through a radio station; the data storage module is a data memory, and the data memory is connected with the main control unit.
4. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 3, wherein: the data memory comprises a U disk and an SD card.
5. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the logic control unit comprises an information interaction module, a synchronous time synchronization module and a synchronous pulse generation and calibration module; the information interaction module realizes that the logic control unit communicates with the main control unit according to the specified read-write time sequence requirement and a communication protocol; the synchronous time setting module realizes that the logic control unit receives and executes commands issued by the human-computer interface unit, and the command interaction is completed by the communication of the main control unit and the logic control unit in the process; the logic control unit of the synchronous pulse generation and calibration module realizes that the synchronous pulse is adjustable by frequency division of an external crystal oscillator, and the precision of the synchronous pulse is improved by calibrating the second pulse of the high-precision GPS, so that the synchronous pulse is provided for external sonar equipment.
6. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the human-computer interface unit is a capacitive touch screen and comprises an information display module and an instruction issuing module, the main control unit completes the design of a display operation interface of the human-computer interface unit in a Qt transplanting mode, and the main control unit responds to and executes an instruction of the human-computer interface unit through a driving program and a configuration file.
7. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the man-machine interface unit displays the working states of the GPS receiver, the orientation attitude instrument and the logic control unit, the geographic position information of each station, the connection state of each substation, the distance and the orientation between each substation and the main station and the relative position information of each station under a geodetic coordinate system, and has instructions for issuing the synchronization time and the synchronization period and inquiring the current synchronization state and the synchronization period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137713.5A CN109669192B (en) | 2019-02-25 | 2019-02-25 | Use method of multi-station distance and direction measuring instrument in underwater acoustic test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137713.5A CN109669192B (en) | 2019-02-25 | 2019-02-25 | Use method of multi-station distance and direction measuring instrument in underwater acoustic test |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109669192A CN109669192A (en) | 2019-04-23 |
| CN109669192B true CN109669192B (en) | 2022-10-18 |
Family
ID=66152172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910137713.5A Active CN109669192B (en) | 2019-02-25 | 2019-02-25 | Use method of multi-station distance and direction measuring instrument in underwater acoustic test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109669192B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111025302B (en) * | 2019-12-20 | 2024-01-23 | 中国船舶重工集团公司七五0试验场 | Intelligent shipborne underwater sound positioning device, system and positioning method |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19743371A1 (en) * | 1996-09-30 | 1998-04-02 | Mazda Motor | Vehicle navigation system |
| GB0029463D0 (en) * | 1996-09-09 | 2001-01-17 | Dupray Dennis J | Wireless location using multiple simultaneous location estimators |
| CN1656390A (en) * | 2002-05-23 | 2005-08-17 | 输入/输出公司 | Gps-based underwater cable positioning system |
| JP2005269759A (en) * | 2004-03-18 | 2005-09-29 | Meidensha Corp | Sampling synchronization system and time management system |
| JP2008298443A (en) * | 2007-05-29 | 2008-12-11 | Mitsubishi Electric Corp | Multipath detection device, positioning device, attitude azimuth orientation device, multipath detection method, and multipath detection program |
| CN101471734A (en) * | 2007-12-28 | 2009-07-01 | 中国科学院声学研究所 | Multi-transmission multi-receive acoustic positioning network system and positioning method thereof |
| CN102323587A (en) * | 2011-06-10 | 2012-01-18 | 哈尔滨工程大学 | Data acquisition control transmission device for high-speed underwater target track measuring system |
| CN102636785A (en) * | 2012-04-06 | 2012-08-15 | 哈尔滨工程大学 | Submarine target three-dimensional positioning method |
| CN107765282A (en) * | 2017-12-07 | 2018-03-06 | 中国海洋大学 | A kind of recycling machine and recovery method for supporting the Radio Beacon recovery of more Taiwan Straits oceans |
| CN207516556U (en) * | 2017-12-07 | 2018-06-19 | 中国海洋大学 | A kind of recycling machine for supporting the Radio Beacon recycling of more Taiwan Straits oceans |
| CN109067879A (en) * | 2018-08-08 | 2018-12-21 | 四川理工学院 | A kind of Internet of Things multi-parameter water quality on-line monitoring system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11159909B2 (en) * | 2008-02-05 | 2021-10-26 | Victor Thomas Anderson | Wireless location establishing device |
| US9756493B2 (en) * | 2013-03-26 | 2017-09-05 | Telefonaktiebolaget Lm Ericsson (Publ) | Method and apparatus for cooperative positioning in a wireless communication network |
| CN107992019B (en) * | 2017-10-31 | 2023-07-18 | 中国电力科学研究院有限公司 | Main station and sub station integrated error-prevention system closed loop test method and system |
| CN109270541A (en) * | 2018-08-21 | 2019-01-25 | 中国科学院声学研究所 | A kind of wireless sonar system and method based on underwater sound communication |
-
2019
- 2019-02-25 CN CN201910137713.5A patent/CN109669192B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0029463D0 (en) * | 1996-09-09 | 2001-01-17 | Dupray Dennis J | Wireless location using multiple simultaneous location estimators |
| DE19743371A1 (en) * | 1996-09-30 | 1998-04-02 | Mazda Motor | Vehicle navigation system |
| CN1656390A (en) * | 2002-05-23 | 2005-08-17 | 输入/输出公司 | Gps-based underwater cable positioning system |
| JP2005269759A (en) * | 2004-03-18 | 2005-09-29 | Meidensha Corp | Sampling synchronization system and time management system |
| JP2008298443A (en) * | 2007-05-29 | 2008-12-11 | Mitsubishi Electric Corp | Multipath detection device, positioning device, attitude azimuth orientation device, multipath detection method, and multipath detection program |
| CN101471734A (en) * | 2007-12-28 | 2009-07-01 | 中国科学院声学研究所 | Multi-transmission multi-receive acoustic positioning network system and positioning method thereof |
| CN102323587A (en) * | 2011-06-10 | 2012-01-18 | 哈尔滨工程大学 | Data acquisition control transmission device for high-speed underwater target track measuring system |
| CN102636785A (en) * | 2012-04-06 | 2012-08-15 | 哈尔滨工程大学 | Submarine target three-dimensional positioning method |
| CN107765282A (en) * | 2017-12-07 | 2018-03-06 | 中国海洋大学 | A kind of recycling machine and recovery method for supporting the Radio Beacon recovery of more Taiwan Straits oceans |
| CN207516556U (en) * | 2017-12-07 | 2018-06-19 | 中国海洋大学 | A kind of recycling machine for supporting the Radio Beacon recycling of more Taiwan Straits oceans |
| CN109067879A (en) * | 2018-08-08 | 2018-12-21 | 四川理工学院 | A kind of Internet of Things multi-parameter water quality on-line monitoring system |
Non-Patent Citations (2)
| Title |
|---|
| "多功能水声收发机的设计与实现";付进等;《中国造船》;20071231;第48卷(第4期);全文 * |
| "无线电遥控水声监测浮标";张光普;《声学技术》;20071031;第26卷(第5期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109669192A (en) | 2019-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103675834B (en) | A kind of indoor satellite signal simulation system | |
| CN110958059B (en) | Testing device, system and method of satellite receiver | |
| CN103529465A (en) | Indoor and outdoor person seamless positioning device | |
| CN101726319A (en) | Star sensor simulation method with function of injecting parameters | |
| CN109669192B (en) | Use method of multi-station distance and direction measuring instrument in underwater acoustic test | |
| CN108008433A (en) | The indoor slitless connection alignment system in outdoor based on UWB and GPS technology | |
| CN108282242A (en) | Space-time synchronous apparatus and system, map collecting vehicle and map Intelligent Production System | |
| CN110068851B (en) | Method and system for safely acquiring position of mobile terminal | |
| CN102542232B (en) | Precise personnel positioning system based on TOA (Time of Arrival) ranging and positioning method thereof | |
| CN109282812B (en) | Positioning and orienting device of MIMU/rotary Beidou short-baseline double antennas | |
| CN112393743A (en) | Combined navigation verification system and method of physical motion test mode | |
| CN111583700A (en) | Positioning method, device, equipment, system, storage medium and garage navigation method | |
| CN114563017B (en) | Navigation performance test system and method for strapdown inertial navigation device | |
| CN213209075U (en) | Satellite inertial navigation system combined positioning equipment and IGV vehicle | |
| CN212460560U (en) | Data transmission system based on GPRS (general packet radio service) land use after data collection change | |
| CN203643817U (en) | Automobile instrument program write-in device based on three-axis positioning | |
| CN112255907A (en) | Method for realizing positioning time service by accessing BD/GPS second pulse and data through computer serial port | |
| CN107734450A (en) | A kind of indoor bluetooth localization method and system | |
| CN113778000A (en) | High-real-time motion control system and method | |
| CN109856990B (en) | In-loop simulation system of GNSS/INS combined navigation controller | |
| CN112362088A (en) | Synchronous acquisition method and system for multi-grating data | |
| CN215264024U (en) | Low-cost high-precision automobile real-time pose testing system | |
| CN219497098U (en) | Vehicle-mounted data acquisition system for automatic driving | |
| CN204777030U (en) | A reputation combination positioning system for warehouse system | |
| CN111208537B (en) | GNSS receiver and data transmission method thereof |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |