CN110855343A - Underwater sound positioning and timing buoy and working method thereof - Google Patents
Underwater sound positioning and timing buoy and working method thereof Download PDFInfo
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- CN110855343A CN110855343A CN201911041290.3A CN201911041290A CN110855343A CN 110855343 A CN110855343 A CN 110855343A CN 201911041290 A CN201911041290 A CN 201911041290A CN 110855343 A CN110855343 A CN 110855343A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18545—Arrangements for managing station mobility, i.e. for station registration or localisation
- H04B7/18547—Arrangements for managing station mobility, i.e. for station registration or localisation for geolocalisation of a station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0602—Systems characterised by the synchronising information used
Abstract
The invention discloses an underwater sound positioning and time service buoy and a working method thereof, belongs to the technical field of underwater sound positioning, and solves the problem that systematic observation errors are introduced due to the missing of buoy attitude information in the existing underwater sound positioning mode based on a sea surface buoy; the SPP algorithm limits the defects of further improvement of system positioning, time service precision and reliability. The underwater sound positioning and timing buoy comprises a GNSS receiver, an IMU, USBL equipment, a satellite communication machine, underwater sound communication equipment, a battery and a controller; the GNSS receiver is used for acquiring the coordinates of the ground-fixed coordinate system of the buoy and the attitude information of the buoy; the IMU gives the angular velocity and acceleration information of the buoy, and continuously calculates the position, the velocity and the attitude at any moment after error addition according to a group of initial position, velocity and attitude information through an IMU algorithm; the USBL equipment transmits signals and receives return signals of the underwater carrier transducer, so that the round-trip propagation time between the USBL equipment and the return signals of the underwater carrier transducer and the relative propagation time of the signals between the USBL equipment and the underwater carrier transducer are calculated.
Description
Technical Field
The invention belongs to the technical field of underwater sound positioning, and particularly relates to an underwater sound positioning and time service buoy and a working method thereof.
Background
For positioning, navigation and time service of general carriers above sea surface, the positioning, navigation and time service can be realized by using GNSS technologies such as GPS and Beidou, and the positioning, navigation and time service are better in precision, usability, concealment and the like. And the positioning and time service below the water surface always lacks an effective solution. One commonly used underwater positioning method is an underwater acoustic positioning method implemented using underwater acoustic ranging. The method uses the timing of the acoustic wave transmission to measure the distance between certain space entities, and the position is solved by a geometric method or a least square method and the like. Specifically, the underwater acoustic positioning method is mainly divided into three forms: mounting a receiving/transmitting transducer on a carrier, mounting transmitting/receiving transducers with known positions at several points spaced apart in space, and measuring the propagation time of the signal transmitted by the transmitting transducer to the receiving transducer, referred to as a Long Baseline (LBL) system; mounting a transmitting transducer at a known point in space, mounting a plurality of receiving transducers on a carrier and measuring the time of flight of the signals transmitted by the transmitting transducers to their respective receivers, or the time of flight of the signals to the main receivers and the time difference between the receivers, known as a Short Baseline (SBL) system; the method comprises the steps of installing a transmitting transducer at a known point in space, installing a plurality of receiving transducers on a carrier, measuring the propagation time of a signal transmitted by the transmitting transducer to a main receiving transducer and the phase difference between the signals and the receiving transducers, and obtaining the ultra-short baseline (USBL) system.
In general, since underwater acoustic positioning requires the presence of transducers in space with known positions, the transducers are typically carried by a buoy fixed to the sea floor or by a surface buoy or other carrier that is positioned using GNSS methods. In the two methods, although the submarine buoy can be used for monitoring the deformation of the earth crust, the submarine buoy has the defects of difficult arrangement and calibration, limited power consumption, incapability of accurately timing a carrier and the like, and the sea buoy is opposite to the sea buoy.
In a conventional USBL sea surface buoy method, a buoy is usually equipped with only a single-antenna GNSS receiver and USBL underwater acoustic positioning equipment, and the GNSS positioning algorithm uses an SPP (standard single point positioning) algorithm with lower accuracy. This general design has several problems: (1) the buoy only uses a single GNSS antenna for positioning, the attitude (course, roll angle and pitch angle) of the buoy is not considered, and the unconsidered attitude error has a significant influence on the positioning accuracy of the USBL and can be increased with the depth; (2) the accuracy, reliability and the like of the SPP positioning algorithm are poor, and the accuracy and reliability of underwater sound positioning can be limited. From the foregoing, there are two main problems associated with the currently used underwater acoustic positioning method based on a sea surface buoy: (1) systematic observation errors are introduced due to the missing of the buoy attitude information; (2) the SPP algorithm limits further improvement of system positioning, time service precision and reliability.
Disclosure of Invention
The invention aims to overcome the defects, and provides an underwater acoustic positioning and time service buoy and a working method thereof, wherein the position, posture and clock error information which have both GNSS absolute accuracy and IMU high sampling rate are obtained through the combination of multi-antenna GNSS data and IMU data, the USBL asynchronous positioning is further carried out, and the carrier position and time information obtained through calculation are transmitted to a carrier by using an underwater acoustic communication method.
The invention specifically adopts the following technical scheme:
an underwater sound positioning and timing buoy comprises a GNSS receiver, an IMU, USBL equipment, a satellite communication machine, underwater sound communication equipment, a battery and a controller;
the GNSS receiver is used for acquiring the coordinates of the ground-fixed coordinate system of the buoy and the attitude information of the buoy;
the IMU gives the angular velocity and acceleration information of the buoy, and continuously calculates the position, the velocity and the attitude at any moment after error addition according to a group of initial position, velocity and attitude information through an IMU algorithm;
the USBL equipment transmits signals and receives return signals of the underwater carrier transducer, so that the round-trip propagation time between the USBL equipment and the return signals and the relative propagation time of the signals between the USBL equipment and the underwater carrier transducer are calculated;
the satellite communication machine is used for acquiring real-time precise correction information from a satellite;
the underwater acoustic communication equipment is used for communicating with an underwater carrier and sending a positioning result;
the battery is used for supplying power to all electrical appliances of the whole buoy;
the controller is used for receiving data, positioning, sending results and controlling other devices.
Preferably, the GNSS receiver is a single multi-antenna GNSS receiver.
Preferably, the GNSS receiver is a plurality of single antenna GNSS receivers.
The working method of the underwater sound positioning and timing buoy adopts the above-mentioned underwater sound positioning and timing buoy, and comprises the following steps:
①, mounting underwater sound positioning equipment on the carrier for bidirectional communication with the buoy to measure time difference;
②, placing an underwater sound positioning and time service buoy on the sea surface to ensure that the buoy floats upwards in front of the water surface;
③, the buoy receives GNSS observation data, IMU observation data and precision correction information from the GNSS receiver, IMU and satellite communication antenna respectively, when the precision correction information broadcasted by the GNSS satellite is used, the satellite communication antenna can be omitted;
④, the buoy carries out high-precision PPP/INS integrated navigation positioning according to the received GNSS observation data, GNSS precision correction information and IMU observation data to obtain high-precision buoy position, clock error and attitude information;
⑤, sending a signal to the underwater carrier by the USBL equipment of the buoy, and recording the time of sending an epoch;
⑥, the underwater vehicle receives the signal using the underwater acoustic locating device and immediately transmits another signal;
⑦, the USBL equipment of the buoy receives the signal sent by the carrier and records the time of receiving the epoch and the phase difference of the signal measured by the array element;
⑧, calculating the three-dimensional position of the carrier and the epoch time of the carrier receiving signal in the USBL coordinate system by using the USBL equipment space absolute position of the transmitted epoch, the USBL space absolute position and posture of the received epoch, the transmitted epoch time, the received epoch time and the signal phase difference measured by the array element;
⑨, converting the ⑧ calculated position and epoch time by using high-precision buoy position clock error and attitude information to obtain the carrier coordinate of geocentric geostationary coordinate system and the epoch time of carrier receiving signal synchronous with a certain GNSS time system;
⑩, sending the result of ⑨ to an underwater carrier by using an underwater acoustic communication device to finish high-precision positioning and time service.
The invention has the following beneficial effects:
the traditional SPP positioning algorithm is replaced by a PPP positioning algorithm in the GNSS field, the logic and the model of the SPP algorithm are simple, but the positioning precision and the tolerance and the like are similar, the PPP algorithm used by the underwater sound positioning and timing buoy uses real-time correction information such as satellite orbit, clock error and the like broadcasted by satellites in real time, a more comprehensive system error model, a Kalman filtering data processing method, a GNSS carrier phase ambiguity fixing method and the like, and the positioning precision and the tolerance capability of the buoy are improved.
The sea surface buoy is adopted to replace a common seabed sinking buoy form, the seabed sinking buoy is difficult to place, can be used only with accuracy, has limited power consumption, cannot give time with high precision, and is difficult to supplement energy. The used sea surface buoy can be directly put on the sea surface through various ships or even airplanes, the autonomous positioning and orientation processes do not need manual intervention, the power consumption is loosely limited, batteries are easy to replace to supplement energy, a solar panel, a thermoelectric generator and the like can be additionally arranged to serve as power sources, and the defects of seabed sinking buoy are overcome.
According to the underwater sound positioning and time service buoy and the working method thereof, through the combination of multi-antenna GNSS data and IMU data, position, attitude and clock error information which are both in consideration of GNSS absolute accuracy and IMU high sampling rate are obtained, USBL asynchronous positioning is further carried out, carrier position and time information obtained through calculation are transmitted to a carrier through an underwater sound communication method, and high-accuracy underwater positioning and time service are achieved.
Drawings
FIG. 1 is a structural block diagram of an underwater acoustic positioning and timing buoy
Fig. 2 is a flow chart of a method for operating the underwater acoustic positioning and time service buoy.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
GSNN: a global satellite navigation system;
an IMU: an Inertial Measurement Unit (IMU) is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object;
USBL: an ultra-short baseline underwater acoustic positioning system;
example 1
With reference to fig. 1, an underwater acoustic positioning and timing buoy includes a single multi-antenna GNSS receiver, an IMU, USBL equipment, a satellite communicator, underwater acoustic communication equipment, a battery, and a controller;
the GNSS receiver can measure the accurate coordinates of the main antenna by matching with a proper multi-antenna directional algorithm and a PPP algorithm, and obtains the coordinates of the ground-fixed coordinate system of the buoy and the attitude information of the buoy by the coordinate increment value of each antenna relative to the main antenna; the PPP algorithm uses real-time correction information such as satellite orbit, clock error and the like broadcasted by a satellite in real time, a more comprehensive system error model, a Kalman filtering data processing method, a GNSS carrier phase ambiguity fixing method and the like, and improves the precision, the anti-error capability and the like of buoy positioning.
The IMU can give the angular velocity and acceleration information of the buoy and continuously calculates the position, the velocity and the attitude at any moment after error addition according to a group of initial position, velocity and attitude information through an IMU algorithm;
the combination of multi-antenna GNSS technology and IMU can better ensure high accuracy and high frequency buoy position, attitude and clock error information updates.
The USBL equipment transmits signals and receives return signals of the underwater carrier transducer, so that the round-trip propagation time between the USBL equipment and the return signals and the relative propagation time (in the form of phase difference) of the signals between the USBL equipment and the underwater carrier transducer are calculated;
the satellite communication machine is used for acquiring real-time precise correction information from a satellite;
the underwater acoustic communication equipment is used for communicating with an underwater carrier and sending a positioning result;
the battery is used for supplying power to all electrical appliances of the whole buoy;
the controller is used for receiving data, positioning, sending results and controlling other devices.
With reference to fig. 2, a working method of the underwater acoustic positioning and time service buoy, which adopts the above-mentioned underwater acoustic positioning and time service buoy, includes the following steps:
①, mounting underwater sound positioning equipment on the carrier for bidirectional communication with the buoy to measure time difference;
②, an underwater sound positioning and time service buoy is arranged on the sea surface, the buoy is ensured to float upwards on the water surface, a sea surface buoy form is adopted to replace a common sea bottom buoy form, the sea bottom buoy is difficult to arrange, can be used only with accuracy, has limited power consumption, cannot be used for time service with high precision and is difficult to supplement energy, the used sea surface buoy can be directly placed on the sea surface through various ships and even planes, manual intervention is not needed in the autonomous positioning and orientation processes, the power consumption limitation is loose, batteries are easy to replace to supplement energy, a solar cell panel, a thermoelectric generator and the like can be additionally arranged as power sources, and the defects of the sea bottom buoy are overcome;
③, the buoy receives GNSS observation data, IMU observation data and precision correction information from the GNSS receiver, IMU and satellite communication antenna respectively, when the precision correction information broadcasted by the GNSS satellite is used, the satellite communication antenna can be omitted;
④, the buoy carries out high-precision PPP/INS integrated navigation positioning according to the received GNSS observation data, GNSS precision correction information and IMU observation data to obtain high-precision buoy position, clock error and attitude information;
⑤, sending a signal to the underwater carrier by the USBL equipment of the buoy, and recording the time of sending an epoch;
⑥, the underwater vehicle receives the signal using the underwater acoustic locating device and immediately transmits another signal;
⑦, the USBL equipment of the buoy receives the signal sent by the carrier and records the time of receiving the epoch and the phase difference of the signal measured by the array element;
⑧, calculating the three-dimensional position of the carrier and the epoch time of the carrier receiving signal in the USBL coordinate system by using the USBL equipment space absolute position of the transmitted epoch, the USBL space absolute position and posture of the received epoch, the transmitted epoch time, the received epoch time and the signal phase difference measured by the array element;
⑨, converting the ⑧ calculated position and epoch time by using high-precision buoy position clock error and attitude information to obtain the carrier coordinate of geocentric geostationary coordinate system and the epoch time of carrier receiving signal synchronous with a certain GNSS time system;
⑩, sending the result of ⑨ to an underwater carrier by using an underwater acoustic communication device to finish high-precision positioning and time service.
Example 2
With reference to fig. 1, an underwater acoustic positioning and timing buoy includes a plurality of single-antenna GNSS receivers, IMUs, USBL devices, satellite communicators, underwater acoustic communication devices, batteries, and a controller;
the GNSS receiver is used for acquiring the coordinates of the ground-fixed coordinate system of the buoy and the attitude information of the buoy;
the IMU gives the angular velocity and acceleration information of the buoy, and continuously calculates the position, the velocity and the attitude at any moment after error addition according to a group of initial position, velocity and attitude information through an IMU algorithm;
the USBL equipment transmits signals and receives return signals of the underwater carrier transducer, so that the round-trip propagation time between the USBL equipment and the return signals and the relative propagation time (in the form of phase difference) of the signals between the USBL equipment and the underwater carrier transducer are calculated;
the satellite communication machine is used for acquiring real-time precise correction information from a satellite;
the underwater acoustic communication equipment is used for communicating with an underwater carrier and sending a positioning result;
the battery is used for supplying power to all electrical appliances of the whole buoy;
the controller is used for receiving data, positioning, sending results and controlling other devices.
With reference to fig. 2, a working method of the underwater acoustic positioning and time service buoy, which adopts the above-mentioned underwater acoustic positioning and time service buoy, includes the following steps:
①, mounting underwater sound positioning equipment on the carrier for bidirectional communication with the buoy to measure time difference;
②, an underwater sound positioning and time service buoy is arranged on the sea surface, the buoy is ensured to float upwards on the water surface, a sea surface buoy form is adopted to replace a common sea bottom buoy form, the sea bottom buoy is difficult to arrange, can be used only with accuracy, is limited in power consumption, cannot be used for time service with high precision and is difficult to supplement energy, the sea surface buoy used in the invention can be directly placed on the sea surface through various ships and even planes, the automatic positioning and orientation processes do not need manual intervention, the power consumption is limited loosely, batteries are easy to replace to supplement energy, a solar cell panel, a temperature difference generator and the like can be additionally arranged as power sources, and the defects of the sea bottom buoy are overcome;
③, the buoy receives GNSS observation data, IMU observation data and precision correction information from the GNSS receiver, IMU and satellite communication antenna respectively, when the precision correction information broadcasted by the GNSS satellite is used, the satellite communication antenna can be omitted;
④, the buoy carries out high-precision PPP/INS integrated navigation positioning according to the received GNSS observation data, GNSS precision correction information and IMU observation data to obtain high-precision buoy position, clock error and attitude information;
⑤, sending a signal to the underwater carrier by the USBL equipment of the buoy, and recording the time of sending an epoch;
⑥, the underwater vehicle receives the signal using the underwater acoustic locating device and immediately transmits another signal;
⑦, the USBL equipment of the buoy receives the signal sent by the carrier and records the time of receiving the epoch and the phase difference of the signal measured by the array element;
⑧, calculating the three-dimensional position of the carrier and the epoch time of the carrier receiving signal in the USBL coordinate system by using the USBL equipment space absolute position of the transmitted epoch, the USBL space absolute position and posture of the received epoch, the transmitted epoch time, the received epoch time and the signal phase difference measured by the array element;
⑨, converting the ⑧ calculated position and epoch time by using high-precision buoy position clock error and attitude information to obtain the carrier coordinate of geocentric geostationary coordinate system and the epoch time of carrier receiving signal synchronous with a certain GNSS time system;
⑩, sending the result of ⑨ to an underwater carrier by using an underwater acoustic communication device to finish high-precision positioning and time service.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (4)
1. An underwater sound positioning and timing buoy is characterized by comprising a GNSS receiver, an IMU, USBL equipment, a satellite communication machine, underwater sound communication equipment, a battery and a controller;
the GNSS receiver is used for acquiring the coordinates of the ground-fixed coordinate system of the buoy and the attitude information of the buoy;
the IMU gives the angular velocity and acceleration information of the buoy, and continuously calculates the position, the velocity and the attitude at any moment after error addition according to a group of initial position, velocity and attitude information through an IMU algorithm;
the USBL equipment transmits signals and receives return signals of the underwater carrier transducer, so that the round-trip propagation time between the USBL equipment and the return signals and the relative propagation time of the signals between the USBL equipment and the underwater carrier transducer are calculated;
the satellite communication machine is used for acquiring real-time precise correction information from a satellite;
the underwater acoustic communication equipment is used for communicating with an underwater carrier and sending a positioning result;
the battery is used for supplying power to all electrical appliances of the whole buoy;
the controller is used for receiving data, positioning, sending results and controlling other devices.
2. The underwater acoustic positioning and timing buoy as claimed in claim 1, wherein the GNSS receiver is a single multi-antenna GNSS receiver.
3. The underwater acoustic positioning and timing buoy of claim 1, wherein the GNSS receivers are a plurality of single antenna GNSS receivers.
4. An operating method of an underwater sound positioning and timing buoy, which adopts the underwater sound positioning and timing buoy as claimed in any one of claims 1 to 3, and is characterized by comprising the following steps:
①, mounting underwater sound positioning equipment on the carrier for bidirectional communication with the buoy to measure time difference;
②, placing an underwater sound positioning and time service buoy on the sea surface to ensure that the buoy floats upwards in front of the water surface;
③, the buoy receives GNSS observation data, IMU observation data and precision correction information from the GNSS receiver, IMU and satellite communication antenna respectively, when the precision correction information broadcasted by the GNSS satellite is used, the satellite communication antenna can be omitted;
④, the buoy carries out high-precision PPP/INS integrated navigation positioning according to the received GNSS observation data, GNSS precision correction information and IMU observation data to obtain high-precision buoy position, clock error and attitude information;
⑤, sending a signal to the underwater carrier by the USBL equipment of the buoy, and recording the time of sending an epoch;
⑥, the underwater vehicle receives the signal using the underwater acoustic locating device and immediately transmits another signal;
⑦, the USBL equipment of the buoy receives the signal sent by the carrier and records the time of receiving the epoch and the phase difference of the signal measured by the array element;
⑧, calculating the three-dimensional position of the carrier and the epoch time of the carrier receiving signal in the USBL coordinate system by using the USBL equipment space absolute position of the transmitted epoch, the USBL space absolute position and posture of the received epoch, the transmitted epoch time, the received epoch time and the signal phase difference measured by the array element;
⑨, converting the ⑧ calculated position and epoch time by using high-precision buoy position clock error and attitude information to obtain the carrier coordinate of geocentric geostationary coordinate system and the epoch time of carrier receiving signal synchronous with a certain GNSS time system;
⑩, sending the result of ⑨ to an underwater carrier by using an underwater acoustic communication device to finish high-precision positioning and time service.
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| CN201911041290.3A CN110855343B (en) | 2019-10-30 | 2019-10-30 | Underwater sound positioning and timing buoy and working method thereof |
| PCT/CN2020/084684 WO2021082357A1 (en) | 2019-10-30 | 2020-04-14 | Underwater acoustic positioning and timing buoy, and working method thereof |
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| CN201911041290.3A CN110855343B (en) | 2019-10-30 | 2019-10-30 | Underwater sound positioning and timing buoy and working method thereof |
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| CN111142144A (en) * | 2020-01-09 | 2020-05-12 | 山东科技大学 | Underwater acoustic positioning and timing buoy and underwater positioning method |
| CN112346102A (en) * | 2020-10-23 | 2021-02-09 | 中国科学院声学研究所东海研究站 | Underwater acoustic positioning navigation time service system |
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