CN111999702A - Passive underwater navigation communication positioning system and method - Google Patents
Passive underwater navigation communication positioning system and method Download PDFInfo
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- 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
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/083—Network architectures or network communication protocols for network security for authentication of entities using passwords
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3226—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using a predetermined code, e.g. password, passphrase or PIN
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Abstract
The invention relates to a passive underwater navigation communication positioning system and a method, wherein the passive underwater navigation communication positioning system comprises a passive probe unit and a data communication tag unit; the passive probe unit includes: the device comprises a sensitive element, an energy storage element and a power amplifier; the data communication tag unit includes: a data processor, a storage element; the sensing element, the data processor and the power amplifier are mutually connected, and the storage element is connected with the data processor; the energy storage element is used for supplying energy to the power amplifier, the data processor and the storage element; by combining the distances between the underwater vehicle and each passive underwater navigation communication positioning system and the position information of each system, the actual position of the underwater vehicle can be calculated, so that the problem that the absolute coordinates of the underwater vehicle deviate and cannot be corrected in time after long-time navigation due to factors such as accumulated errors, ocean currents or earth crust movement and the like can be solved.
Description
Technical Field
The invention relates to the technical field of underwater communication navigation, in particular to a passive underwater navigation communication positioning system and method.
Background
Currently, communication navigation positioning of an underwater system is a significant problem which is vigorously developed and solved in various countries. Due to the skin effect of seawater, radio signals enter the water shallowly, and navigation systems such as a GPS and the like which are not favorable can not be used in the water. Energy transmission forms such as sound waves have the characteristic of long-distance transmission under water, and become a main means for underwater detection, identification and information transmission. An underwater acoustic positioning system which determines coordinates of an underwater target through basic information such as distance/direction by taking underwater acoustic ranging and direction finding as a means is used as an extension of a water surface GPS positioning technology underwater, and becomes one of common supporting devices in ocean engineering. The position measurement of various underwater structures in ocean operation, the investigation operation of various underwater unmanned Autonomous Underwater Vehicles (AUV), cable-controlled unmanned detectors (ROV) and the like, and various butt joint, installation and recovery operations need an underwater acoustic positioning system to provide positioning service, so that the underwater acoustic positioning system is widely applied to ocean detection and operation. With the trend of cross development of disciplines, the development of underwater acoustic positioning and navigation technology breaks through the limited mode of the traditional single acoustic measurement and gradually leads to the fusion of multiple information and multiple technologies. In recent years, various submersible technologies, such as a cable-controlled unmanned aerial vehicle (ROV), a deep sea towing surveying and mapping system (TMS), an unmanned Autonomous Underwater Vehicle (AUV), a manned underwater vehicle (HOV), and the like, gradually mature and become powerful means for modern marine investigation. The deep sea underwater sound positioning system can provide high-precision navigation positioning service for the motions of the underwater vehicles, and improves the quality and the investigation level of marine investigation data. Another characteristic of modern marine surveys is that synchronous observability is emphasized, and data assimilation processing of multidisciplinary and multi-principle observation is facilitated on site or afterwards. The sensor and the data remote control and remote measurement function carried by the deep sea high-precision underwater acoustic positioning system provide possibility for multidisciplinary synchronous observation.
The development of deep sea oil and gas resources is strategic, and in the development of the deep sea oil and gas resources, the powerful guarantee of an underwater acoustic positioning technology is needed in the whole processes of early geological survey of laying of a marine pipe, laying construction of the marine pipe, position monitoring of the marine pipe in the process of operation and exploitation and later maintenance of the marine pipe. Geological investigation and routing investigation in a marine vessel arrangement area need an underwater acoustic positioning system to provide auxiliary monitoring of disaster geology, and need to arrange routing mark positioning datum points in a planned way; in the laying construction of the marine pipe, high-precision positioning of an underwater operation ROV is required, and centimeter-level high-precision positioning of a marine pipe manifold area is required; the application of the real-time or quasi-real-time high-precision positioning system of the position of the marine vessel in the operation and exploitation process can evaluate and forecast possible geological disasters, and prevent ecological disasters causing large-area environmental pollution by the geological disasters; and accurate positioning guarantee is needed for cutting and reinstallation of a fault pipeline in the later maintenance process. Therefore, underwater acoustic positioning technology has a significant role in deep sea oil exploitation applications.
The problems faced by the existing underwater communication navigation and positioning equipment mainly focus on three aspects, namely, accumulated errors exist after launching, and correct position information cannot be accurately acquired after long-time navigation due to the influence of factors such as ocean currents or earth crust movement; secondly, the working time is short due to energy problems, and frequent energy supplement is needed; and thirdly, the underwater vehicle transmits information to other equipment, and the information needs to float to the water surface through wireless transmission or equipment such as a relay sonar is adopted, so that the concealment is poor and the cost is high.
Therefore, the underwater navigation communication positioning system and method which are accurate, passive, good in concealment and low in cost become a technical problem to be solved urgently in the technical field of underwater communication navigation.
Disclosure of Invention
The invention aims to provide a passive underwater navigation communication positioning system and a passive underwater navigation communication positioning method, which are used for solving the problem that underwater communication navigation positioning equipment in the prior art cannot accurately acquire correct position information, and the technical scheme is as follows:
a passive underwater navigation communication positioning system, comprising: a passive probe unit and a data communication tag unit;
the passive probe unit includes: the power amplifier comprises a sensitive element, an energy storage element and a power amplifier;
the data communication tag unit includes: a data processor and a storage element;
the sensing element, the data processor and the power amplifier are mutually connected, and the storage element is connected with the data processor;
the sensitive element is used for receiving and transmitting signals with the underwater vehicle;
the energy storage element stores the charge generated by the sensitive element receiving signal for supplying energy to the power amplifier, the data processor and the storage element;
the power amplifier is used for adjusting the power of the signal transmitted by the sensitive element;
the data processor is used for modulating and demodulating the signals received by the sensitive element, judging a demodulated signal protocol, and identifying and executing the instruction represented by the signal protocol;
the storage element stores write-in data of the data processor and preset information of the passive underwater navigation communication positioning system.
Preferably, the transmission signal between the sensing element and the underwater vehicle is an acoustic signal or an optical signal.
Preferably, the instructions are hexadecimal coded, the instructions comprising writing data into the storage elements and reading data from the storage elements.
Preferably, the preset information includes position coordinate information and message information of the passive underwater navigation communication positioning system.
Preferably, the sensitive element is made of a piezoelectric sensitive material or an optical sensitive material;
the energy storage element adopts a lithium battery or a lead-acid battery and is subjected to watertight treatment;
the power amplifier adopts a COMS radio frequency power amplifier;
the data processor adopts a COMS integrated circuit, a diode integrated circuit or a micro-power consumption singlechip;
the storage element is a ROM or an E2 PROM.
A passive underwater navigation communication positioning method comprises the following steps: the passive underwater navigation communication positioning method is implemented by applying the passive underwater navigation communication positioning system.
Preferably, the passive underwater communication method includes the steps of:
the method comprises the following steps: the sensitive element receives signals sent by the underwater vehicle to generate charges, and the energy storage element collects the charges to store electric energy so as to supply energy to the power amplifier, the data processor and the storage element;
step two: the data processor judges the frequency of the signal received by the sensitive element, performs modulation and demodulation when the modulation frequency is correct, judges a demodulated signal protocol and identifies an instruction represented by the signal protocol; when the modulation frequency is incorrect, the passive underwater navigation communication positioning system enters a standby state;
step three: the data processor judges the instruction, and if the instruction is judged to be written, the data processor writes data into the storage element; if the data is judged to be read, the data processor reads data from the storage element and sends signals to the underwater vehicle through the power amplifier and the sensitive element in binary forms of 1 and 0;
step four: and after receiving the binary coded signal sent by the sensitive element, the underwater vehicle inquires information contained in the binary coded signal through a codebook or a preset protocol so as to complete data communication.
Preferably, the codebook or pre-set protocol is the ASCII encoding standard.
Preferably, the passive underwater positioning method comprises the following steps:
the method comprises the following steps: the underwater vehicle is simultaneously in data communication with a plurality of passive underwater navigation communication positioning systems, and transmits and receives signals of the passive underwater navigation communication positioning systems;
step two: calculating the receiving and transmitting time delay tau of each passive underwater navigation communication positioning system through a time-frequency correlation algorithmi；
Rmax(s1,s2)＝E{s1(t)s2(t+τi)}；
Wherein:
t represents the system response latency;
s1the underwater vehicle receives a signal transmitted by a No. 1 passive underwater navigation communication positioning system;
s2the underwater vehicle receives a signal transmitted by a No. 2 passive underwater navigation communication positioning system;
e { S } is an expected value for solving S;
Rmax(s1,s2) Is s is1And s2The maximum correlation coefficient of (d);
step three: by the receiving-transmitting time delay tauiCalculating the distance r between the underwater vehicle and each passive underwater navigation communication positioning system by the system response waiting time t and the underwater signal transmission speed ci；
Step four: inquiring the information contained in the binary code signal received by the underwater vehicle through a codebook or a preset protocol to obtain the position information (x) of each passive underwater navigation communication positioning systemi,yi)；
Step five: combining the distance r between the underwater vehicle and each passive underwater navigation communication positioning systemiAnd the position information (x) of each passive underwater navigation communication positioning systemi,yi) Selecting the distance between the underwater vehicle and each passive underwater navigation communication positioning system as r1、r2、r3Three position information (x)1,y1)、(x2,y2)、(x3,y3) Calculating an actual position (x, y) of the underwater vehicle for correcting a course;
namely, it is
The beneficial technical effects obtained by the invention are as follows:
(1) according to the method, the actual position of the underwater vehicle can be calculated for correcting a course by combining the distance between the underwater vehicle and each passive underwater navigation communication positioning system and the position information of each passive underwater navigation communication positioning system, so that the problem that the absolute coordinates of the underwater vehicle are deviated and cannot be corrected in time after long-time navigation due to factors such as accumulated errors, ocean currents or earth crust movement and the like can be solved;
(2) according to the invention, the energy storage element is used for storing the electric charge generated by the sensitive element receiving the signal transmitted by the underwater vehicle for self energy supply, so that the problem of endurance of the passive underwater navigation communication positioning system during underwater operation can be solved, and frequent energy supplement is avoided;
(3) the underwater vehicle does not need to float to the water surface when transmitting information, and the passive underwater navigation communication positioning system enters a standby state when the sensitive element does not receive the specified modulation frequency, so that the information is not easy to be found and the concealment is high; in addition, the passive underwater navigation communication positioning system can be arranged at multiple points underwater at one time, and maintenance and supply are not needed by combining the passive working mode, so that the cost is lower.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a passive underwater navigation communication positioning system according to the present invention;
FIG. 2 is a graph of the frequency response of the sensor of the present invention;
FIG. 3 is an overall flow chart of a passive underwater communication method of the present invention;
FIG. 4 is an overall flow chart of a passive underwater positioning method of the present invention;
FIG. 5 is a schematic diagram of an underwater operation of a passive underwater navigation communication positioning system of the present invention;
fig. 6 is a schematic positioning diagram of a passive underwater navigation communication positioning system according to the present invention.
Detailed Description
To make the objects, aspects and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the present application are shown, and in which certain features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, specific details such as specific configurations and components are provided only to help the embodiments of the present application be fully understood. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of well-known functions and constructions are omitted in the embodiments for clarity and conciseness.
As shown in fig. 1 and 2, a passive underwater navigation communication positioning system includes: a passive probe unit and a data communication tag unit; the passive probe unit includes: the device comprises a sensitive element, an energy storage element and a power amplifier; the data communication tag unit includes: a data processor, a storage element; the sensing element, the data processor and the power amplifier are mutually connected, and the storage element is connected with the data processor;
the sensing element is used for receiving and transmitting signals with the underwater vehicle, the sensing element adopts materials including but not limited to piezoelectric sensing materials or optical sensing materials, and transmission signals between the sensing element and the underwater vehicle include but not limited to acoustic signals or optical signals;
the energy storage element stores the electric charge generated by the signal received by the sensitive element and is used for supplying power to the power amplifier, the data processor and the storage element, and the energy storage element adopts a lithium battery or a lead-acid battery and performs watertight treatment;
the power amplifier is used for adjusting the power of the signal transmitted by the sensitive element, and the power amplifier adopts a radio frequency power amplifier including but not limited to COMS;
the data processor is used for modulating and demodulating signals received by the sensitive element, judging a demodulated signal protocol, and identifying and executing an instruction represented by the signal protocol, wherein the instruction is hexadecimal code, the instruction comprises writing data into the storage element and reading data from the storage element, and the data processor adopts a communication technology including but not limited to a COMS integrated circuit, a diode integrated circuit or a micro-power consumption singlechip;
the storage element stores write-in data of the data processor and preset information of the passive underwater navigation communication positioning system, the preset information comprises position coordinate information, longitude and latitude information and message information of the passive underwater navigation communication positioning system, and the storage element includes but is not limited to ROM or E2 PROM.
It should be noted that the passive probeThe head unit does not carry electric energy, in order to obtain more electric energy reserves, the sensitive element is excited to generate electric charge by a signal of an external specified frequency band sensitive range, and the specified frequency band sensitive range (f) is preset when the sensitive element is manufacturedl,fh) The sensitivity range of the specified frequency band is close to the frequency response peak of the sensitive element, so that the concealment of communication can be improved.
A passive underwater navigation communication positioning method comprises the following steps: a passive underwater communication method and a passive underwater positioning method. As shown in fig. 3, the passive underwater communication method includes the steps of:
the method comprises the following steps: the sensitive element receives signals in a designated frequency band sensitive range sent by the underwater vehicle to generate charges, and the energy storage element collects the charges to store electric energy and supplies energy to the power amplifier, the data processor and the storage element, so that the cruising problem of the passive underwater navigation communication positioning system during underwater operation can be solved, and frequent energy supplement is avoided;
step two: the data processor judges the frequency of the signal received by the sensitive element, performs modulation and demodulation when the modulation frequency is correct, judges a demodulated signal protocol and identifies an instruction represented by the signal protocol; when the modulation frequency is incorrect, the passive underwater navigation communication positioning system enters a standby state; the data communication tag unit comprises a fixed decoding modulation circuit inside, the fixed decoding modulation circuit can be preset before use, and the data communication tag unit can only identify preset modulation frequency after the setting is finished;
step three: the data processor judges the instruction, and if the instruction is judged to be written, the data processor writes data into the storage element; if the data is judged to be read, the data processor reads data from the storage element and sends signals to the underwater vehicle through the power amplifier and the sensitive element in binary forms of 1 and 0; specifically, when the power amplifier does not sound, the underwater vehicle receiving signal is 1; when the power amplifier produces sound, the underwater vehicle receives a signal of 0;
step four: and after receiving the binary coded signal sent by the sensitive element, the underwater vehicle queries information contained in the binary coded signal through a codebook or a preset protocol to complete data communication, wherein the codebook or the preset protocol is preferably ASCII (American standard code for information interchange) coding standard.
As shown in fig. 4, 5 and 6, the passive underwater positioning method includes the following steps:
the method comprises the following steps: the underwater vehicle is simultaneously in data communication with a plurality of passive underwater navigation communication positioning systems, and transmits and receives signals of the passive underwater navigation communication positioning systems;
step two: calculating the receiving and transmitting time delay tau of each passive underwater navigation communication positioning system through a time-frequency correlation algorithmi；
Rmax(s1,s2)＝E{s1(t)s2(t+τi)}；
Wherein:
t represents the system response latency;
s1the underwater vehicle receives a signal transmitted by a No. 1 passive underwater navigation communication positioning system;
s2the underwater vehicle receives a signal transmitted by a No. 2 passive underwater navigation communication positioning system;
e { S } is an expected value for solving S;
Rmax(s1,s2) Is s is1And s2The maximum correlation coefficient of (d);
step three: by the receiving-transmitting time delay tauiCalculating the distance r between the underwater vehicle and each passive underwater navigation communication positioning system by the system response waiting time t and the underwater signal transmission speed ci；
Step four: by means of said codebooks or preset protocolsInquiring information contained in binary code signals received by the underwater vehicle to obtain position information (x) of each passive underwater navigation communication positioning systemi,yi) (ii) a Each passive underwater navigation communication positioning system is positioned in the water layer through a connecting heavy object;
step five: combining the distance r between the underwater vehicle and each passive underwater navigation communication positioning systemiAnd the position information (x) of each passive underwater navigation communication positioning systemi,yi) Selecting the distance between the underwater vehicle and each passive underwater navigation communication positioning system as r1、r2、r3Three position information (x)1,y1)、(x2,y2)、(x3,y3) Calculating the actual position (x, y) of the underwater vehicle for correcting a course, thereby solving the problem that the absolute coordinate of the underwater vehicle deviates after long-time navigation and cannot be corrected in time due to factors such as accumulated error, ocean current or earth crust movement and the like;
namely, it is
It should be noted that the number of systems selected in the passive underwater positioning method is not limited, and the above-mentioned 3 passive underwater navigation communication positioning systems are only used for more clearly illustrating the implementation object of the present invention.
The underwater vehicle does not need to float to the water surface when transmitting information, and the passive underwater navigation communication positioning system enters a standby state when the sensitive element does not receive the specified modulation frequency, so that the information is not easy to be found and the concealment is high; in addition, the passive underwater navigation communication positioning system can be arranged at multiple points underwater at one time, and maintenance and supply are not needed by combining the passive working mode, so that the cost is lower.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (9)
1. A passive underwater navigation communication positioning system, comprising: a passive probe unit and a data communication tag unit;
the passive probe unit includes: the power amplifier comprises a sensitive element, an energy storage element and a power amplifier;
the data communication tag unit includes: a data processor and a storage element;
the sensing element, the data processor and the power amplifier are mutually connected, and the storage element is connected with the data processor;
the sensitive element is used for receiving and transmitting signals with the underwater vehicle;
the energy storage element stores the charge generated by the sensitive element receiving signal for supplying energy to the power amplifier, the data processor and the storage element;
the power amplifier is used for adjusting the power of the signal transmitted by the sensitive element;
the data processor is used for modulating and demodulating the signals received by the sensitive element, judging a demodulated signal protocol, and identifying and executing the instruction represented by the signal protocol;
the storage element stores write-in data of the data processor and preset information of the passive underwater navigation communication positioning system.
2. The passive underwater navigation communication positioning system of claim 1, wherein the transmission signal between the sensing element and the underwater vehicle is an acoustic signal or an optical signal.
3. The passive underwater navigation communication positioning system of claim 1, wherein the instructions are hexadecimal encoded, the instructions including writing data to and reading data from the storage element.
4. A passive underwater navigation communication positioning system according to any of claims 1 to 3, wherein the preset information includes position coordinate information and message information of the passive underwater navigation communication positioning system.
5. The passive underwater navigation communication positioning system of claim 4,
the sensitive element is made of a piezoelectric sensitive material or an optical sensitive material;
the energy storage element adopts a lithium battery or a lead-acid battery and is subjected to watertight treatment;
the power amplifier adopts a COMS radio frequency power amplifier;
the data processor adopts a COMS integrated circuit, a diode integrated circuit or a micro-power consumption singlechip;
the storage element is a ROM or an E2 PROM.
6. A passive underwater navigation communication positioning method is characterized by comprising the following steps: a passive underwater communication method and a passive underwater positioning method, the passive underwater navigation communication positioning method being performed using the passive underwater navigation communication positioning system of any one of claims 1-5.
7. The passive underwater navigation communication positioning method according to claim 6, wherein the passive underwater communication method comprises the steps of:
the method comprises the following steps: the sensitive element receives signals sent by the underwater vehicle to generate charges, and the energy storage element collects the charges to store electric energy so as to supply energy to the power amplifier, the data processor and the storage element;
step two: the data processor judges the frequency of the signal received by the sensitive element, performs modulation and demodulation when the modulation frequency is correct, judges a demodulated signal protocol and identifies an instruction represented by the signal protocol; when the modulation frequency is incorrect, the passive underwater navigation communication positioning system enters a standby state;
step three: the data processor judges the instruction, and if the instruction is judged to be written, the data processor writes data into the storage element; if the data is judged to be read, the data processor reads data from the storage element and sends signals to the underwater vehicle through the power amplifier and the sensitive element in binary forms of 1 and 0;
step four: and after receiving the binary coded signal sent by the sensitive element, the underwater vehicle inquires information contained in the binary coded signal through a codebook or a preset protocol so as to complete data communication.
8. A passive underwater communication method according to claim 7, characterized in that the codebook or pre-set protocol is the ASCII encoding standard.
9. A passive underwater navigation communication positioning method according to any of claims 6-8, characterized in that the passive underwater positioning method comprises the steps of:
the method comprises the following steps: the underwater vehicle is simultaneously in data communication with a plurality of passive underwater navigation communication positioning systems, and transmits and receives signals of the passive underwater navigation communication positioning systems;
step two: calculating the receiving and transmitting time delay tau of each passive underwater navigation communication positioning system through a time-frequency correlation algorithmi；
Rmax(s1,s2)＝E{s1(t)s2(t+τi)}；
Wherein:
t represents the system response latency;
s1the underwater vehicle receives a signal transmitted by a No. 1 passive underwater navigation communication positioning system;
s2the underwater vehicle receives a signal transmitted by a No. 2 passive underwater navigation communication positioning system;
e { S } is an expected value for solving S;
Rmax(s1,s2) Is s is1And s2The maximum correlation coefficient of (d);
step three: by the receiving-transmitting time delay tauiCalculating the distance r between the underwater vehicle and each passive underwater navigation communication positioning system by the system response waiting time t and the underwater signal transmission speed ci；
Step four: inquiring the information contained in the binary code signal received by the underwater vehicle through a codebook or a preset protocol to obtain the position information (x) of each passive underwater navigation communication positioning systemi,yi)；
Step five: combining the distance r between the underwater vehicle and each passive underwater navigation communication positioning systemiAnd the position information (x) of each passive underwater navigation communication positioning systemi,yi) Selecting the distance between the underwater vehicle and each passive underwater navigation communication positioning system as r1、r2、r3Three position information (x)1,y1)、(x2,y2)、(x3,y3) CalculatingThe actual position (x, y) of the underwater vehicle is used to correct a course;
namely, it is
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010291329.3A CN111999702B (en) | 2020-04-14 | 2020-04-14 | Passive underwater navigation communication positioning system and method |
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| CN114777780A (en) * | 2022-03-10 | 2022-07-22 | 军事科学院系统工程研究院军事新能源技术研究所 | Underwater energy source guaranteeing device |
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