CN111999702B - Passive underwater navigation communication positioning system and method - Google Patents
Passive underwater navigation communication positioning system and method Download PDFInfo
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- CN111999702B CN111999702B CN202010291329.3A CN202010291329A CN111999702B CN 111999702 B CN111999702 B CN 111999702B CN 202010291329 A CN202010291329 A CN 202010291329A CN 111999702 B CN111999702 B CN 111999702B
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- 238000004891 communication Methods 0.000 title claims abstract description 107
- 238000000034 method Methods 0.000 title claims abstract description 24
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 239000002253 acid Substances 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
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Classifications
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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
Abstract
The invention relates to a passive underwater navigation communication positioning system and a method thereof, 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 sensing element, the energy storage element and the power amplifier; the data communication tag unit includes: a data processor, a memory element; the sensitive 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; the actual position of the underwater vehicle can be calculated by combining the distance between the underwater vehicle and each passive underwater navigation communication positioning system and the position information of each system, so that the problem that the absolute coordinates of the underwater vehicle are deviated after long-time sailing and cannot be corrected in time due to factors such as accumulated errors, ocean currents or earth crust movements 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 great problem which is greatly developed and solved by various countries. Due to the existence of the sea water skin effect, the radio signal is shallow in water, and navigation systems such as GPS and the like which are not beneficial cannot be used in water. The energy transmission forms such as sound waves have the characteristic of long-distance transmission under water, and become a main means of underwater detection, identification and information transmission. The underwater acoustic positioning system which uses underwater acoustic ranging and direction finding as means and determines the coordinates of an underwater target through basic information such as distance/azimuth and the like is used as the extension of a water surface GPS positioning technology under water, and is one of supporting equipment commonly used in ocean engineering. The position measurement of various underwater structures in marine operation, the survey operation of various unmanned underwater unmanned autonomous deep underwater vehicles (AUV), cable-controlled unmanned detectors (ROV) and the like, and various implemented butt joint, installation and recovery operations all need the underwater sound positioning system to provide positioning service, so that the underwater sound positioning system is widely applied to marine detection and operation. Along with the trend of the crossing development of disciplines, the development of underwater acoustic positioning and navigation technology breaks the previous limited mode of single acoustic measurement, and gradually goes to the fusion of multiple information and multiple technologies. In recent years, various submersible technologies, such as a cable-controlled unmanned detector (ROV), a deep sea Towing Mapping System (TMS), an unmanned autonomous submersible vehicle (AUV), a manned submersible vehicle (HOV) and the like, gradually mature, and become a powerful means of modern ocean investigation. The deep sea underwater sound positioning system can provide high-precision navigation positioning service for the underwater vehicle movements, and improves the quality and the investigation level of marine investigation data. Another feature of modern marine surveys is to emphasize synchronous observability, facilitating data assimilation for multidisciplinary, multidisciplinary observations, either on-site or post-hoc. The sensor and the data remote control and telemetry function carried by the deep sea high-precision underwater sound positioning system provide possibility for multi-disciplinary synchronous observation.
The deep sea oil gas resource development is a strategically significant work, and in the deep sea oil gas resource development, the whole process of early geological investigation of sea pipe laying, the laying construction of sea pipes, the position monitoring of the sea pipes in the operation exploitation process and the maintenance of the sea pipes in the later period is required to be strongly ensured by the underwater sound positioning technology. The marine pipe layout area geological survey and the routing survey require that the underwater sound positioning system provide auxiliary monitoring of disaster geology and that routing marks are laid in a planned way to position datum points; in the sea pipe laying construction, not only the ROV operated under water needs to be positioned with high precision, but also the sea pipe manifold area needs to be positioned with high precision in centimeter level; the application of the real-time or quasi-real-time high-precision positioning system for the sea pipe position in the operation exploitation process can evaluate and forecast the possible geological disasters, and prevent the ecological disasters which pollute the environment in a large area due to the geological disasters; and the cutting and reinstallation of the fault pipeline in the later maintenance process requires more accurate positioning guarantee. Thus, underwater acoustic positioning technology has a significant role in deep sea oil exploitation applications.
The problems faced by the current underwater communication navigation and positioning equipment are mainly concentrated in three aspects, namely, accumulated errors exist after the water is discharged, and accurate position information cannot be accurately obtained after long-time navigation due to the influence of factors such as ocean currents or crustal motions; secondly, the working time is short due to the energy problem, and frequent energy supplement is needed; thirdly, the underwater vehicle transmits information to other equipment, and the underwater vehicle needs to float to the water surface to transmit the information wirelessly or adopt equipment such as relay sonar, and the like, so that the concealment is poor and the cost is high.
Therefore, the underwater navigation communication positioning system and the underwater navigation communication positioning method which are accurate, passive, good in concealment and low in cost are 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 an underwater communication navigation positioning device 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 memory element;
the sensitive element, the data processor and the power amplifier are connected with each other, 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 charges generated by the signals received by the sensitive element and is used 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 instructions represented by the signal protocol;
the storage element stores the writing 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 to and reading data from the storage element.
Preferably, the preset information comprises position coordinate information and message information of the passive underwater navigation communication positioning system.
Preferably, the sensitive element is made of piezoelectric sensitive material or optical sensitive material;
The energy storage element adopts a lithium battery or a lead-acid battery and performs 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 memory element adopts ROM or E2PROM.
A passive underwater navigation communication positioning method comprises the following steps: the passive underwater navigation communication positioning method is implemented by the passive underwater navigation communication positioning system.
Preferably, the passive underwater communication method comprises the steps of:
step one: the sensing element receives signals sent by the underwater vehicle to generate charges, and the energy storage element collects the charges to store electric energy and supplies energy for 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, modulates and demodulates the signal 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 the data from the storage element and sends signals to the underwater vehicle through the power amplifier and the sensitive element in a binary form of 1 and 0;
Step four: and after receiving the binary coded signals sent by the sensitive elements, the underwater vehicle inquires the information contained in the binary coded signals through a codebook or a preset protocol so as to complete data communication.
Preferably, the codebook or preset protocol is an ASCII encoding standard.
Preferably, the passive underwater positioning method comprises the following steps:
step one: the underwater vehicle simultaneously performs data communication with a plurality of passive underwater navigation communication positioning systems, and the underwater vehicle transmits and receives signals of the passive underwater navigation communication positioning systems;
Step two: calculating the receiving and transmitting time delay tau i of each passive underwater navigation communication positioning system through a time-frequency correlation algorithm;
Rmax(s1,s2)＝E{s1(t)s2(t+τi)}；
Wherein:
t represents system response latency;
s 1 represents that the underwater vehicle receives a signal transmitted by a No. 1 passive underwater navigation communication positioning system;
s 2 represents that the underwater vehicle receives a signal transmitted by a No. 2 passive underwater navigation communication positioning system;
E { S } is the expected value of solving for S;
r max(s1,s2) is the maximum correlation coefficient of s 1 and s 2;
step three: calculating the distance r i between the underwater vehicle and each passive underwater navigation communication positioning system according to the receiving-transmitting time delay tau i, the system response waiting time t and the underwater signal transmission speed c;
step four: inquiring information contained in binary coded signals received by the underwater vehicle through a codebook or a preset protocol to obtain position information (x i,yi) of each passive underwater navigation communication positioning system;
step five: combining the distance r i between the underwater vehicle and each passive underwater navigation communication positioning system and the position information (x i,yi) of each passive underwater navigation communication positioning system, selecting three pieces of position information (x 1,y1)、(x2,y2)、(x3,y3) with the distance r 1、r2、r3 between the underwater vehicle and each passive underwater navigation communication positioning system, and calculating the actual positions (x, y) of the underwater vehicles for correcting the course;
I.e.
The beneficial technical effects obtained by the invention are as follows:
(1) According to the invention, 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, the actual position of the underwater vehicle can be calculated to be used for correcting a route, so that the problem that the absolute coordinates of the underwater vehicle are deviated and cannot be corrected in time after long-time navigation caused by factors such as accumulated errors, ocean currents or crustal motions can be solved;
(2) According to the invention, the energy storage element stores charges generated by the signals transmitted by the underwater vehicle received by the sensitive element and is used for self energy supply, so that the problem of continuous voyage during underwater operation of the passive underwater navigation communication positioning system can be solved, and frequent energy source supplement is avoided;
(3) According to the invention, the underwater vehicle does not need to float up 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 appointed modulation frequency, so that the passive underwater navigation communication positioning system is not easy to find and has high concealment; in addition, the passive underwater navigation communication positioning system can be distributed underwater at multiple points at one time, and maintenance and supply are not needed by combining a passive working mode, so that the cost is low.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of a passive underwater navigation communication positioning system of the present invention;
FIG. 2 is a graph showing 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 view of the 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 of the present invention.
Detailed Description
For the purposes of promoting an understanding of the principles of the embodiments of the application, reference will now be made in detail to the drawings of embodiments of the application, including specific examples, it is to be understood that the application is illustrated in the drawings and that the specific 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 merely to facilitate a thorough understanding of embodiments of the application. It will therefore be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the 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 sensing element, the energy storage element and the power amplifier; the data communication tag unit includes: a data processor, a memory element; the sensitive 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 a piezoelectric sensing material or an optical sensing material, and the transmission signals between the sensing element and the underwater vehicle comprise acoustic signals or optical signals;
The energy storage element stores charges generated by the signals 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 COMS radio frequency power amplifier;
The data processor is used for modulating and demodulating the signals received by the sensitive element, judging a demodulated signal protocol, identifying and executing an instruction represented by the signal protocol, wherein the instruction is hexadecimal coding, the instruction comprises writing data into the storage element and reading data from the storage element, and the data processor adopts a CMOS integrated circuit, a diode integrated circuit or a micro-power consumption singlechip;
The storage element stores the writing 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 adopts a Read Only Memory (ROM) or an electronic programmable read only memory (E2 PROM) which is not limited to the ROM or the E2PROM.
It should be noted that, the passive probe unit does not carry electric energy, in order to obtain more electric energy reserves, the sensing element needs to be excited to generate electric charges by a signal of an external designated frequency band sensing range, and the designated frequency band sensing range (f l,fh) is preset when the sensing element is manufactured, and the designated frequency band sensing range is close to a frequency response peak of the sensing element, so that the communication concealment 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:
Step one: the sensing element receives signals of a designated frequency band sensing range sent by the underwater vehicle to generate electric charges, the energy storage element collects the electric charges for electric energy storage and supplies energy to the power amplifier, the data processor and the storage element, so that the problem of continuous voyage during underwater operation of the passive underwater navigation communication positioning system 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, modulates and demodulates the signal 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 completed;
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 the data from the storage element and sends signals to the underwater vehicle through the power amplifier and the sensitive element in a binary form of 1 and 0; specifically, when the power amplifier does not sound, the underwater vehicle receiving signal is 1; when the power amplifier sounds, the underwater vehicle receiving signal is 0;
Step four: and after receiving the binary coded signal sent by the sensitive element, the underwater vehicle inquires the 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 an ASCII coding standard.
As shown in fig. 4, 5 and 6, the passive underwater positioning method includes the following steps:
Step one: the underwater vehicle is in data communication with a plurality of passive underwater navigation communication positioning systems at the same time, and the underwater vehicle transmits and receives signals of the passive underwater navigation communication positioning systems;
Step two: calculating the receiving and transmitting time delay tau i of each passive underwater navigation communication positioning system through a time-frequency correlation algorithm;
Rmax(s1,s2)＝E{s1(t)s2(t+τi)}；
Wherein:
t represents system response latency;
s 1 represents that the underwater vehicle receives a signal transmitted by a No. 1 passive underwater navigation communication positioning system;
s 2 represents that the underwater vehicle receives a signal transmitted by a No. 2 passive underwater navigation communication positioning system;
E { S } is the expected value of solving for S;
r max(s1,s2) is the maximum correlation coefficient of s 1 and s 2;
step three: calculating the distance r i between the underwater vehicle and each passive underwater navigation communication positioning system according to the receiving-transmitting time delay tau i, the system response waiting time t and the underwater signal transmission speed c;
Step four: inquiring information contained in binary coded signals received by the underwater vehicle through the codebook or a preset protocol to obtain position information (x i,yi) of each passive underwater navigation communication positioning system; each passive underwater navigation communication positioning system is positioned in a water layer through a connecting weight;
Step five: combining the distance r i between the underwater vehicle and each passive underwater navigation communication positioning system and the position information (x i,yi) of each passive underwater navigation communication positioning system, selecting three pieces of position information (x 1,y1)、(x2,y2)、(x3,y3) with the distance r 1、r2、r3 between the underwater vehicle and each passive underwater navigation communication positioning system, and calculating the actual positions (x, y) of the underwater vehicle for correcting the course, thereby solving 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 movements;
I.e.
It should be noted that the number of systems selected in the passive underwater positioning method is not limited, and the above embodiments of the 3 passive underwater navigation communication positioning systems are only for more clearly illustrating the implementation purpose of the present invention.
According to the invention, the underwater vehicle does not need to float up 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 appointed modulation frequency, so that the passive underwater navigation communication positioning system is not easy to find and has high concealment; in addition, the passive underwater navigation communication positioning system can be distributed underwater at multiple points at one time, and maintenance and supply are not needed by combining a passive working mode, so that the cost is low.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
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 memory element;
the sensitive element, the data processor and the power amplifier are connected with each other, 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 charges generated by the signals received by the sensitive element and is used 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 instructions represented by the signal protocol;
the storage element stores the writing data of the data processor and preset information of the passive underwater navigation communication positioning system;
the underwater positioning method of the passive underwater navigation communication positioning system comprises the following steps:
step one: the underwater vehicle simultaneously performs data communication with a plurality of passive underwater navigation communication positioning systems, and the underwater vehicle transmits and receives signals of the passive underwater navigation communication positioning systems;
Step two: calculating the receiving and transmitting time delay tau i of each passive underwater navigation communication positioning system through a time-frequency correlation algorithm;
Rmax(s1,s2)＝E{s1(t)s2(t+τi)}；
Wherein:
t represents system response latency;
s 1 represents that the underwater vehicle receives a signal transmitted by a No. 1 passive underwater navigation communication positioning system;
s 2 represents that the underwater vehicle receives a signal transmitted by a No. 2 passive underwater navigation communication positioning system;
E { S } is the expected value of solving for S;
R max(s1,s2) is the maximum correlation coefficient of s 1 and s 2;
step three: calculating the distance r i between the underwater vehicle and each passive underwater navigation communication positioning system according to the receiving-transmitting time delay tau i, the system response waiting time t and the underwater signal transmission speed c;
Step four: inquiring information contained in binary coded signals received by the underwater vehicle through a codebook or a preset protocol to obtain position information (x i,yi) of each passive underwater navigation communication positioning system;
Step five: combining the distance r i between the underwater vehicle and each passive underwater navigation communication positioning system and the position information (x i,yi) of each passive underwater navigation communication positioning system, selecting three pieces of position information (x 1,y1)、(x2,y2)、(x3,y3) with the distance r 1、r2、r3 between the underwater vehicle and each passive underwater navigation communication positioning system, and calculating the actual positions (x, y) of the underwater vehicles for correcting the course;
I.e.
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 coded, the instructions comprising writing data to and reading data from the storage element.
4. A passive underwater navigation communication location system as set forth in any of claims 1-3 wherein the preset information includes position coordinate information and message information of the passive underwater navigation communication location system.
5. The passive underwater navigation communications positioning system of claim 4, wherein,
The sensitive element is made of piezoelectric sensitive material or optical sensitive material;
The energy storage element adopts a lithium battery or a lead-acid battery and performs watertight treatment;
The power amplifier adopts a COMS radio frequency power amplifier;
The data processor adopts a diode integrated circuit or a micro-power consumption singlechip;
the memory element adopts ROM.
6. The passive underwater navigation communication positioning system of claim 1, wherein the underwater communication method of the passive underwater navigation communication positioning system comprises the steps of:
step one: the sensing element receives signals sent by the underwater vehicle to generate charges, and the energy storage element collects the charges to store electric energy and supplies energy for 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, modulates and demodulates the signal 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 the data from the storage element and sends signals to the underwater vehicle through the power amplifier and the sensitive element in a binary form of 1 and 0;
Step four: and after receiving the binary coded signals sent by the sensitive elements, the underwater vehicle inquires the information contained in the binary coded signals through a codebook or a preset protocol so as to complete data communication.
7. The passive underwater navigation communication positioning system of claim 6, wherein the codebook or preset protocol is an ASCII encoding standard.
8. The passive underwater navigation communications positioning system of claim 1, wherein the sensing element is excited to generate charge by a signal of an externally specified frequency band sensing range, the sensing element is fabricated by presetting a specified frequency band sensing range, and the specified frequency band sensing range is close to a frequency response peak of the sensing element.
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| CN111999702B true CN111999702B (en) | 2024-05-07 |
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