CN114655378A - Wave glider communication navigation control system based on Beidou satellite - Google Patents

Wave glider communication navigation control system based on Beidou satellite Download PDF

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Publication number
CN114655378A
CN114655378A CN202210345477.8A CN202210345477A CN114655378A CN 114655378 A CN114655378 A CN 114655378A CN 202210345477 A CN202210345477 A CN 202210345477A CN 114655378 A CN114655378 A CN 114655378A
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China
Prior art keywords
instruction
wave glider
communication
beidou
information
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CN202210345477.8A
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Chinese (zh)
Inventor
木建一
李培正
盛元华
王炜皋
刘银泉
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China E Tech Ningbo Maritime Electronics Research Institute Co ltd
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China E Tech Ningbo Maritime Electronics Research Institute Co ltd
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Priority to CN202210345477.8A priority Critical patent/CN114655378A/en
Publication of CN114655378A publication Critical patent/CN114655378A/en
Pending legal-status Critical Current

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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 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • 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
    • H04B7/18513—Transmission in a satellite or space-based system
    • 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
    • H04B7/18517—Transmission equipment in earth stations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/02—Details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2201/00—Signalling devices
    • B63B2201/16—Radio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
    • B63B2213/02—Navigational aids and use thereof, not otherwise provided for in this class using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Astronomy & Astrophysics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to the technical field of maritime unmanned communication navigation control, in particular to a Beidou satellite-based wave glider communication navigation control system, which comprises a wave glider and a ground station, wherein the wave glider comprises a main control unit, a communication module and an attitude sensor. The communication module is used for establishing wireless communication with a ground station, the main control unit is provided with an angle threshold value, the main control unit is used for acquiring attitude information from the attitude sensor, controlling the communication module to transmit signals when the front-back pitch angle and the left-right roll angle of the wave glider do not exceed the angle threshold value, and suspending the communication module to transmit signals when the front-back pitch angle and the left-right roll angle of the wave glider exceed the angle threshold value. Therefore, the optimal transmitting time of the Beidou short message is judged according to the attitude information of the water surface boat body, and the condition that the satellite cannot receive the signal transmitted by the wave glider due to the fact that the inclination angle of the communication module is too large is avoided, and the energy-saving beneficial effect is achieved.

Description

Wave glider communication navigation control system based on Beidou satellite
Technical Field
The invention relates to the technical field of communication navigation control, in particular to a wave glider communication navigation control system based on a Beidou satellite.
Background
The wave glider is used as a low-speed offshore unmanned mobile platform and has the characteristics of low speed, high cruising ability and the like. Foreign wave gliders generally use GPS as a positioning navigation satellite, iridium communication and the like as communication control means. Although the wave glider using GPS and iridium as positioning navigation and communication control satellites is a mature solution, the domestic wave glider should consider using domestic positioning satellites and communication satellites for safety, security and cost reduction.
However, the existing wave glider is small in size and light in weight, and the water boat body is greatly influenced by waves to have a large shaking angle, so that the communication device can generate a certain inclination angle, and when the inclination angle is too large, the satellite cannot receive signals transmitted by the wave glider, so that the power supply and the time are wasted.
Disclosure of Invention
The technical problem of the invention is that the existing wave glider has small volume and light weight, and the water boat body has larger shaking angle under the influence of waves, so the communication device can generate a certain inclination angle, and when the inclination angle is too large, the satellite can not receive the signal transmitted by the wave glider, thereby causing the waste of power supply and time.
The basic scheme provided by the invention is as follows: a wave glider communication navigation control system based on a Beidou satellite comprises a wave glider and a ground station, wherein the wave glider is in wireless connection with the ground station; the wave glider comprises a main control unit, a communication module and an attitude sensor, wherein the main control unit is electrically connected with the communication module and the attitude sensor;
the communication module is used for establishing wireless communication with a ground station, the main control unit is provided with an angle threshold value and is used for acquiring attitude information from the attitude sensor, controlling the communication module to transmit signals when the front-back pitch angle and the left-right roll angle of the wave glider do not exceed the angle threshold value, and suspending the communication module to transmit signals when the front-back pitch angle and the left-right roll angle of the wave glider exceed the angle threshold value.
The principle and the advantages of the invention are as follows: this scheme is small according to wave glider, the quality is light, and the surface of water hull receives the wave influence to rock the characteristics that the angle is big, carries out real time monitoring to surface of water hull gesture, obtains the front and back pitch angle and control the roll angle of wave glider through attitude sensor, and when the front and back pitch angle and control the roll angle and exceed the angle threshold value, pause signal transmission has reduced the electric quantity consumption, has played the beneficial effect of practicing thrift the energy consumption.
Further, the communication module adopts a Beidou communication positioning unit, and the Beidou communication positioning unit comprises a Beidou communication module and a Beidou positioning module;
the Beidou positioning module is used for acquiring positioning information of the wave glider; the Beidou communication module realizes communication and control of the wave glider through a short message function, the ground station sends a control instruction to the wave glider through the Beidou short message, and the wave glider feeds back an instruction to the ground station through the Beidou short message.
Has the advantages that: the wave glider is low in speed, small in size and low in real-time requirement, and the Beidou positioning module and the Beidou short message communication module are used as navigation positioning and communication control means. The positioning navigation satellite and the communication satellite adopt Beidou satellites, so that the method has the advantages of high safety, good confidentiality and the like; in addition, because the positioning and the communication adopt domestic modules, the scheme also has the advantages of low cost, guaranteed hardware supply and the like.
Further, adopt RS485 interface communication between big dipper communication positioning unit and the main control unit, big dipper communication module and big dipper positioning module all are equipped with the RS485 interface.
Has the advantages that: because the Beidou positioning module and the Beidou short message module are provided with RS485 interfaces, and the master control unit is also provided with the RS485 interfaces, interface conversion is not needed among the module units, the circuit is simplified, the cost is reduced, and the power consumption is reduced. In addition, the RS485 interface is adopted to facilitate communication with a computer, and when each module and each unit are in failure and need to be debugged, the conversion module and the computer can be adopted to carry out connection debugging (RS 485).
Further, adopt RS232 interface communication between big dipper communication positioning unit and the main control unit, big dipper communication module and big dipper positioning module all are equipped with the RS232 interface.
Has the advantages that: because the Beidou positioning module and the Beidou short message module are provided with RS232 interfaces, and the master control unit is also provided with the RS232 interfaces, interface conversion is not needed among the module units, the circuit is simplified, the cost is reduced, and the power consumption is reduced. In addition, the RS232 interface can be conveniently communicated with a computer, and when each module and unit are in failure and need to be debugged, the module and the unit can be directly connected with the computer for debugging (RS 232).
The wave glider further comprises an underwater electronic compass sensor, a sensor load, an underwater propeller and an underwater steering engine, wherein the underwater electronic compass sensor, the sensor load and the underwater steering engine are all arranged on the underwater propeller and are electrically connected with the main control unit;
the underwater electronic compass sensor is used for acquiring underwater compass information; the sensor load is used for marine hydrology and water quality parameter measurement and underwater sound target detection; and the underwater steering engine is used for steering according to a control instruction of the main control unit.
Has the advantages that: the underwater electronic compass sensor can more accurately reflect the direction of the wave glider, and control errors caused by the influence of sea waves on the water surface electronic compass are avoided.
Further, the control instructions comprise a manual control instruction, an automatic control instruction, a sensor load switch instruction, an auxiliary propeller switch instruction, a target point error radius instruction, a target point setting instruction, a platform information feedback time interval instruction, a sensor load feedback time interval instruction, a Beidou receiving address change instruction, a restart instruction and a self-destruction instruction;
the manual control instruction comprises a left rudder instruction, a right rudder instruction and a middle rudder instruction; the automatic control instruction comprises an automatic direction control instruction and an automatic target point control instruction.
Further, the feedback instruction comprises a receiving feedback instruction and a platform information feedback instruction;
the received feedback instruction comprises feedback information corresponding to each type of control instruction; the platform information feedback instruction comprises instruction serial number information, platform longitude and latitude information, platform attitude information, platform battery voltage information, platform equipment compartment water leakage information, platform equipment compartment cover opening information, solar charging current information and steering engine state information.
Further, the main control unit enters an automatic target point control mode after receiving an automatic target point control instruction;
in the automatic target point control mode, the main control unit regularly acquires the current coordinate and the current direction once, calculates the target direction according to the target coordinate and the current coordinate, calculates the direction deviation according to the target direction and the current direction, and finally adjusts the rudder angle according to the direction deviation.
Further, the main control unit enters an automatic direction control mode after receiving an automatic direction control instruction;
in the automatic direction control mode, the main control unit regularly acquires the current direction once, calculates the direction deviation according to the target direction and the current direction, and then adjusts the rudder angle according to the direction deviation.
Has the advantages that: the main control unit receives and analyzes the short message command, calculates a target direction according to the analyzed target address and the current coordinate information, and adjusts a rudder angle according to the current direction and the target direction deviation, so that the optimal transmitting time of the Beidou short message can be conveniently judged according to the attitude information of the water surface boat body.
Drawings
Fig. 1 is a schematic diagram of a wave glider communication navigation control system based on a Beidou satellite.
Detailed Description
The following is further detailed by way of specific embodiments:
the reference numbers in the drawings of the specification include: the water surface boat body 1, the main control unit 2, the communication module 3, the attitude sensor 4, the umbilical cable 5, the underwater propeller 6, the underwater electronic compass sensor 7, the underwater steering engine 8 and the sensor load 9.
The specific implementation process is as follows:
example one
In one embodiment, a wave glider communication navigation control system based on a Beidou satellite comprises a wave glider and a ground station, wherein the wave glider is wirelessly connected with the ground station, and is basically as shown in figure 1. The wave glider comprises a water surface boat body 1, an underwater propeller 6, an underwater steering engine 8, a main control unit 2, a communication module 3, an underwater electronic compass sensor 7, a sensor load 9 and an attitude sensor 4, wherein the main control unit 2 is installed in the water surface boat body 1 of the wave glider, the communication module 3 and the attitude sensor 4 are installed on the surface of the water surface boat body 1, and the underwater electronic compass sensor 7, the sensor load 9 and the underwater steering engine 8 are all installed on the underwater propeller 6.
Specifically, communication module 3 is used for establishing wireless communication with the ground station, main control unit 2 is equipped with the angle threshold value, and main control unit 2 is used for obtaining the gesture information from attitude sensor 4 to control communication module 3 transmission signal when the front and back pitch angle and the left and right roll angle of wave glider are no longer than the angle threshold value, suspend communication module 3 transmission signal when the front and back pitch angle and the left and right roll angle of wave glider are more than the angle threshold value. The angle threshold value in this embodiment is positive and negative 15 degrees, and attitude sensor 4 is installed on the surface of water hull 1, and when the angle of pitch around surface of water hull 1, control roll angle and exceed 3 transmitting signals of pause big dipper communication module when positive and negative 15 degrees, transmitting signals when the angle of pitch around surface of water hull 1 and control roll angle are all in positive and negative 15 degrees. Therefore, the situation that the satellite cannot receive the signal transmitted by the wave glider due to the fact that the inclination angle of the communication module 3 is too large is avoided, and the energy-saving beneficial effect is achieved.
Be equipped with battery power and main control circuit board in the main control unit 2, two-way connection between main control unit 2 and the communication module 3, including power cord and RS232 (or RS485) communication line, main control unit 2 provides the power for communication module 3 through the power cord. The main control unit 2 is also connected with an underwater compass sensor and an underwater steering engine 8 which are arranged on an underwater propeller 6 through an umbilical cable 5, and the umbilical cable 5 comprises a power line and a communication line. The main control unit 2 provides power for the underwater electronic compass sensor 7 and the underwater steering engine 8 through a power line in the umbilical cable 5, the underwater electronic compass sensor 7 provides underwater compass information for the main control unit 2 through a communication line in the umbilical cable 5, and the sensor load 9 is used for marine hydrology water quality parameter measurement and underwater sound target detection. The main control unit 2 sends an instruction to the underwater steering engine 8 through a communication line in the umbilical cable 5 to control the underwater steering engine 8 to steer.
The communication module 3 adopts a Beidou communication positioning unit which comprises a Beidou communication module 3 and a Beidou positioning module, and has Beidou positioning and Beidou short message communication functions; the Beidou positioning module is used for acquiring positioning information of the wave glider; the Beidou communication module 3 realizes communication and control of the wave glider through a short message function, the ground station sends a control instruction to the wave glider through the Beidou short message, and the wave glider sends a feedback instruction to the ground station through the Beidou short message. The main control unit 2 can read positioning information from the Beidou positioning module through a communication line, and the main control unit 2 can also send platform information, load information and the like to the Beidou communication module 3 through the communication line.
In addition, an RS232 or RS485 interface is adopted for communication between the Beidou positioning module and the main control unit 2, and an RS232 (or RS485) interface is adopted for communication between the Beidou communication module 3 and the main control unit 2. The big dipper orientation module and big dipper short communication module 3 self all have RS232 (or RS485) interface, and main control unit 2 also designs has RS232 (or RS485) interface, consequently does not need interface conversion between each modular unit, has simplified the circuit, and the cost is reduced has reduced the consumption. In addition, an RS232 (or RS485) interface is adopted to facilitate communication with a computer, and when each module and each unit are in failure and need debugging, the connection debugging (RS232) or the connection debugging (RS485) between a conversion module and the computer can be directly carried out.
The control instruction and the feedback instruction related to the scheme are specific, wherein the control instruction comprises a manual control instruction, an automatic control instruction, a sensor load 9 switch instruction, an auxiliary propeller switch instruction, a target point error radius instruction, a target point setting instruction, a platform information feedback time interval instruction, a sensor load 9 feedback time interval instruction, a Beidou receiving address change instruction, a restart instruction and a self-destruction instruction. The manual control instruction comprises a left rudder instruction, a right rudder instruction and a middle rudder instruction; the automatic control instruction comprises an automatic direction control instruction and an automatic target point control instruction.
The feedback instruction comprises a receiving feedback instruction and a platform information feedback instruction; the received feedback instruction comprises feedback information corresponding to each type of control instruction; the platform information feedback instruction comprises instruction serial number information, platform longitude and latitude information, platform attitude information, platform battery voltage information, platform equipment compartment water leakage information, platform equipment compartment cover opening information, solar charging current information and steering engine state information.
The main control unit 2 enters an automatic target point control mode after receiving an automatic target point control instruction, wherein the automatic target point control instruction comprises one or more target coordinates; in the automatic target point control mode, the main control unit 2 regularly acquires the current coordinate and the current direction once, calculates the target direction according to the target coordinate and the current coordinate, calculates the direction deviation according to the target direction and the current direction, and finally adjusts the rudder angle according to the direction deviation until the current direction and the target direction deviation are within the allowable range.
The main control unit 2 enters an automatic direction control mode after receiving an automatic direction control instruction, wherein the automatic direction control instruction comprises target direction information; in the automatic direction control mode, the main control unit 2 periodically acquires the current direction once, calculates the direction deviation according to the target direction and the current direction, and then adjusts the rudder angle according to the direction deviation until the deviation between the current direction and the target direction is within the allowable range.
In addition, in order to avoid unnecessary power consumption caused by frequent calculation of the main control unit 2 and frequent execution of actions of the steering engine, the scheme combines the characteristics of the wave glider and sets a time threshold, wherein the time threshold is 5 seconds, the deviation between the current course and the target course is calculated every 5 seconds during specific implementation, and the rudder angle is adjusted every 5 seconds, so that the energy-saving effect is achieved.
The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (9)

1. A wave glider communication navigation control system based on a Beidou satellite comprises a wave glider and a ground station, wherein the wave glider is in wireless connection with the ground station; the method is characterized in that: the wave glider comprises a main control unit, a communication module and an attitude sensor, wherein the main control unit is electrically connected with the communication module and the attitude sensor;
the communication module is used for establishing wireless communication with a ground station, the main control unit is provided with an angle threshold value and is used for acquiring attitude information from the attitude sensor, controlling the communication module to transmit signals when the front-back pitch angle and the left-right roll angle of the wave glider do not exceed the angle threshold value, and suspending the communication module to transmit signals when the front-back pitch angle and the left-right roll angle of the wave glider exceed the angle threshold value.
2. The wave glider communication navigation control system based on the Beidou satellite according to claim 1, characterized in that: the communication module adopts a Beidou communication positioning unit, and the Beidou communication positioning unit comprises a Beidou communication module and a Beidou positioning module;
the Beidou positioning module is used for acquiring positioning information of the wave glider; the Beidou communication module realizes communication and control of the wave glider through a short message function, the ground station sends a control instruction to the wave glider through the Beidou short message, and the wave glider feeds back an instruction to the ground station through the Beidou short message.
3. The wave glider communication navigation control system based on the Beidou satellite according to claim 1, characterized in that: adopt RS485 interface communication between big dipper communication positioning unit and the main control unit, big dipper communication module and big dipper positioning module all are equipped with the RS485 interface.
4. The wave glider communication navigation control system based on the Beidou satellite according to claim 1, characterized in that: adopt RS232 interface communication between big dipper communication positioning unit and the main control unit, big dipper communication module and big dipper positioning module all are equipped with the RS232 interface.
5. The wave glider communication navigation control system based on the Beidou satellite according to claim 1, characterized in that: the wave glider further comprises an underwater electronic compass sensor, a sensor load, an underwater propeller and an underwater steering engine, wherein the underwater electronic compass sensor, the sensor load and the underwater steering engine are all arranged on the underwater propeller and are electrically connected with the main control unit;
the underwater electronic compass sensor is used for acquiring underwater compass information; the sensor load is used for marine hydrology and water quality parameter measurement and underwater sound target detection; and the underwater steering engine is used for steering according to a control instruction of the main control unit.
6. The wave glider communication navigation control system based on the Beidou satellite according to claim 1, characterized in that: the control instructions comprise a manual control instruction, an automatic control instruction, a sensor load switch instruction, an auxiliary propeller switch instruction, a target point error radius instruction, a target point setting instruction, a platform information feedback time interval instruction, a sensor load feedback time interval instruction, a Beidou receiving address change instruction, a restart instruction and a self-destruction instruction;
the manual control instruction comprises a left rudder instruction, a right rudder instruction and a middle rudder instruction; the automatic control instruction comprises an automatic direction control instruction and an automatic target point control instruction.
7. The wave glider communication navigation control system based on the Beidou satellite according to claim 1, characterized in that: the feedback instruction comprises a receiving feedback instruction and a platform information feedback instruction;
the received feedback instruction comprises feedback information corresponding to each type of control instruction; the platform information feedback instruction comprises instruction serial number information, platform longitude and latitude information, platform attitude information, platform battery voltage information, platform equipment compartment water leakage information, platform equipment compartment cover opening information, solar charging current information and steering engine state information.
8. The wave glider communication navigation control system based on Beidou satellite system according to claim 1, characterized in that: the main control unit enters an automatic target point control mode after receiving an automatic target point control instruction;
in the automatic target point control mode, the main control unit regularly acquires the current coordinate and the current direction once, calculates the target direction according to the target coordinate and the current coordinate, calculates the direction deviation according to the target direction and the current direction, and finally adjusts the rudder angle according to the direction deviation.
9. The wave glider communication navigation control system based on the Beidou satellite according to claim 1, characterized in that: the main control unit enters an automatic direction control mode after receiving an automatic direction control instruction;
in the automatic direction control mode, the main control unit acquires the current direction at regular time, calculates the direction deviation according to the target direction and the current direction, and adjusts the rudder angle according to the direction deviation.
CN202210345477.8A 2022-03-31 2022-03-31 Wave glider communication navigation control system based on Beidou satellite Pending CN114655378A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107797119A (en) * 2017-09-05 2018-03-13 深圳航天东方红海特卫星有限公司 Sea surface drifting buoy communication control method based on big-dipper satellite
CN111366962A (en) * 2020-03-12 2020-07-03 国家深海基地管理中心 Deep open sea low-cost long-endurance collaborative navigation positioning system
CN111623781A (en) * 2020-06-09 2020-09-04 青岛海洋科学与技术国家实验室发展中心 Real-time path navigation method and system for wave glider
CN114228937A (en) * 2022-02-28 2022-03-25 中国海洋大学 Ship recognition system based on wave glider
CN114237132A (en) * 2022-02-23 2022-03-25 中国海洋大学 Redundant satellite positioning communication system for wave glider

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107797119A (en) * 2017-09-05 2018-03-13 深圳航天东方红海特卫星有限公司 Sea surface drifting buoy communication control method based on big-dipper satellite
CN111366962A (en) * 2020-03-12 2020-07-03 国家深海基地管理中心 Deep open sea low-cost long-endurance collaborative navigation positioning system
CN111623781A (en) * 2020-06-09 2020-09-04 青岛海洋科学与技术国家实验室发展中心 Real-time path navigation method and system for wave glider
CN114237132A (en) * 2022-02-23 2022-03-25 中国海洋大学 Redundant satellite positioning communication system for wave glider
CN114228937A (en) * 2022-02-28 2022-03-25 中国海洋大学 Ship recognition system based on wave glider

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Application publication date: 20220624