CN115019412A - Underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors - Google Patents
Underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors Download PDFInfo
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Abstract
The invention discloses an underwater AUV submarine cable inspection system and method based on multiple sensors. The underwater submarine cable inspection system comprises a power supply module, an AUV control module, an AUV power module, a submarine cable detection module, a combined navigation positioning module and a wireless transmission module. Carry out the submarine cable through the multi-sensor cooperation and survey, can improve the discernment degree of accuracy to the submarine cable in the complex environment under water, survey submarine cable direction and position by the magnetometer, side scan sonar and underwater camera carry out the submarine cable discernment based on image information, and the damaged state etc. of record submarine cable remedies the limitation that single sensor surveyed, improves and surveys the degree of accuracy. The attitude and the position of the system are calculated through a combined navigation positioning algorithm, and the problem that the detection equipment is not accurately positioned underwater is solved. And a filtering gain compensation algorithm is adopted, so that the accumulation of positioning errors is overcome. Accurate underwater position information of the submarine cable inspection system is uploaded in real time, and safety of the submarine cable inspection process is improved.
Description
Technical Field
The invention belongs to the technical field of submarine cable inspection, and particularly relates to an underwater AUV submarine cable inspection system and method based on multiple sensors.
Background
By the characteristics of high capacity, high reliability, low loss, strong anti-electromagnetic interference capability and the like, more than 95% of global international data is transmitted through submarine optical cables. However, the complicated marine environment, such as high water pressure, high corrosiveness, etc., may cause damage to the submarine cable, which may have a serious adverse effect on the remote data communication, and thus, the submarine cable inspection becomes a necessary task.
The existing submarine cable inspection detection methods include a magnetic detection method, a side-scan sonar detection method, a shallow-stratum planing surface detection method, an underwater camera detection method and the like. The magnetic detection method detects the magnetic abnormal bodies such as the underwater pipelines by detecting the change of the underwater magnetic field, can detect the exposed and buried pipelines with high precision, but has lower positioning precision. The side-scan sonar forms an image by transmitting and receiving sound wave signals, can identify submarine pipelines, and has high resolution and working efficiency, but lower positioning accuracy under the deep water condition. The shallow stratum planing surface detection method can obviously detect pipelines with larger diameters and shallower burials, but has weak detection capability on pipelines with small pipe diameters. The underwater camera can intuitively and reliably identify the exposed or suspended submarine cable pipeline through optical photography, but the visible distance is short, so the detection range is small.
It can be found by combining the existing submarine cable detection methods that a single detection method cannot completely meet the detection of submarine cables in a complex submarine environment, and the problem that the positioning accuracy of sensors is low exists mostly, so that a method capable of automatically finding submarine cables underwater and realizing cruise inspection in the complex submarine environment is urgently needed, and the method is used for identifying and judging the buried depth, the exposed depth, the suspended height and obstacles of the submarine cables, recording coordinates of the submarine cables and uploading accurate position information.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors, which are based on multi-sensor and underwater combined navigation positioning, and improve the detection precision and inspection efficiency of submarine cables in a complex seabed environment while expanding the detection range.
The utility model provides an underwater AUV submarine cable system of patrolling and examining based on multisensor, includes power module, AUV control module, AUV power module, submarine cable detection module, combination navigation orientation module and wireless transmission module.
The power supply module is used for providing stable voltage for other modules in the system.
The AUV control module outputs a motion control command according to the information collected by the submarine cable detection module and the integrated navigation positioning module, stores underwater submarine cable information and self position information, and transmits the position information through the wireless transmission module.
And the AUV power module receives the motion control command output by the AUV control module and controls the posture of the AUV in the inspection process.
The submarine cable detection module comprises a magnetometer, a side-scan sonar and an underwater camera and executes underwater submarine cable detection tasks.
The combined navigation positioning module comprises a GPS, an attitude instrument, a DVL, a depth meter and an altimeter, wherein the GPS and the attitude instrument are used for combined navigation on the water surface, and the attitude instrument, the DVL, the depth meter and the altimeter are used for combined navigation under water to provide position information of the AUV.
The wireless transmission module comprises water surface wireless transmission and underwater wireless transmission, wherein the water surface wireless transmission can respectively realize the information transmission of medium-short distance and long distance by utilizing a radio station and Beidou communication, and the underwater wireless transmission is based on an acoustic communicator to realize the data communication between the AUV diving process and a shipborne shore base.
The underwater AUV submarine cable inspection method based on the multiple sensors uses the inspection system to perform underwater submarine cable detection inspection, and specifically comprises the following steps:
after the inspection system starts to operate, firstly, the change of an underwater magnetic field is detected through a magnetometer in the submarine cable detection module, the underwater direction of the submarine cable is judged according to the change rule of the magnetic field, and the AUV control module drives the AUV to approach the submarine cable.
And step two, when the AUV approaches to the direction of the submarine cable, the height distance between the AUV and the seabed is judged through the height meter in the combined navigation positioning module, when the height distance is smaller than a set threshold value, the side-scan sonar and the underwater camera in the submarine cable detection module are opened, and the surrounding environment is detected through the magnetometer, the side-scan sonar and the underwater camera simultaneously.
And step three, setting the AUV to enter a submarine cable inspection mode. When the side scan sonar and the underwater camera do not capture or explore the submarine cable image in the surrounding environment, the submarine cable is judged to be in a buried state, the AUV executes an inspection task according to the submarine cable direction sensed by the magnetometer, and the side scan sonar and the underwater camera continue to detect and capture the submarine cable image; when side scan sonar and underwater camera catch and discern effective submarine cable image, judge that the submarine cable is in naked state, the submarine cable direction and the side scan sonar of magnetometer perception are obtained the accurate position of submarine cable to the AUV, carry out the task of patrolling and examining, and the submarine camera carries out safety inspection with the submarine cable effective image transmission who catches to AUV control module simultaneously in the image.
And step four, after the AUV enters a submarine cable inspection mode, determining position coordinates of the AUV by using integrated navigation positioning, and sending the position coordinates to a shipborne shore base through a wireless transmission module. The process of determining the position coordinates specifically comprises the following steps:
and s4.1, obtaining the acceleration, the course angle, the pitch angle and the roll angle of the AUV through the attitude instrument, obtaining the three-axis convection velocity through the DVL, obtaining the off-bottom height of the system through the altimeter, and obtaining the underwater depth of the system through the depth meter.
And s4.2, filtering the three-axis convection velocity obtained by the DVL by adopting variational Bayes-Kalman filtering, estimating measurement noise, and outputting accurate velocity information after filtering.
And s4.3, designing an SINS/DVL combined filter based on an adaptive Kalman filtering method, modeling the data acquired by the attitude instrument and the data filtered by s4.2, and filtering the navigation parameters of the system.
And s4.4, correcting the result after s4.3 filtering through data collected by the altimeter and the depth meter, then resolving the parameters of the integrated navigation, and outputting the position coordinates of the self-body.
The invention has the following beneficial effects:
1. the underwater AUV submarine cable inspection method based on the multiple sensors can automatically find submarine cables underwater and realize cruise inspection in an underwater complex environment, can identify and judge the buried depth, the exposure, the suspension and obstacles of the submarine cables, records the position coordinates of the submarine cables and the damage information of the submarine cables and uploads the position coordinates and the damage information of the submarine cables to a shore-based platform in real time, and compared with the traditional submarine cable inspection method, the working efficiency and the detection precision of submarine cable inspection are improved.
2. The submarine cable detection is carried out by the cooperation of the multiple sensors, the identification accuracy of the submarine cable in an underwater complex environment can be improved, the direction and the position of the submarine cable are determined by detecting magnetic field information by the magnetometer, submarine cable target identification is carried out on image information by the side-scan sonar and the underwater camera, the underwater camera records information such as the damage state of the submarine cable, the limitation of a single sensor detection method can be solved, and the detection accuracy is improved.
3. The underwater integrated navigation can solve the problems of low underwater positioning precision and inaccurate positioning of detection equipment such as side scan sonar, magnetometer and the like, the attitude and position information of an AUV (autonomous underwater vehicle) system is calculated through an integrated navigation positioning algorithm, an SINS/DVL (strapdown inertial navigation system/velocity vector magnitude) system is combined with an altimeter and a depth meter, a filtering gain compensation algorithm is adopted, and the positioning result of an inertial navigation system is corrected through the data of the altimeter and the depth meter, so that the problem of accumulated positioning errors is solved. Accurate underwater position information of the submarine cable inspection system is uploaded in real time, and safety of the submarine cable inspection process is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a submarine cable inspection system;
FIG. 2 is a schematic diagram of a power module of the submarine cable inspection system in an embodiment;
FIG. 3 is a schematic diagram of an AUV power module of the submarine cable inspection system in the embodiment;
FIG. 4 is a schematic diagram of a submarine cable detection module of the submarine cable inspection system according to an embodiment;
FIG. 5 is a schematic diagram of an integrated navigation and positioning module of the submarine cable inspection system in the embodiment;
FIG. 6 is a schematic diagram of a wireless transmission module of the submarine cable inspection system according to an embodiment;
FIG. 7 is a flow chart of a method for detecting a sea cable according to an embodiment;
fig. 8 is a flow chart for resolving underwater position information of the submarine cable inspection system in the embodiment.
Detailed Description
The invention is further explained below with reference to the drawings;
as shown in figure 1, the underwater AUV submarine cable inspection system based on the multiple sensors comprises a power supply module, an AUV control module, an AUV power module, a submarine cable detection module, a combined navigation positioning module and a wireless transmission module.
The power supply module provides stable voltage for other modules in the system. As shown in fig. 2, the module includes an off-board power supply, an on-board voltage conversion module, a charging circuit, and a switching circuit. The power supply outside the cabin is a 48V direct current battery which is sealed in the battery cabin separately and is connected with the electronic cabin through a watertight interface, and the power supply is used for supplying power to the left main propeller and the right main propeller in the AUV power module. The power supply in the cabin is a 12V direct current battery, and the power is supplied to the small-power sensor in the cabin and a raspberry pi and STM32 circuit board in the AUV control module through a 12V-to-5V voltage reduction module. The voltage reduction module for converting 48V into 24V is used for supplying power to the outdoor sound traffic machine and the side-scan sonar, and the voltage reduction module for converting 24V into 12V is used for supplying power to the wireless transmission module in the cabin, the steering engine, each sensor outside the cabin and the three vertical propellers. The power supply outside the cabin and the power supply inside the cabin are independent and isolated, and the safety of system power supply can be guaranteed.
And the AUV power module receives the motion control command output by the AUV control module and controls the posture of the AUV in the inspection process. As shown in fig. 3, the AUV power module includes two horizontal main thrusters T80S, three vertical thrusters T200, and two steering engines D30, and the rotation direction and rotation speed of each thruster are changed by PWM control signals output by the AUV control module to realize forward movement, backward movement, upward movement, downward movement, pitching, rolling, hovering, depth setting, height setting, heading setting, etc. of the AUV in water, thereby realizing power control of the AUV system.
The AUV control module is used for outputting a motion control instruction according to the information acquired by the submarine cable detection module and the integrated navigation positioning module, storing underwater submarine cable information and self position information and transmitting the position information through the wireless transmission module. As shown in fig. 4, the AUV control module includes a raspberry pi and STM32 circuit board. The raspberry pie is connected with the switch through the network port to serve as network port expansion, and the switch is connected with the radio station, the underwater camera and the side-scan sonar Shark-S450U through the network port; the raspberry group serial port is connected with the sonotrode UWM3000 and the Beidou/GPS acquisition board through TTL to RS232 conversion; the Beidou/GPS acquisition board and the information transmission of the radio station are connected with the extravehicular wireless transceiver through the signal transceiving circuit. STM32 circuit board uses the model to be STM32F103ZET 6's chip as microprocessor, changes RS232 circuit connection gesture appearance TCM5, magnetometer, DVL _ A50 and altimeter P30 through the serial ports, changes RS485 circuit connection and keeps away barrier sonar P360 and depth gauge Huba through the serial ports, through IIC circuit connection depth gauge B30, through PWM output circuit connection each propeller and control the steering wheel. Through serial ports between raspberry group and the STM32 circuit board, the STM32 circuit board will gather raw data and carry out preliminary analysis, then hand over the effective data by the raspberry group and carry out algorithm data fusion, the raspberry group judges the current self state of AUV and the environment of locating according to the real-time data of gathering, use submarine cable to survey and issue control command to the STM32 circuit board for the purpose, correspond AUV self posture position adjustment output control signal through the STM32 circuit board, accomplish the submarine cable and patrol and examine the process.
The submarine cable detection module comprises a magnetometer, a side-scan sonar and an underwater camera and executes underwater submarine cable detection tasks. The target detection and identification are respectively carried out on submarine cable buried and exposed submarine cable pipelines through the magnetometer sensor, the side-scan sonar and the underwater camera, so that the detection range is expanded, and the detection precision of the submarine cable in a complex submarine environment is improved.
As shown in fig. 5, the integrated navigation and positioning module includes a GPS, an attitude indicator, a DVL, a depth gauge and an altimeter, wherein the GPS and the attitude indicator are used for surface navigation, and the attitude indicator, the DVL, the depth gauge and the altimeter are used for underwater navigation.
The combined navigation of the water surface is filtered by combining a GPS and an attitude instrument, and due to interference of waves and ocean currents, a GPS signal of an AUV can generate a multipath effect, so that uncertain jumping of a GPS track can exist. The tightly coupled SINS/GPS integrated navigation system has positive adaptability to the problem, so that the self-adaptive fault-tolerant Kalman filter is used for smoothing the GPS track, and the accuracy and the continuity of the positioning information of the AUV on the water surface are improved.
The underwater combined navigation positioning algorithm adopts an SINS/DVL/altimeter/depth meter combined positioning method. The fault-tolerant capability of the system is improved, and the accuracy of the system is also improved. The SINS/DVL system is combined with an altimeter and a depth meter, the positioning result of the inertial navigation system is corrected through the data of the altimeter and the depth meter, the accumulation of the positioning error is reduced, a filtering algorithm of the combined navigation system is designed by selecting a federal filter, and the real-time position information of the AUV system in the underwater motion process is output.
As shown in fig. 6, the wireless transmission module is composed of a water surface wireless transmission part and an underwater wireless transmission part. The water surface wireless transmission can respectively realize the information transmission of medium-short distance and long distance by using a wireless radio station and Beidou communication, and the underwater wireless transmission can carry out data transmission with a shipborne shore base by using an acoustic communication machine when an AUV (autonomous Underwater vehicle) submerges, so that the coordinate information of a submarine cable is monitored in real time. The acoustic communication machine, the radio station and the Beidou communication are also installed on a shipborne shore-based platform, and data transmission can be realized.
As shown in fig. 7, the underwater AUV submarine cable inspection method based on multiple sensors, which is used for underwater submarine cable detection inspection based on the inspection system, specifically comprises the following steps:
step one, the inspection system enters the water to submerge after the cruise related parameters are set on the water surface, and the inspection system starts to operate. Firstly, the change of an underwater magnetic field is detected through a magnetometer in the submarine cable detection module, the underwater direction of the submarine cable is judged according to the magnetic field change rule, and the AUV is driven to approach the submarine cable. Meanwhile, the underwater integrated navigation positioning module outputs the attitude and position information of the AUV system in real time.
And step two, judging the height distance between the AUV and the seabed through the altimeter while the AUV is close to the submarine cable, opening a side-scan sonar and an underwater camera when the height distance is smaller than a set threshold value, and detecting the surrounding environment through a magnetometer, the side-scan sonar and the underwater camera. The side-scan sonar can identify submarine pipelines by emitting and receiving sound wave signals to form images, and the resolution and the working efficiency are high; the underwater camera can intuitively and reliably identify the exposed or suspended submarine cable pipeline through optical photography, but the visible distance is short, so the detection range is small. When the inspection system is lower in off-bottom height or close to a submarine cable area, the side-scan sonar and the underwater camera are opened, so that the inspection efficiency can be improved.
And step three, setting the AUV to enter a submarine cable inspection mode. When the side scan sonar and the underwater camera do not capture or explore the submarine cable image in the surrounding environment, the submarine cable is judged to be in a buried state, the AUV executes an inspection task according to the submarine cable direction sensed by the magnetometer, and the side scan sonar and the underwater camera continue to detect and capture the submarine cable image; when side scan sonar and underwater camera catch and discern effective submarine cable image, judge that the submarine cable is in naked state, the submarine cable direction and the side scan sonar of magnetometer perception are obtained the accurate position of submarine cable to the AUV, carry out the task of patrolling and examining, and the submarine camera carries out safety inspection with the submarine cable effective image transmission who catches to AUV control module simultaneously in the image.
And step four, the AUV enters a submarine cable inspection mode, determines position coordinates of the AUV by using integrated navigation positioning, and sends the position coordinates to a shipborne shore base through a wireless transmission module. As shown in fig. 8, the process of determining the position coordinates specifically includes the following steps:
and s4.1, obtaining the acceleration, the course angle, the pitch angle and the roll angle of the AUV through the attitude instrument, obtaining the three-axis convection velocity through the DVL, obtaining the off-bottom height of the system through the altimeter, and obtaining the underwater depth of the system through the depth meter.
And s4.2, filtering the three-axis convection velocity obtained by the DVL by adopting variational Bayes-Kalman filtering, estimating approximate measurement noise, and obtaining accurate velocity information after filtering.
And s4.3, designing an SINS/DVL combined filter based on an adaptive Kalman filtering method, modeling attitude instrument and DVL data, filtering navigation parameters of a system, and resolving the parameters of combined navigation by combining navigation parameter error information to obtain high-precision navigation positioning information. An SINS/DVL/altimeter/depth meter combined positioning method is adopted. The fault-tolerant capability of the system is improved, and the accuracy of the system is also improved. The SINS/DVL system is combined with an altimeter and a depth meter, a filter gain compensation algorithm is adopted, and the positioning result of the inertial navigation system is corrected through the data of the altimeter and the depth meter, so that the problem of accumulated positioning errors is solved. The federal filter is flexible in structural design and high in fault tolerance, so that the reliability and the real-time performance of the navigation system are effectively guaranteed by selecting the federal filter to design a filtering algorithm of the integrated navigation system.
Claims (6)
1. An underwater AUV submarine cable inspection method based on multiple sensors is characterized in that: the method specifically comprises the following steps:
firstly, detecting the change of an underwater magnetic field through a magnetometer, judging the underwater direction of the submarine cable according to the change rule of the magnetic field, and driving the AUV to approach the submarine cable;
step two, judging the height distance between the AUV and the seabed through a height meter while the AUV approaches to the direction of the submarine cable, opening a side-scan sonar and an underwater camera when the height distance is smaller than a set threshold value, and simultaneously detecting the surrounding environment through a magnetometer, the side-scan sonar and the underwater camera;
setting the AUV to enter a submarine cable inspection mode; when the side scan sonar and the underwater camera do not capture or explore the submarine cable image in the surrounding environment, the submarine cable is judged to be in a buried state, the AUV executes an inspection task according to the submarine cable direction sensed by the magnetometer, and the side scan sonar and the underwater camera continue to detect and capture the submarine cable image; when the side scan sonar and the underwater camera capture and identify an effective submarine cable image, judging that the submarine cable is in an exposed state, obtaining the accurate position of the submarine cable by the AUV according to the submarine cable direction sensed by the magnetometer and the side scan sonar, executing a routing inspection task, and simultaneously transmitting the captured effective submarine cable image to the AUV control module by the underwater camera to perform safety detection on the submarine cable in the image;
step four, when the AUV enters a submarine cable inspection mode, determining the position coordinates of the AUV by using integrated navigation positioning, and sending the position coordinates of the AUV to a shipborne shore base in a wireless transmission mode; the process of determining the position coordinates specifically comprises the following steps:
s4.1, obtaining the acceleration, the course angle, the pitch angle and the roll angle of the AUV through an attitude instrument, obtaining the three-axis convection velocity through the DVL, obtaining the off-bottom height of the system through an altimeter, and obtaining the underwater depth of the system through a depth meter;
s4.2, filtering the three-axis convection velocity obtained by the DVL by adopting variational Bayes-Kalman filtering, estimating measurement noise, and outputting accurate velocity information after filtering;
s4.3, designing an SINS/DVL combined filter based on an adaptive Kalman filtering method, modeling the data acquired by the attitude instrument and the data filtered by s4.2, and filtering the navigation parameters of the system;
and s4.4, correcting the result after s4.3 filtering through data collected by the altimeter and the depth meter, then resolving the parameters of the integrated navigation, and outputting the position coordinates of the self-body.
2. The utility model provides an underwater AUV submarine cable system of patrolling and examining based on multisensor which characterized in that: the inspection method is implemented according to claim 1, and the system comprises a power supply module, an AUV control module, an AUV power module, a submarine cable detection module, a combined navigation and positioning module and a wireless transmission module;
the power supply module is used for providing stable voltage for other modules in the system;
the AUV control module outputs a motion control command according to the information acquired by the submarine cable detection module and the integrated navigation positioning module, stores underwater submarine cable information and self position information, and transmits the position information through the wireless transmission module;
the AUV power module receives a motion control command output by the AUV control module and controls the posture of the AUV in the inspection process;
the submarine cable detection module comprises a magnetometer, a side-scan sonar and an underwater camera and executes an underwater submarine cable detection task;
the combined navigation positioning module comprises a GPS, an attitude instrument, a DVL, a depth meter and an altimeter, wherein the GPS and the attitude instrument are used for water surface combined navigation, and the attitude instrument, the DVL, the depth meter and the altimeter are used for underwater combined navigation to provide position information of the AUV;
the wireless transmission module comprises water surface wireless transmission and underwater wireless transmission, wherein the water surface wireless transmission can respectively realize the information transmission of medium-short distance and long distance by utilizing a radio station and Beidou communication, and the underwater wireless transmission is based on an acoustic communicator to realize the data communication between the AUV diving process and a shipborne shore base.
3. The underwater AUV submarine cable inspection system based on multiple sensors according to claim 2, wherein: the AUV power module comprises two horizontal main propellers, three vertical propellers and two steering engines, and the rotation direction and the rotation speed of each propeller are changed according to instructions output by the AUV control module to realize that the AUV advances, retreats, floats, dives, pitches, rolls, hovers, keeps in depth, keeps in height or keeps in bow navigation and the like in water.
4. The underwater AUV submarine cable inspection system based on multiple sensors according to claim 2 or 3, wherein: the power supply module comprises an outboard power supply and an inboard power supply; the extra-cabin power supply is a 48V direct current battery and is used for supplying power to the AUV power module, the submarine cable detection module and the acoustic communication machine; the power supply in the cabin is a 12V direct current battery which supplies power for the AUV control module and the water surface wireless transmission and combined navigation positioning module.
5. The underwater AUV submarine cable inspection system based on the multiple sensors of claim 4, wherein: the power supply outside the cabin and the power supply inside the cabin are independent and isolated.
6. The underwater AUV submarine cable inspection system based on multiple sensors according to claim 2 or 3, wherein: the AUV control module comprises a raspberry pi and an STM32 circuit board; the STM32 circuit board uses a chip with the model number of STM32F103ZET6 as a microprocessor, is connected with the attitude instrument, the magnetometer, the DVL and the altimeter through a serial port-to-RS 232 circuit, is connected with the side-scan sonar and the depth meter through a serial port-to-RS 485 circuit, is connected with the depth meter through an IIC circuit, and is connected with the AUV power module through a PWM output circuit; through serial ports between raspberry group and the STM32 circuit board, the STM32 circuit board will gather raw data and carry out preliminary analysis, then hand over the effective data by the raspberry group and carry out algorithm data fusion, the raspberry group judges the current self state of AUV and the environment of locating according to the real-time data of gathering, use submarine cable to survey and issue control command to the STM32 circuit board for the purpose, correspond AUV self posture position adjustment output control signal through the STM32 circuit board, accomplish the submarine cable and patrol and examine the process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210618561.2A CN115019412A (en) | 2022-06-01 | 2022-06-01 | Underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors |
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| CN202210618561.2A CN115019412A (en) | 2022-06-01 | 2022-06-01 | Underwater AUV (autonomous underwater vehicle) submarine cable inspection system and method based on multiple sensors |
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| CN116594080A (en) * | 2023-07-17 | 2023-08-15 | 中国海洋大学 | Underwater target detection system and detection method |
| CN116599602A (en) * | 2023-07-18 | 2023-08-15 | 北京航天华腾科技有限公司 | Low-energy-consumption long-distance sonar communication system for ocean monitoring |
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| CN116594080B (en) * | 2023-07-17 | 2023-12-01 | 中国海洋大学 | Underwater target detection system and detection method |
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