CN116684004A - Logic control method for integrating underwater sound modem communication and positioning - Google Patents
Logic control method for integrating underwater sound modem communication and positioning Download PDFInfo
- Publication number
- CN116684004A CN116684004A CN202310325838.7A CN202310325838A CN116684004A CN 116684004 A CN116684004 A CN 116684004A CN 202310325838 A CN202310325838 A CN 202310325838A CN 116684004 A CN116684004 A CN 116684004A
- Authority
- CN
- China
- Prior art keywords
- data
- underwater sound
- positioning
- communication
- modem
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000006854 communication Effects 0.000 title claims abstract description 72
- 238000004891 communication Methods 0.000 title claims abstract description 70
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005236 sound signal Effects 0.000 claims abstract description 19
- 230000010354 integration Effects 0.000 claims abstract description 7
- 238000012795 verification Methods 0.000 claims abstract description 7
- 238000001228 spectrum Methods 0.000 claims description 15
- 230000001427 coherent effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/62—Sense-of-movement determination
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a logic control method integrating underwater sound modem communication and positioning, wherein a main control module of a transmitting end underwater sound modem reads data in a positioning module, and the packed data packet data sequentially passes through a communication module, a power amplifier and a transducer and is converted into an underwater sound signal to be output; the underwater sound modem at the receiving end receives the underwater sound signal through the hydrophone array, inputs the underwater sound signal into the communication module after passing through the analog-to-digital converter, performs primary demodulation and verification on the waveform, and sends the waveform to the main control module; the main control module sends the data related to positioning to the positioning module, and the data related to communication is sent to the communication module to obtain communication data output; the positioning module obtains relative position data between the underwater sound of the sending end and the underwater sound modem of the receiving end and outputs the relative position data as positioning data. The invention realizes the positioning function in the underwater acoustic communication process, avoids the mutual conflict of the communication function and the positioning function, and realizes the integration of the underwater acoustic Modem communication and positioning.
Description
Technical Field
The invention relates to the field of underwater communication and underwater sound positioning, in particular to a logic control method integrating underwater sound modem communication and positioning.
Background
With the proposal of ocean national strategy and ocean Internet of things concept, people gradually improve the development force of underwater electronic equipment, various underwater Internet of things equipment, underwater unmanned submersible vehicles and underwater sensors are developed, and the observation and use of people on ocean environments are promoted. The technology and the equipment are generated to enable the sea to be explored more and more, and the development of the sea observation and information transmission to a large scale, automation and high efficiency is facilitated.
And the use and popularization of various underwater equipment further increases the use frequency and the use requirement of the underwater sound modem. For underwater equipment, because the common short wave electromagnetic wave signal decays too fast in water, long wave underwater sound waves are mostly selected for data and information transmission work. The increased use of underwater acoustic modems has prompted the development of underwater acoustic communication systems, which have become a hotspot in current research. The underwater sound modem is a main application form of most underwater sound communication systems, and is generally applied to ocean monitoring, remote control and remote measurement of various underwater platform devices and the like.
The common underwater acoustic positioning or underwater acoustic communication functions are mutually independent processes in the underwater equipment, because the underwater acoustic wave has the characteristic of slower propagation speed compared with the electromagnetic wave, when the underwater acoustic positioning or underwater acoustic communication is carried out, long time is required to be consumed, and if the underwater equipment is subjected to positioning measurement and calculation according to fixed time, the mutual conflict between the positioning function and the communication function can be easily caused, and the mutual interference is easy to occur.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a logic control method integrating underwater sound modem communication and positioning.
The specific technical scheme is as follows:
a logic control method integrating underwater sound modem communication and positioning is realized by a transmitting end underwater sound modem and a receiving end underwater sound modem, wherein the transmitting end underwater sound modem comprises: the system comprises a main control module, a positioning module, a communication module, a power amplifier, an analog-to-digital converter and a transducer; the receiving end underwater sound modem comprises: the device comprises a main control module, a positioning module, a communication module, a power amplifier, an analog-to-digital converter and a hydrophone array;
the main control module of the underwater sound modem at the transmitting end reads the gesture data and the time stamp data in the positioning module, packages the gesture data and the time stamp data into frame header data, and inputs the frame header data and the data packet data into the communication module together for modulation; the modulated data sequentially pass through the power amplifier and the transducer, are converted into underwater sound signals, and are sent to the underwater sound modem at the receiving end;
the receiving end underwater sound modem receives underwater sound signals through the hydrophone array, inputs the underwater sound signals into the communication module after being processed by the analog-to-digital converter, detects arrival of waveforms, performs primary demodulation and verification on the waveforms, and sends demodulated data to the main control module after the waveforms pass the verification; the main control module sends data related to positioning to the positioning module according to the bit sequence, and the data related to communication is sent to the communication module, and the communication module demodulates communication data to obtain communication data output; the positioning module combines the gesture data and the timestamp data of the receiving end underwater sound modem to obtain the relative position data between the sending end underwater sound modem and the receiving end underwater sound modem, and outputs the relative position data as positioning data; the relative position data comprise distance data and azimuth data, and the positioning module is used for obtaining the distance data of the underwater sound modems of the sending end and the receiving end according to the timestamp difference value of the underwater sound modems of the sending end and the receiving end and combining the underwater sound speed; the direction of the receiving end underwater sound modem is estimated by a frequency domain beam forming method, and the azimuth data of the transmitting end underwater sound modem are obtained.
Further, the gesture data is acquired by a motion sensor, and the timestamp data is acquired by an atomic clock.
Further, the frequency domain beamforming method specifically comprises the following steps:
carrying out band-pass filtering on the underwater sound signal processed by the analog-to-digital converter; then Fourier transformation is carried out to be converted into a frequency domain, and frequency domain searching is carried out to obtain a frequency peak value of the bandwidth signal; carrying out azimuth search on the corresponding frequency by utilizing narrow-band beam forming to obtain an azimuth corresponding to the energy peak value;
multiplying the searched multipath frequency domain signals by an array flow pattern to obtain a two-dimensional spatial spectrum; the expression of the array flow pattern is as follows:
e -j2πrfcos(g)cos(φ-2πn/N)/c
wherein r is the array radius, f is the signal frequency in the search range, θ is the pitch angle, Φ is the azimuth angle in the search range, n= … N-1, N is the number of array elements, c is the sound velocity, and j is the imaginary symbol;
summing the obtained two-dimensional spatial spectrums in the frequency dimension to obtain a one-dimensional azimuth spatial spectrum; searching for the index of the maximum corresponding to the spectrum peak in the one-dimensional azimuth angle space spectrum, namely the target azimuth angle, thereby obtaining azimuth data.
Further, the receiving end underwater sound modem copies the communication data and the positioning data into two parts, one part is output, the other part is packaged into an ACK frame and is sent to the sending end underwater sound modem, and if the sending end underwater sound modem detects that the sending is not successful, retransmission is started.
Further, the frame header of the data frame of the underwater sound signal transmitted from the transmitting end underwater sound modem to the receiving end underwater sound modem contains bit data and check codes packed into bytes; the communication related data in the bit data comprises: frame type, signal-to-noise ratio data, sending node address, receiving node address, frame number, modulation mode, data packet number and data type; the positioning related data in the bit data comprises: timestamp data, vector speed data, depth data, angle data.
Further, the frame header of the ACK frame transmitted from the receiving end underwater sound modem to the transmitting end underwater sound modem contains bit data and check codes packed into bytes; the communication related data in the bit data comprises: frame type, signal-to-noise ratio data, transmitting node address, receiving node address, and packet error information; the positioning related data in the bit data comprises: longitude data, latitude data, depth data.
Further, in the transmission process, the underwater sound modem firstly transmits a frame head by a non-coherent modulation method, and then transmits a subsequent data packet by a coherent modulation method.
The beneficial effects of the invention are as follows:
according to the invention, the DOA estimation is realized by adding the positioning data in the communication frame head of the necessary structure of the underwater acoustic communication and the receiving end underwater acoustic Modem through the frequency domain beam forming method, so that the aim of realizing the positioning function in the underwater acoustic communication process is fulfilled, the mutual conflict between the positioning function and the communication function is avoided, and the communication and positioning integration of the underwater acoustic Modem is realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an underwater acoustic modem employed in the present invention.
Fig. 2 is a flow chart of the transmitting-end underwater sound modem transmitting function of the present invention.
Fig. 3 is a flow chart of the receiving function of the underwater sound modem of the present invention.
Fig. 4 is a flow chart of a method for obtaining relative position data of a sending end and a receiving end underwater sound modem according to the present invention.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the preferred embodiments and the accompanying drawings, in which the present invention is further described in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the present invention is applicable to a communication system composed of at least two underwater sound modems. The underwater sound modem includes: the device comprises a main control module, a positioning module, a communication module, a power amplifier, an analog-to-digital converter, a motion sensor, an atomic clock, a transducer and a hydrophone array. Wherein the positioning module and the communication module form an operation module. At least one underwater sound modem in the communication system is provided with a hydrophone array as a receiving end for judging the direction of underwater sound signals; another underwater sound modem can be used as the transmitting end.
After normal starting, the main control module controls to start each hardware power supply, performs each function configuration and starting self-checking, the operation module sends a starting signal to the control module after starting, and after receiving the starting signal, the control module determines that each part of starting configuration is normal, and then enters a normal working mode.
In the transmitting process, the underwater sound modem transmits a frame head by a non-coherent modulation method, and then transmits a subsequent data packet by a coherent modulation method.
As shown in fig. 2, when data need to be sent, the upper computer sends an instruction to the main control module of the underwater sound modem at the sending end, the main control module inquires and reads the current vector speed, depth, angle, time stamp and other data in the positioning module, and packages the current vector speed, depth, angle and other data into frame head data, wherein the vector speed, depth and angle data of the positioning module are read from the gesture data of the motion sensor, and the time stamp data are read from the self time stamp data of the atomic clock. The frame header data and the data packet data are modulated together through a communication module, wherein the frame header data are subjected to incoherent modulation, and the data packet data are subjected to coherent modulation. The modulated frame header data and the modulated data packet data sequentially pass through a power amplifier and a transducer, are converted into underwater sound signals, and are sent to a receiving end underwater sound modem.
The frame header of the data frame of the underwater sound signal transmitted from the transmitting end underwater sound modem to the receiving end underwater sound modem comprises bit data and check codes packed into bytes. The communication related data in the bit data includes: frame type, signal-to-noise ratio data, transmitting node address, receiving node address, frame number, modulation mode, data packet number, data type. Locating relevant data in the bit data includes: timestamp data, vector speed data, depth data, angle data.
As shown in fig. 3, when receiving underwater sound data, the receiving end underwater sound modem monitors the underwater sound signal in real time through the hydrophone array, the underwater sound signal is input into a communication module in the calculation module after passing through the analog-to-digital converter, and the communication module is used for detecting the arrival of the waveform and carrying out primary demodulation and verification on the waveform; and after the verification is passed, the communication module sends the frame header data after incoherent demodulation to the main control module. After receiving the frame header data, the main control module sends the data related to the positioning in the frame header to the positioning module according to the bit sequence, and simultaneously sends the data related to the communication module, and the communication module demodulates the normal communication data. The positioning module obtains gesture data in the motion sensor and self time stamp data in the atomic clock, and calculates relative position data between a transmitting end underwater sound modem and a receiving end underwater sound modem (hereinafter referred to as between two machines) according to a beam forming positioning principle by combining the gesture, speed and time data of a transmitting end in frame head positioning data.
As shown in fig. 4, the relative position data includes distance data and azimuth data, and the positioning module calculates the distance difference (i.e. two-machine distance difference) between the sending end and the receiving end according to the front-back time stamp difference and the underwater sound speed, so as to obtain the distance data. The direction of the receiving end underwater sound modem is estimated by a frequency domain beam forming method, so that the azimuth data of the transmitting end underwater sound modem is obtained, and the frequency domain beam forming method specifically comprises the following steps:
carrying out band-pass filtering on the multipath underwater sound signals processed by the analog-to-digital converter; then Fourier transformation is carried out to be converted into a frequency domain, and frequency domain searching is carried out to obtain a frequency peak value of the bandwidth signal; and carrying out azimuth search on the corresponding frequency by utilizing narrow-band beam forming to obtain azimuth angles corresponding to the energy peaks, wherein the search azimuth angles are 0.1 degrees apart from 0-360 degrees.
Multiplying the searched multipath frequency domain signals by an array flow pattern to obtain a two-dimensional spatial spectrum. The expression of the array flow pattern is as follows:
e -j2πrfcos(g)cos(φ-2πn/N)/c
where r is the array radius, f is the signal frequency in the search range, θ is the pitch angle, Φ is the azimuth angle in the search range, n= … N-1, N is the number of array elements, and c is the sound velocity. j is an imaginary symbol.
Summing the obtained two-dimensional spatial spectrums in the frequency dimension to obtain a one-dimensional azimuth spatial spectrum; searching for the index of the maximum corresponding to the spectrum peak in the one-dimensional azimuth angle space spectrum, namely the target azimuth angle, thereby obtaining azimuth data.
Meanwhile, the underwater sound modem obtains the time difference of the underwater sound propagation between the two machines according to the time stamp data of the sending time and the time stamp data of the receiving time, and can obtain the distance data between the two machines by using the current underwater sound speed.
And combining the distance data with the azimuth data, calculating to obtain the specific coordinates of the underwater sound modem of the transmitting end, and obtaining corresponding geographic coordinates through coordinate conversion.
The receiving end underwater sound modem copies the communication and positioning related data into two parts, one part of the positioning related data including the relative position data is sent to the upper computer by the positioning module, and the communication module sends the demodulated communication related data to the upper computer; the other part is packaged into an ACK frame by the receiving end underwater sound modem, and the ACK frame is sent to the sending end underwater sound modem in a non-coherent modulation mode; after receiving the returned ACK frame, the sending end underwater sound modem analyzes the data to obtain the relative position of the two machines and the sending result of the data packet, and if the situation that the data packet is not sent successfully exists, retransmission is carried out.
The frame header of the ACK frame transmitted from the receiving end underwater sound modem to the transmitting end underwater sound modem contains bit data and check codes packed into bytes. The communication related data in the bit data includes: frame type, signal-to-noise ratio data, transmitting node address, receiving node address, packet positive and error information. Locating relevant data in the bit data includes: longitude data, latitude data, depth data.
It will be appreciated by persons skilled in the art that the foregoing description is a preferred embodiment of the invention, and is not intended to limit the invention, but rather to limit the invention to the specific embodiments described, and that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for elements thereof, for the purposes of those skilled in the art. Modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. The integrated logic control method for the underwater sound modem communication and positioning is characterized by being realized by a transmitting-end underwater sound modem and a receiving-end underwater sound modem, wherein the transmitting-end underwater sound modem comprises: the system comprises a main control module, a positioning module, a communication module, a power amplifier, an analog-to-digital converter and a transducer; the receiving end underwater sound modem comprises: the device comprises a main control module, a positioning module, a communication module, a power amplifier, an analog-to-digital converter and a hydrophone array;
the main control module of the underwater sound modem at the transmitting end reads the gesture data and the time stamp data in the positioning module, packages the gesture data and the time stamp data into frame header data, and inputs the frame header data and the data packet data into the communication module together for modulation; the modulated data sequentially pass through the power amplifier and the transducer, are converted into underwater sound signals, and are sent to the underwater sound modem at the receiving end;
the receiving end underwater sound modem receives underwater sound signals through the hydrophone array, inputs the underwater sound signals into the communication module after being processed by the analog-to-digital converter, detects arrival of waveforms, performs primary demodulation and verification on the waveforms, and sends demodulated data to the main control module after the waveforms pass the verification; the main control module sends data related to positioning to the positioning module according to the bit sequence, and the data related to communication is sent to the communication module, and the communication module demodulates communication data to obtain communication data output; the positioning module combines the gesture data and the timestamp data of the receiving end underwater sound modem to obtain the relative position data between the sending end underwater sound modem and the receiving end underwater sound modem, and outputs the relative position data as positioning data; the relative position data comprise distance data and azimuth data, and the positioning module is used for obtaining the distance data of the underwater sound modems of the sending end and the receiving end according to the timestamp difference value of the underwater sound modems of the sending end and the receiving end and combining the underwater sound speed; the direction of the receiving end underwater sound modem is estimated by a frequency domain beam forming method, and the azimuth data of the transmitting end underwater sound modem are obtained.
2. The underwater sound modem communication positioning integrated logic control method according to claim 1, wherein the gesture data is acquired by a motion sensor, and the time stamp data is acquired by an atomic clock.
3. The logic control method of integration of underwater sound modem communication positioning according to claim 1, wherein the frequency domain beam forming method specifically comprises the following steps:
carrying out band-pass filtering on the underwater sound signal processed by the analog-to-digital converter; then Fourier transformation is carried out to be converted into a frequency domain, and frequency domain searching is carried out to obtain a frequency peak value of the bandwidth signal; carrying out azimuth search on the corresponding frequency by utilizing narrow-band beam forming to obtain an azimuth corresponding to the energy peak value;
multiplying the searched multipath frequency domain signals by an array flow pattern to obtain a two-dimensional spatial spectrum; the expression of the array flow pattern is as follows:
where r is the radius of the array, f is the frequency of the signal in the search range, θ is the pitch angle, Φ is the azimuth angle in the search range,
n= … N-1, N is the number of array elements, c is the speed of sound, j is the imaginary symbol;
summing the obtained two-dimensional spatial spectrums in the frequency dimension to obtain a one-dimensional azimuth spatial spectrum; searching for the index of the maximum corresponding to the spectrum peak in the one-dimensional azimuth angle space spectrum, namely the target azimuth angle, thereby obtaining azimuth data.
4. The logic control method of integration of underwater sound modem communication and positioning according to claim 1, wherein the receiving end underwater sound modem copies the communication data and the positioning data into two parts, one part is output, the other part is packaged into an ACK frame, the ACK frame is sent to the sending end underwater sound modem, and if the sending end underwater sound modem detects that the sending is unsuccessful, retransmission is started.
5. The logic control method of integration of underwater sound modem communication and positioning according to claim 1, wherein the frame header of the data frame of the underwater sound signal transmitted from the transmitting end underwater sound modem to the receiving end underwater sound modem contains bit data and check codes packed into bytes; the communication related data in the bit data comprises: frame type, signal-to-noise ratio data, sending node address, receiving node address, frame number, modulation mode, data packet number and data type; the positioning related data in the bit data comprises: timestamp data, vector speed data, depth data, angle data.
6. The logic control method of integration of underwater sound modem communication and positioning according to claim 4, wherein the frame header of the ACK frame transmitted from the receiving end underwater sound modem to the transmitting end underwater sound modem contains bit data and check codes packed into bytes; the communication related data in the bit data comprises: frame type, signal-to-noise ratio data, transmitting node address, receiving node address, and packet error information; the positioning related data in the bit data comprises: longitude data, latitude data, depth data.
7. The logic control method of integration of underwater sound modem communication and positioning according to claim 1, wherein in the transmission process, the underwater sound modem transmits a frame header first by a non-coherent modulation method and then transmits a subsequent data packet by a coherent modulation method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310325838.7A CN116684004A (en) | 2023-03-30 | 2023-03-30 | Logic control method for integrating underwater sound modem communication and positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310325838.7A CN116684004A (en) | 2023-03-30 | 2023-03-30 | Logic control method for integrating underwater sound modem communication and positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116684004A true CN116684004A (en) | 2023-09-01 |
Family
ID=87784298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310325838.7A Pending CN116684004A (en) | 2023-03-30 | 2023-03-30 | Logic control method for integrating underwater sound modem communication and positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116684004A (en) |
-
2023
- 2023-03-30 CN CN202310325838.7A patent/CN116684004A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7362653B2 (en) | Underwater geopositioning methods and apparatus | |
| CN105137394B (en) | Ultra-short baseline acoustic positioning system and its location algorithm based on Maximum-likelihood estimation | |
| JP5631763B2 (en) | MIMO radar system, transmitter, receiver, and MIMO radar signal processing method | |
| CN101975949B (en) | Multi-user underwater ultrashort base line positioning device and method thereof | |
| CN110095756B (en) | Underwater target speed calculation method based on underwater acoustic positioning system | |
| CN104181505A (en) | Multi-target acoustic positioning method and system based on near-field source positioning algorithm | |
| CN103823205A (en) | Underwater locating navigation system and method | |
| CN208172249U (en) | Underwater Long baselines positioning system based on Large marine floating platform | |
| Morgado et al. | Design and experimental evaluation of an integrated USBL/INS system for AUVs | |
| CN104020473A (en) | Portable underwater broadband spread spectrum beacon navigation and location system and method based on time synchronization | |
| CN105223551A (en) | A kind of wearable auditory localization tracker and method | |
| US11719780B2 (en) | Method and apparatus for robust low-cost variable-precision self-localization with multi-element receivers in GPS-denied environments | |
| CN107505596B (en) | MIMO active detection signal design and detection system and method based on dual-extension underwater acoustic channel environment | |
| CN103267966A (en) | Orientation estimation method for single two-dimensional differential pressure type vector hydrophone | |
| Gong et al. | A machine learning-based approach for auto-detection and localization of targets in underwater acoustic array networks | |
| CN101471734B (en) | Multi-transmission multi-receive acoustic positioning network system and positioning method thereof | |
| CN111865435A (en) | Signal processing method for underwater robot positioning system | |
| Sun et al. | Inverted ultra-short baseline signal design for multi-AUV navigation | |
| JP6207817B2 (en) | Underwater position-related information acquisition system | |
| Dikarev et al. | Combined multiuser acoustic communication and localisation system for µAUVs operating in confined underwater environments | |
| CN101576618A (en) | Acoustic positioning measurement method based on wavelet transformation and measurement system thereof | |
| CN201876548U (en) | Multi-user submersed ultrashort baseline positioning equipment | |
| CN116684004A (en) | Logic control method for integrating underwater sound modem communication and positioning | |
| CN105372644A (en) | adaptive wave beam formation method based on dynamic re-correction and system | |
| Jiang et al. | R&D of an spread spectrum acoustic communication modem with ranging capability |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |