CN201876548U - Multi-user submersed ultrashort baseline positioning equipment - Google Patents
Multi-user submersed ultrashort baseline positioning equipment Download PDFInfo
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- CN201876548U CN201876548U CN2010205562680U CN201020556268U CN201876548U CN 201876548 U CN201876548 U CN 201876548U CN 2010205562680 U CN2010205562680 U CN 2010205562680U CN 201020556268 U CN201020556268 U CN 201020556268U CN 201876548 U CN201876548 U CN 201876548U
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Abstract
The utility model discloses multi-user submersed ultrashort baseline positioning equipment characterized by comprising two parts, namely, a five-element cross array ultrashort baseline positioning and navigation system and a beacon system. By adopting the equipment, chaos frequency modulation and phase modulation spread spectrum signals are utilized to perform accurate positioning and navigation, so that the disturbing influence during simultaneous positioning and navigation of multiple users is effectively reduced, and the accuracy and the success rate of multi-user positioning and navigation are improved effectively; the equipment provided by the utility model can be combined with underwater sound communication equipment, and the interaction requirements of simultaneous accurate positioning and navigation of multiple users can be met through communication feedback locating information; the equipment provided by the utility model can be combined with the conventional frogman outfit, so as to facilitate the carrying of the frogman; and the equipment provided by the utility model is suitable for the underwater unmanned submersible formation. Part of the technology of the equipment is suitable for not only an underwater sound ultrashort baseline positioning system but also an onshore ultrashort baseline positioning system.
Description
Technical field the utility model belongs to portable communications and fixed sonar equipment field, and particularly a kind of chaotic fm phase modulation sequence of utilizing is carried out multi-user location and the ultra-short baseline fixed sonar equipment that navigates.The utility model is mainly used in diving operation frogman under water and unmanned underwater vehicle's middle short range positioning and the navigation under water.
Background technology frogman or unmanned underwater vehicle are when carrying out diving operation, and for the consideration of operation with safety, real-time monitoring must be carried out to frogman or the residing position of unmanned underwater vehicle in water surface base.Position fixing and navigation system is by the base length classification under water, generally be divided into long baseline (100m～6000m), short baseline (1m～50m) and ultra-short baseline (＜1m) three classes, wherein long baseline and short baseline are because equipment complexity and size are huge and be not suitable for frogman or unmanned underwater vehicle and locate under water and navigate, and the ultra short base line stock size is easy to carry than skinny device, therefore be that more satisfactory frogman locatees and navigate mode under water, but there is the lower problem of bearing accuracy in general ultra-short baseline.At present, be suitable for frogman's diving operation or under water the unmanned underwater vehicle work the baseline system that uses mainly to lack baseline/ultra short base line, GAPS system as American I XSEA company, generally only support unique user to use or the use of a plurality of narrow-band user, in large-scale operation, often need a plurality of frogmans or unmanned underwater vehicle's work of forming into columns under water, therefore the high-precision locating information that needs each formation member simultaneously need satisfy a plurality of broadband users accurately location and the ultra short base line that navigates simultaneously.The present invention utilizes chaotic fm phase modulation sequence to carry out broadband ultra-short baseline accurately location and navigation, and designed portable underwater positioning equipment can integrally combine with underwater sound communication equipment, can satisfy the requirement that the multi-user provides accurate location and navigation simultaneously.
The summary of the invention the purpose of this utility model provides a kind ofly to be utilized chaotic fm phase modulation sequence to carry out ultra-short baseline accurately to locate, and satisfies the portable underwater fixed sonar equipment that the short range multi-user locatees simultaneously and navigates among frogman under water or the unmanned underwater vehicle.The utility model is by chaotic fm phase modulation sequence beacon, and multiple-pulse detection and user ID and five yuan of cross battle array broadband ultra-short baseline methods are finished the real-time high-precision location and navigation of water surface base to frogman or unmanned underwater vehicle multi-user.
The technical scheme that realizes the utility model purpose is such:
A kind of multi-user is the ultra-short baseline positioning equipment under water, it is characterized in that: described equipment comprises five yuan of cross battle array ultra-short baseline position fixing and navigation systems and beacon system two parts, wherein:
Described five yuan of cross battle array ultra-short baseline position fixing and navigation systems comprise five yuan of cross battle arrays, position fixing and navigation system sealing electronics subsystem, attitude instrument, satnav receiver module and show control center that described five yuan of cross battle arrays, attitude instrument link to each other with position fixing and navigation system sealing electronics subsystem by cable respectively; Described position fixing and navigation system sealing electronics subsystem links to each other with demonstration control center by the watertight cable with the attitude instrument; The satnav receiver module links to each other with demonstration control center by shielded cable.
Described beacon system comprises that control module, beacon system seal the electronics subsystem and beacon is put transducer altogether with transmitting-receiving, described control module links to each other with described beacon system sealing electronics subsystem by cable, and described beacon is put transducer altogether with transmitting-receiving and linked to each other with beacon system sealing electronics subsystem.
Described five yuan of cross battle arrays comprise that a transmitting-receiving puts transducer, four receiving transducers altogether, wherein transmitting-receiving is put transducer altogether and is positioned at array center, four receiving transducers lay respectively to receive and dispatch puts the square vertices that transducer is a geometric center altogether, and these five yuan of cross battle arrays link to each other with described position fixing and navigation system sealing electronics subsystem by cable.
Described transmitting-receiving puts transducer altogether and receiving transducer is fixed by hollow sting, and its connection cable derives and insert position fixing and navigation system sealing electronics subsystem by the support heart.
Described position fixing and navigation system sealing electronics subsystem comprises receiver module, correlation detector, copy maker, chaos sequence generator, synchronizing generator, user identifier, time delay estimator, relative orientation measuring and calculating device, absolute orientation mapper, attitude correction device, depthometer, transmitter module, message modulation module and user message generator; The simulating signal that described receiver module is gathered five yuan of cross battle arrays carries out converting five way word signals to after filtering is amplified, and sends correlation detector to; The synchronous clock that chaotic fm phase modulation sequence copy that described correlation detector is produced according to the copy maker and synchronizing generator provide, carry out that copy is relevant, peak value detects and the user sorts out, testing result is sent to user identifier and time delay estimator respectively; Described copy maker produces chaotic fm phase modulation sequence copy according to the chaos sequence that is obtained by chaos sequence generator; Described chaos sequence generator is according to showing that mapping produces corresponding chaos sequence to the user profile to be detected that control center provided according to chaos sequence; Described synchronizing generator produces synchronous clock and offers correlation detector and the use of time delay estimator; Described user identifier is determined user profile according to the testing result that correlation detector provides, and user profile is sent to relative orientation measuring and calculating device and absolute orientation measuring and calculating mapper; Described time delay estimator carries out the estimation in relative time delay according to five road peak value testing results of the respective user that correlation detector provides; The data based five yuan of cross battle array positions of the attitude correction relation that respective user estimated value in relative time delay that described relative orientation measuring and calculating device provides according to the time delay estimator and attitude correction device provide is calculated the relative orientation of respective user; Described absolute orientation mapper is according to the relative orientation of the relative orientation measuring and calculating respective user that device provided and the absolute geographic coordinate that the satnav receiver module is provided, the absolute orientation coordinate of mapping respective user; Described attitude correction device produces the attitude correction data according to attitude instrument data; Described depthometer obtains the degree of depth of five yuan of cross battle arrays in water; Described user message generator produces user feedback message according to feedback user message; Described message modulation module communicates modulation with user feedback message, produces the user feedback signal; After described transmitter module is launched coupling and power amplification with the user feedback signal, put transducer altogether and convert acoustical signal to and send in the underwater acoustic channel by receiving and dispatching.
The attitude information that described attitude instrument is gathered described five yuan of relative water surface taken-over vessels of cross battle array offers described attitude correction device.
Described satnav receiver module obtains the absolute orientation coordinate information at described five yuan of cross battle array ultra-short baseline position fixing and navigation system places via satellite.
Described demonstration control center finishes three functions: the absolute orientation coordinate of explicit user, send user profile to be detected to chaos sequence generator, and send feedback user information to the user message generator.
When being used for the frogman as beacon system, then described control module is installed on frogman's waistband, by knob beacon instruction control emission beacon signal is set.
When being used for the unmanned underwater vehicle as beacon system, described control module is installed on unmanned underwater vehicle inside, accuses that by accepting the unmanned underwater vehicle internal system commander steering order is provided with beacon instruction control emission beacon signal.Whole in this case beacon system is put the transducer with transmitting-receiving altogether except that beacon all can be installed in unmanned underwater vehicle inside.
Described beacon system sealing electronics subsystem comprises user identifier, chaos sequence generator, beacon generator, transmitter module, receiver module and message demodulation module, and described user identifier is provided with instruction according to control module the well-determined user ID of described equipment is sent to chaos sequence generator; Described chaos sequence generator produces corresponding with it chaos sequence according to user ID; Described beacon generator produces chaotic fm signal according to the chaos sequence that chaos sequence generator produces; After described transmitter module is launched coupling and power amplification with described chaotic fm signal, put transducer altogether and convert acoustical signal to and send in the underwater acoustic channel with receiving and dispatching by beacon; Described receiver module is handled and is detected beacon and puts the received position fixing and navigation system feedback signal of transducer altogether with transmitting-receiving; Described message demodulation module communicates demodulation with the detected position fixing and navigation system feedback signal of receiver module, and feedback message is sent to control module prompting frogman.
Described beacon is put transducer emission beacon signal altogether and is received the position fixing and navigation system feedback signal with transmitting-receiving.
Cable described in the technical solutions of the utility model all refers to the multicore shielding watertight cable, and is as follows.
Compared with prior art, the utlity model has following advantage:
1, the utility model utilizes chaotic fm phase modulation spread-spectrum signal accurately to locate and navigate, it is because mutually orthogonal and but the subsequent signal number is many between the chaotic fm phase modulation spread-spectrum signal, can reduce effectively that the multi-user positions simultaneously and mutual interference influence when navigating, can improve the accuracy and the success ratio of multi-user location and navigation effectively.
2, the designed portable underwater positioning equipment of the utility model can integrally combine with underwater sound communication equipment, by the communications feedback locating information, can satisfy multi-user's accurately mutual requirement of location and navigation simultaneously.
3, equipment of the present utility model can combine with existing frogman's equipment, is convenient to the frogman and carries.
4, equipment of the present utility model also is suitable under water unmanned underwater vehicle's use of forming into columns.
5, part technology of the present utility model is not only applicable to underwater sound ultra short baseline locating system, also is applicable to land ultra short baseline locating system.
Description of drawings Fig. 1 is a device structure synoptic diagram of the present utility model;
Fig. 2 is five yuan of cross battle array ultra-short baseline position fixing and navigation system block diagrams in the utility model;
Five yuan of cross battle array ultra-short baseline position fixing and navigation system structural representations in Fig. 3 the utility model;
Fig. 4 is five yuan of cross battle array structural representations in the utility model;
Fig. 5 is a beacon system block diagram in the utility model;
Fig. 6 is a beacon system application structure synoptic diagram among the utility model embodiment 1;
Fig. 7 represents multi-user's user profile process of feedback block diagram of ultra-short baseline fixed sonar under water;
Fig. 8 is a beacon system application structure synoptic diagram among the utility model embodiment 2.
Embodiment can further be understood feature of the present utility model and beneficial effect thereof for making your auditor and the public, and the spy is described in detail as follows embodiment of the present utility model with embodiment:
Embodiment 1:
Equipment of the present utility model is by five yuan of cross battle array ultra-short baseline position fixing and navigation systems and can forming with the integrated beacon system two parts of portable underwater sound communication sonar with the frogman, and its structure composition as shown in Figure 1.
Fig. 2 is the system chart of five yuan of cross battle array ultra-short baseline position fixing and navigation systems, Fig. 3 then is these five yuan of cross battle array ultra-short baseline position fixing and navigation system example structure synoptic diagram, and five yuan of cross battle array ultra-short baseline position fixing and navigation systems are made up of five yuan of cross battle arrays, position fixing and navigation system sealing electronics subsystem, attitude instrument, satnav receiver module and demonstration control center.Described five yuan of cross battle arrays, attitude instrument link to each other with position fixing and navigation system sealing electronics subsystem by cable respectively; Described position fixing and navigation system sealing electronics subsystem links to each other with demonstration control center by the watertight cable with the attitude instrument; The satnav receiver module links to each other with demonstration control center by shielded cable.
Put transducer altogether and four receiving transducers are formed five yuan of cross battle arrays by a transmitting-receiving, receive the beacon signal that each user's beacon system is sent, transmitting-receiving is simultaneously put transducer altogether system feedback signal is transmitted to each user.Five yuan of cross battle array structures as shown in Figure 4, wherein transmitting-receiving is put transducer altogether and is positioned at array center, four receiving transducers lay respectively to receive and dispatch puts the square vertices that transducer is a geometric center altogether, five transducers are fixed by hollow sting, and its connection cable derives and insert position fixing and navigation system sealing electronics subsystem by the hollow sting heart.
Position fixing and navigation system sealing electronics subsystem is made up of receiver module, correlation detector, copy maker, chaos sequence generator, synchronizing generator, user identifier, time delay estimator, relative orientation measuring and calculating device, absolute orientation mapper, attitude correction device, depthometer, transmitter module, message modulation module and user message generator, these ingredients are placed in the sealing electronics jar, as shown in Figure 3, link to each other with five yuan of cross battle arrays, demonstration control center respectively by cable.Sealing electronics jar can satisfy the watertight requirement, can bear 1 to 10MPa hydraulic pressure in water.The simulating signal that described receiver module is gathered five yuan of cross battle arrays carries out converting five way word signals to after filtering is amplified, and sends correlation detector to; The synchronous clock that chaotic fm phase modulation sequence copy that described correlation detector is produced according to the copy maker and synchronizing generator provide, carry out that copy is relevant, peak value detects and the user sorts out, testing result is sent to user identifier and time delay estimator respectively; Described copy maker produces chaotic fm phase modulation sequence copy according to the chaos sequence that is obtained by chaos sequence generator; Described chaos sequence generator is according to showing that mapping produces corresponding chaos sequence to the user profile to be detected that control center provided according to chaos sequence; Described synchronizing generator produces synchronous clock and offers correlation detector and the use of time delay estimator; Described user identifier is determined user profile according to the testing result that correlation detector provides, and user profile is sent to relative orientation measuring and calculating device and absolute orientation measuring and calculating mapper; Described time delay estimator carries out the estimation in relative time delay according to five road peak value testing results of the respective user that correlation detector provides; The data based five yuan of cross battle array positions of the attitude correction relation that respective user estimated value in relative time delay that described relative orientation measuring and calculating device provides according to the time delay estimator and attitude correction device provide is calculated the relative orientation of respective user; Described absolute orientation mapper is according to the relative orientation of the relative orientation measuring and calculating respective user that device provided and the absolute geographic coordinate that the satnav receiver module is provided, the absolute orientation coordinate of mapping respective user; Described attitude correction device produces the attitude correction data according to attitude instrument data; The attitude information that described attitude instrument is gathered described five yuan of relative water surface taken-over vessels of cross battle array offers described attitude correction device; Described satnav receiver module obtains the absolute orientation coordinate information at described five yuan of cross battle array ultra-short baseline position fixing and navigation system places via satellite.Described depthometer obtains the degree of depth of five yuan of cross battle arrays in water; Described user message generator produces user feedback message according to feedback user message; Described message modulation module communicates modulation with user feedback message, produces the user feedback signal; After described transmitter module is launched coupling and power amplification with the user feedback signal, put transducer altogether and convert acoustical signal to and send in the underwater acoustic channel by receiving and dispatching.Described demonstration control center finishes three functions: the absolute orientation coordinate of explicit user, send user profile to be detected to chaos sequence generator, and send feedback user information to the user message generator.Show that control center can the employing standard show computer equipments such as control platform, industrial computer, server.
Fig. 5 is a beacon system block diagram among the present invention.Fig. 6 then is this beacon system example structure synoptic diagram, this beacon system can be integrated with portable underwater sound communication sonar with the frogman, it is put transducer by control module, beacon system sealing electronics subsystem and beacon altogether with transmitting-receiving and forms, described control module links to each other with described beacon system sealing electronics subsystem by cable, and described beacon is put transducer altogether with transmitting-receiving and linked to each other with beacon system sealing electronics subsystem.
Control module is installed on frogman's waistband among Fig. 6, by knob beacon instruction control emission beacon signal is set.
Beacon system sealing electronics subsystem comprises user identifier, chaos sequence generator, beacon generator, transmitter module, receiver module and message demodulation module, these ingredients are placed in the cylindric elongated watertight jar, putting transducer with control module, beacon altogether with transmitting-receiving respectively by cable links to each other, as shown in Figure 6, this cylindric elongated watertight jar satisfies the watertight requirement, can bear 1 to 10MPa hydraulic pressure in water.Described user identifier is provided with instruction according to control module the well-determined user ID of described equipment is sent to chaos sequence generator; Described chaos sequence generator produces corresponding with it chaos sequence according to user ID; Described beacon generator produces chaotic fm signal according to the chaos sequence that chaos sequence generator produces; After described transmitter module is launched coupling and power amplification with described chaotic fm signal, put transducer altogether and convert acoustical signal to and send in the underwater acoustic channel with receiving and dispatching by beacon; Described receiver module is handled and is detected beacon and puts the received position fixing and navigation system feedback signal of transducer altogether with transmitting-receiving; Described message demodulation module communicates demodulation with the detected position fixing and navigation system feedback signal of receiver module, and feedback message is sent to control module prompting frogman.Described beacon is put transducer emission beacon signal altogether and is received the position fixing and navigation system feedback signal with transmitting-receiving.
Show absolute orientation coordinate transformation between the two the range-azimuth information of control center according to five yuan of cross battle array ultra-short baseline position fixing and navigation systems and respective user, and information and user totem information is compiled into packet, and being modulated into the receivable signal of communication of respective user beacon system, transmission feeds back to the respective user beacon system; The respective user beacon system obtains feedback information by the communication demodulation, and auxiliary frogman confirms the position of oneself, and whole process as shown in Figure 7.
Embodiment 2:
Present embodiment provides the fixed sonar of the ultra-short baseline under water equipment that beacon system is used for auxiliary unmanned underwater vehicle, this beacon system is put altogether with transmitting-receiving except that beacon and is installed in unmanned underwater vehicle inside the transducer, accuse that by accepting the unmanned underwater vehicle internal system commander steering order is provided with beacon instruction control emission beacon signal, its application structure as shown in Figure 8, five yuan of cross battle array ultra-short baseline position fixing and navigation systems that provided are identical with embodiment 1.
Beacon system is put transducer by control module, beacon system sealing electronics subsystem and beacon altogether with transmitting-receiving and is formed.Described control module links to each other with described beacon system sealing electronics subsystem by cable, and described beacon is put transducer altogether with transmitting-receiving and linked to each other with beacon system sealing electronics subsystem, and the beacon system block diagram as shown in Figure 5.
Beacon system sealing electronics subsystem comprises user identifier, chaos sequence generator, beacon generator, transmitter module, receiver module and message demodulation module, these ingredients are placed in the cylindric elongated watertight jar, put transducer altogether with transmitting-receiving and link to each other with beacon system sealing electronics subsystem, beacon respectively by cable.This cylindric elongated watertight jar should satisfy the watertight requirement, can bear 1 to 10MPa hydraulic pressure in water.Difference from Example 1 is that described control module all is installed on unmanned underwater vehicle inside together with the cylindric elongated watertight jar that is placed with beacon system sealing electronics subsystem, accuses that by accepting the unmanned underwater vehicle internal system commander steering order is provided with beacon instruction control emission beacon signal.Other ingredient structure is identical with embodiment 1 with function.
Show absolute orientation coordinate transformation between the two the range-azimuth information of control center according to five yuan of cross battle array ultra-short baseline position fixing and navigation systems and respective user, and information and user totem information is compiled into packet, and being modulated into the receivable signal of communication of respective user beacon system, transmission feeds back to the respective user beacon system; The respective user beacon system obtains feedback information by the communication demodulation, and is sent to the unmanned underwater vehicle and accuses system, and auxiliary unmanned underwater vehicle confirms the position of oneself, and whole process as shown in Figure 7.
It should be noted last that, more than only unrestricted in order to explanation the utility model theoretical principle and technical scheme.Those of ordinary skill in the art should be appreciated that the technical solution of the utility model is made amendment or is equal to replacement that do not break away from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (5)
1. multi-user ultra-short baseline positioning equipment under water, it is characterized in that: described equipment comprises five yuan of cross battle array ultra-short baseline position fixing and navigation systems and beacon system two parts, wherein:
Described five yuan of cross battle array ultra-short baseline position fixing and navigation systems comprise five yuan of cross battle arrays, position fixing and navigation system sealing electronics subsystem, attitude instrument, satnav receiver module and show control center that described five yuan of cross battle arrays, attitude instrument link to each other with position fixing and navigation system sealing electronics subsystem by cable respectively; Described position fixing and navigation system sealing electronics subsystem links to each other with demonstration control center by the watertight cable with the attitude instrument; The satnav receiver module links to each other with demonstration control center by shielded cable,
Described beacon system comprises that control module, beacon system seal the electronics subsystem and beacon is put transducer altogether with transmitting-receiving, described control module links to each other with described beacon system sealing electronics subsystem by cable, and described beacon is put transducer altogether with transmitting-receiving and linked to each other with beacon system sealing electronics subsystem.
2. multi-user according to claim 1 is the ultra-short baseline positioning equipment under water, it is characterized in that: described five yuan of cross battle arrays comprise that a transmitting-receiving puts transducer, four receiving transducers altogether, wherein transmitting-receiving is put transducer altogether and is positioned at array center, four receiving transducers lay respectively to receive and dispatch puts the square vertices that transducer is a geometric center altogether, and these five yuan of cross battle arrays link to each other with described position fixing and navigation system sealing electronics subsystem by cable.
3. multi-user according to claim 2 is the ultra-short baseline positioning equipment under water, it is characterized in that: described transmitting-receiving puts transducer altogether and receiving transducer is fixed by hollow sting, and its connection cable derives and insert position fixing and navigation system sealing electronics subsystem by the support heart.
4. multi-user according to claim 1 is the ultra-short baseline positioning equipment under water, it is characterized in that: described position fixing and navigation system sealing electronics subsystem comprises receiver module, correlation detector, copy maker, chaos sequence generator, synchronizing generator, user identifier, time delay estimator, relative orientation measuring and calculating device, absolute orientation mapper, attitude correction device, depthometer, transmitter module, message modulation module and user message generator; The simulating signal that described receiver module is gathered five yuan of cross battle arrays carries out converting five way word signals to after filtering is amplified, and sends correlation detector to; The synchronous clock that chaotic fm phase modulation sequence copy that described correlation detector is produced according to the copy maker and synchronizing generator provide, carry out that copy is relevant, peak value detects and the user sorts out, testing result is sent to user identifier and time delay estimator respectively; Described copy maker produces chaotic fm phase modulation sequence copy according to the chaos sequence that is obtained by chaos sequence generator; Described chaos sequence generator is according to showing that mapping produces corresponding chaos sequence to the user profile to be detected that control center provided according to chaos sequence; Described synchronizing generator produces synchronous clock and offers correlation detector and the use of time delay estimator; Described user identifier is determined user profile according to the testing result that correlation detector provides, and user profile is sent to relative orientation measuring and calculating device and absolute orientation measuring and calculating mapper; Described time delay estimator carries out the estimation in relative time delay according to five road peak value testing results of the respective user that correlation detector provides; The data based five yuan of cross battle array positions of the attitude correction relation that respective user estimated value in relative time delay that described relative orientation measuring and calculating device provides according to the time delay estimator and attitude correction device provide is calculated the relative orientation of respective user; Described absolute orientation mapper is according to the relative orientation of the relative orientation measuring and calculating respective user that device provided and the absolute geographic coordinate that the satnav receiver module is provided, the absolute orientation coordinate of mapping respective user; Described attitude correction device produces the attitude correction data according to attitude instrument data; Described depthometer obtains the degree of depth of five yuan of cross battle arrays in water; Described user message generator produces user feedback message according to feedback user message; Described message modulation module communicates modulation with user feedback message, produces the user feedback signal; After described transmitter module is launched coupling and power amplification with the user feedback signal, put transducer altogether and convert acoustical signal to and send in the underwater acoustic channel by receiving and dispatching.
5. multi-user according to claim 1 is the ultra-short baseline positioning equipment under water, it is characterized in that: described beacon system sealing electronics subsystem comprises user identifier, chaos sequence generator, beacon generator, transmitter module, receiver module and message demodulation module, and described user identifier is provided with instruction according to control module the well-determined user ID of described equipment is sent to chaos sequence generator; Described chaos sequence generator produces corresponding with it chaos sequence according to user ID; Described beacon generator produces chaotic fm signal according to the chaos sequence that chaos sequence generator produces; After described transmitter module is launched coupling and power amplification with described chaotic fm signal, put transducer altogether and convert acoustical signal to and send in the underwater acoustic channel with receiving and dispatching by beacon; Described receiver module is handled and is detected beacon and puts the received position fixing and navigation system feedback signal of transducer altogether with transmitting-receiving; Described message demodulation module communicates demodulation with the detected position fixing and navigation system feedback signal of receiver module, and feedback message is sent to control module prompting frogman.
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| CN2010205562680U CN201876548U (en) | 2010-10-12 | 2010-10-12 | Multi-user submersed ultrashort baseline positioning equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101975949A (en) * | 2010-10-12 | 2011-02-16 | 苏州桑泰海洋仪器研发有限责任公司 | Multi-user underwater ultrashort base line positioning device and method thereof |
| CN105699939A (en) * | 2016-01-29 | 2016-06-22 | 申研 | A high-precision real-time positioning device and a method thereof |
| CN109031204A (en) * | 2018-08-23 | 2018-12-18 | 中国人民解放军海军潜艇学院 | A kind of wearable underwater homing device and localization method |
| CN112147661A (en) * | 2020-09-23 | 2020-12-29 | 杭州瑞利超声科技有限公司 | Frogman underwater positioning system |
-
2010
- 2010-10-12 CN CN2010205562680U patent/CN201876548U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101975949A (en) * | 2010-10-12 | 2011-02-16 | 苏州桑泰海洋仪器研发有限责任公司 | Multi-user underwater ultrashort base line positioning device and method thereof |
| CN101975949B (en) * | 2010-10-12 | 2012-10-24 | 苏州桑泰海洋仪器研发有限责任公司 | Multi-user underwater ultrashort base line positioning device and method thereof |
| CN105699939A (en) * | 2016-01-29 | 2016-06-22 | 申研 | A high-precision real-time positioning device and a method thereof |
| CN105699939B (en) * | 2016-01-29 | 2018-02-13 | 申研 | A kind of high-precision real-time positioning apparatus and its method |
| CN109031204A (en) * | 2018-08-23 | 2018-12-18 | 中国人民解放军海军潜艇学院 | A kind of wearable underwater homing device and localization method |
| CN112147661A (en) * | 2020-09-23 | 2020-12-29 | 杭州瑞利超声科技有限公司 | Frogman underwater positioning system |
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| CX01 | Expiry of patent term |
Granted publication date: 20110622 |