EP0291041A1 - Buoy acting as a bidirectional relay between an underwater ultrasonic signal emitter-receiver capsule and a land base - Google Patents

Buoy acting as a bidirectional relay between an underwater ultrasonic signal emitter-receiver capsule and a land base Download PDF

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Publication number
EP0291041A1
EP0291041A1 EP88107602A EP88107602A EP0291041A1 EP 0291041 A1 EP0291041 A1 EP 0291041A1 EP 88107602 A EP88107602 A EP 88107602A EP 88107602 A EP88107602 A EP 88107602A EP 0291041 A1 EP0291041 A1 EP 0291041A1
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EP
European Patent Office
Prior art keywords
signals
capsule
buoy
computer
control
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Granted
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EP88107602A
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German (de)
French (fr)
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EP0291041B1 (en
Inventor
Charles N. Murray
Marco M. Weydert
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European Atomic Energy Community Euratom
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European Atomic Energy Community Euratom
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device
    • G10K11/006—Transducer mounting in underwater equipment, e.g. sonobuoys

Definitions

  • the invention relates to a marine buoy serving as a two-way relay between an underwater capsule transmitting and receiving ultrasonic signals and a land base, comprising an acoustic transmitter for transmitting commands to the underwater capsule, hydrophones for receiving acoustic signals from the capsule, amplification and coding means delivering in response to these signals digital signals, a radio transmission / reception system and electrical supply means.
  • the object of the invention is therefore to propose a marine buoy which serves as a relay between an underwater source of ultrasonic signals and a terrestrial center, and which can remain operational without maintenance for years.
  • This buoy must therefore be capable of transmitting - in real time - the results measurement of the submarine capsule to a terrestrial evaluation center which can possibly be more than 5000 km away.
  • a marine buoy as specified above, which is characterized in that the amplification and coding means are associated with a memory making it possible to store the most recent signals or their digital equivalents for a few hours under the control of a computer, that the radio transmission system comprises an omnidirectional antenna for connection with a geostationary satellite and that the supply means comprise accumulators charged by solar panels.
  • This capsule includes an emitter / receiver of ultrasonic signals which communicates with similar organs on a buoy 3, namely ultrasonic transmitters 4 and ultrasonic hydrophones 5.
  • the buoy floats on the surface of the sea and is anchored mechanically.
  • the buoy is equipped with omnidirectional antennas making it possible to send measurement data to a satellite 6 in the microwave range and to communicate directly with a terrestrial base 7 in the short wave range.
  • This buoy comprises a metal tube 8, 5 meters long and 60 centimeters wide, which contains a weight of 1500 kg in its lower part and an apparatus chamber 9 in its upper part.
  • This room houses storage batteries and electronics.
  • the tube 8 is fixed in a float 10 with a diameter of 2 meters and a height of 2 meters, which is filled with polyurethane foam.
  • a pestle 12 4 meters high is erected, which supports yellow warning signs 13, solar panels 14, a radar reflector 15 to warn boats, a light source 16 , an antenna 17 for a passive satellite navigation system, an omnidirectional antenna 18 for transmitting data signals to the satellite 6 and an antenna 19 for direct two-way shortwave communication with the earth base.
  • the instrumentation of the buoy is shown in fig. 3. It is grouped around a computer 20, which supervises the flow of data to a certain number of peripheral units and vice versa, namely a transmission circuit 21 supplying the antenna 19 for connection with the satellite 6, a transmission / reception circuit 22 establishing, through the antenna 18, the bidirectional short-wave link with the earth base 7, - sensors 23 placed directly on the buoy and measuring for example meteorological or geochemical values of the water, a system 24 for transmitting or receiving high frequency or microwave frequency location signals for locating the buoy and for its possible recovery, a memory 25 such as an endless magnetic tape recorder or a disk making it possible to store the most recent signals or their digital equivalents originating from the capsule for a certain time such as a few days or a few weeks, a generator 26 of control signals sending signals by the ultrasonic transmitter 4 to the capsule to transmit control signals to it, amplification and coding means 27 transmitting the signals coming from the hydrophone 5 to the computer 20, - And supply means composed of a storage battery 28 and solar panels 14 for
  • the computer is programmed so that it automatically gathers the data coming from the hydrophone 4 and the sensors 23 and it automatically transmits them to the transmission circuit 21 and the antenna 19.
  • the transmission of a sequence of data incorrectly received at ground base 7 through the satellite triggers a diagnostic program.
  • control signals are sent by the direct shortwave route to the buoy to repeat the data sequence in question. If the error persists, the diagnostic procedure can be extended by the same communication channel to computer 20 and even to capsule 1.
  • the supply means on the buoy include the panels 14 and a storage battery 28 of 12 V / 105 Ah each, which can supply the buoy for more than a month without recharge.
  • the solar panels 14 provide 30 W, which is sufficient to regularly recharge the batteries.
  • Such a buoy can serve as a relay for years between one or more instrumented capsules placed at the bottom of the deep sea, and a distant land base to provide data concerning long-term phenomena in the deep sea and even phenomena in sediments under -seamen, in case the capsule or a part of it has penetrated into these sediments.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Radio Relay Systems (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

The buoy comprises an acoustic emitter (4) for transmitting commands to the underwater capsule, hydrophones (5) for receiving acoustic signals from the capsule, amplifying and coding means (27) delivering digital signals in response to these signals, a radio-broadcasting system (21, 19) and electrical supply means (14, 28). The amplifying and coding means (27) are associated with a memory (25) allowing the most recent signals or their digital equivalents to be stored for at least a few weeks under the supervision of a computer (20). The radio-broadcasting means comprise an omnidirectional antenna (19) for linking with a geostationary satellite, and the supply means comprise accumulators (28) recharged by solar panels (14). <IMAGE>

Description

L'invention se réfère à une bouée marine servant de relais bidirectionnel entre une capsule sous-marine émettrice-récep­trice de signaux ultrasonores et une base terrestre, compor­tant un émetteur acoustique pour transmettre des commandes à la capsule sous-marine, des hydrophones pour recevoir des signaux acoustiques de la capsule, des moyens d'amplification et de codage délivrant en réponse à ces signaux des signaux numériques, un système d'émission/réception radio et des moy ens d'alimentation électrique.The invention relates to a marine buoy serving as a two-way relay between an underwater capsule transmitting and receiving ultrasonic signals and a land base, comprising an acoustic transmitter for transmitting commands to the underwater capsule, hydrophones for receiving acoustic signals from the capsule, amplification and coding means delivering in response to these signals digital signals, a radio transmission / reception system and electrical supply means.

Pendant ces dernières années, des navires de recherche ont entrepris des mesures océanographiques pour approfondir les connaissances sur le fond de mer en grande profondeur. A ces fins, des capsules de mesure ont été déposées sur le sol et les données recueillies par la capsule ont été transmises vers le navire soit par un câble soit par un canal de transmission ultrasonore. Les données ainsi acquises sont de valeur limi­tée, car, d'une part, elles ne donnent qu'une image instan­tanée, le navire ne pouvant rester en place que pour une pé­riode limitée, et d'autre part, les équipements de bord ne permettent souvent qu'une évaluation préliminaire des données acquises, l'évaluation définitive n'ayant lieu qu'après le voyage à l'aide des ordinateurs puissants d'un centre de re­cherche terrestre.In recent years, research vessels have undertaken oceanographic measurements to deepen knowledge of the deep sea floor. For these purposes, measuring capsules were placed on the ground and the data collected by the capsule were transmitted to the ship either by cable or by an ultrasonic transmission channel. The data thus acquired are of limited value because, on the one hand, they only give an instant image, the ship being able to remain in place only for a limited period, and on the other hand, the on-board equipment does not allow often only a preliminary evaluation of the acquired data, the final evaluation taking place only after the trip using the powerful computers of a terrestrial research center.

L'invention a donc pour but de proposer une bouée marine qui sert de relais entre une source sous-marine de signaux ultra­sonores et un centre terrestre, et qui peut rester opérative sans entretien pendant des années. Cette bouée doit donc être susceptible de transmettre - en temps réel - les résultats de mesure de la capsule sous-marine vers un centre terrestre d'évaluation qui peut éventuellement être distant de plus de 5000 km.The object of the invention is therefore to propose a marine buoy which serves as a relay between an underwater source of ultrasonic signals and a terrestrial center, and which can remain operational without maintenance for years. This buoy must therefore be capable of transmitting - in real time - the results measurement of the submarine capsule to a terrestrial evaluation center which can possibly be more than 5000 km away.

Ce but est atteint par une bouée marine telle que spécifiée ci-dessus, qui est caractérisée en ce que les moyens d'ampli­fication et de codage sont associés à une mémoire permettant de stocker les signaux les plus récents ou leurs équivalents numériques pendant quelques heures sous le contrôle d'un ordi­nateur, que le système d'émission radio comporte une antenne omnidirectionnelle de liaison avec un satellite géostation­naire et que les moyens d'alimentation comportent des accumu­lateurs chargés par des panneaux solaires.This object is achieved by a marine buoy as specified above, which is characterized in that the amplification and coding means are associated with a memory making it possible to store the most recent signals or their digital equivalents for a few hours under the control of a computer, that the radio transmission system comprises an omnidirectional antenna for connection with a geostationary satellite and that the supply means comprise accumulators charged by solar panels.

En ce qui concerne des mises en oeuvre préférées, référence est faite aux sous-revendications.With regard to preferred implementations, reference is made to the subclaims.

L'invention sera décrite ci-après plus en détail à l'aide d'un exemple préféré de réalisation et des dessins.

  • Fig. 1 montre un schéma de communication entre une bouée selon l'invention et une base terrestre et entre la bouée et une capsule sous-marine.
  • Fig. 2 montre schématiquement une bouée selon l'invention.
  • Fig. 3 représente un schéma de l'équipement d'instrumentation de ladite bouée.
The invention will be described below in more detail with the aid of a preferred embodiment and the drawings.
  • Fig. 1 shows a communication diagram between a buoy according to the invention and a land base and between the buoy and an underwater capsule.
  • Fig. 2 schematically shows a buoy according to the invention.
  • Fig. 3 shows a diagram of the instrumentation equipment of said buoy.

Sur la fig. 1, on voit une capsule 1 instrumentée, qui est placée dans les sédiments 2 au fond de la mer. Alternativement et en fonction de l'objet de la recherche, la capsule peut être déposée au fond de la mer ou flotter dans l'eau à une certaine hauteur.In fig. 1, we see an instrumented capsule 1, which is placed in the sediment 2 at the bottom of the sea. Alternatively and depending on the object of research, the capsule can be placed on the seabed or float in water at a certain height.

Cette capsule comporte un émetteur/récepteur de signaux ultra­sonores qui communique avec des organes analogues sur une bouée 3, à savoir des émetteurs ultrasonores 4 et des hydro­phones ultrasonores 5. La bouée flotte à la surface de la mer et elle est ancrée mécaniquement. La bouée est munie d'anten­nes omnidirectionnelles permettant d'envoyer des données de mesure vers un satellite 6 dans la gamme des microondes et de communiquer directement avec une base terrestre 7 dans la gamme des ondes courtes.This capsule includes an emitter / receiver of ultrasonic signals which communicates with similar organs on a buoy 3, namely ultrasonic transmitters 4 and ultrasonic hydrophones 5. The buoy floats on the surface of the sea and is anchored mechanically. The buoy is equipped with omnidirectional antennas making it possible to send measurement data to a satellite 6 in the microwave range and to communicate directly with a terrestrial base 7 in the short wave range.

Sur la fig. 2, on voit plus en détail la structure mécanique de la bouée 3 de la fig. 1. Cette bouée comporte un tube mé­tallique 8, long de 5 mètres et large de 60 centimètres, qui contient un poids de 1500 kg dans sa partie inférieure et une chambre d'appareillage 9 dans sa partie supérieure. Cette chambre loge des batteries d'accumulateur et l'életronique. Le tube 8 est fixé dans un flotteur 10 d'un diamètre de 2 mètres et d'une hauteur de 2 mètres, qui est rempli de mousse de polyuréthane. Au-dessus du niveau de l'eau 11, un pilon 12 de 4 mètres de hauteur est érigé, qui supporte des panneaux jaunes d'avertissement 13, des panneaux solaires 14, un ré­flecteur radar 15 pour avertir les bateaux, une source lumi­neuse 16, une antenne 17 pour un système passif de navigation par satellite, une antenne omnidirectionnelle 18 pour émettre des signaux de données vers le satellite 6 et une antenne 19 pour la communication bidirectionnelle directe par ondes cour­tes avec la base terrestre.In fig. 2, we see in more detail the mechanical structure of the buoy 3 of FIG. 1. This buoy comprises a metal tube 8, 5 meters long and 60 centimeters wide, which contains a weight of 1500 kg in its lower part and an apparatus chamber 9 in its upper part. This room houses storage batteries and electronics. The tube 8 is fixed in a float 10 with a diameter of 2 meters and a height of 2 meters, which is filled with polyurethane foam. Above water level 11, a pestle 12 4 meters high is erected, which supports yellow warning signs 13, solar panels 14, a radar reflector 15 to warn boats, a light source 16 , an antenna 17 for a passive satellite navigation system, an omnidirectional antenna 18 for transmitting data signals to the satellite 6 and an antenna 19 for direct two-way shortwave communication with the earth base.

L'instrumentation de la bouée est représentée sur la fig. 3. Elle est regroupée autour d'un ordinateur 20, qui supervise le flux de données vers un certain nombre d'unités périphé­riques et vice-versa, à savoir
- un circuit d'émission 21 alimentant l'antenne 19 de liaison avec le satellite 6,
- un circuit d'émission/réception 22 établissant à travers l'antenne 18 la liaison bidirectionnelle en ondes courtes avec la base terrestre 7,
- des capteurs 23 placés directement sur la bouée et mesurant par exemple des valeurs météorologiques ou géochimiques de l'eau,
- un système 24 d'émission ou de réception des signaux de lo­calisation haute fréquence ou hyperfréquence pour la localisa­tion de la bouée et pour sa récupération éventuelle,
- une mémoire 25 telle qu'une enregistreuse à bande magnétique sans fin ou un disque permettant de stocker les signaux les plus récents ou leurs équivalents numériques en provenance de la capsule pendant un certain temps tel que quelques jours ou quelques semaines,
- un générateur 26 de signaux de commande envoyant des signaux par l'émetteur ultrasonore 4 vers la capsule pour lui trans­mettre des signaux de commande,
- des moyens d'amplification et de codage 27 transmettant les signaux provenant de l'hydrophone 5 vers l'ordinateur 20,
- et des moyens d'alimentation composés d'une batterie d'accu­mulateurs 28 et des panneaux solaires 14 pour sa recharge.The instrumentation of the buoy is shown in fig. 3. It is grouped around a computer 20, which supervises the flow of data to a certain number of peripheral units and vice versa, namely
a transmission circuit 21 supplying the antenna 19 for connection with the satellite 6,
a transmission / reception circuit 22 establishing, through the antenna 18, the bidirectional short-wave link with the earth base 7,
- sensors 23 placed directly on the buoy and measuring for example meteorological or geochemical values of the water,
a system 24 for transmitting or receiving high frequency or microwave frequency location signals for locating the buoy and for its possible recovery,
a memory 25 such as an endless magnetic tape recorder or a disk making it possible to store the most recent signals or their digital equivalents originating from the capsule for a certain time such as a few days or a few weeks,
a generator 26 of control signals sending signals by the ultrasonic transmitter 4 to the capsule to transmit control signals to it,
amplification and coding means 27 transmitting the signals coming from the hydrophone 5 to the computer 20,
- And supply means composed of a storage battery 28 and solar panels 14 for recharging.

L'ordinateur est programmé de telle sorte qu'il rassemble automatiquement les données provenant de l'hydrophone 4 et des capteurs 23 et il les émet automatiquement vers le circuit d'émission 21 et l'antenne 19. La transmission d'une séquence de données incorrectement reçue à la base terrestre 7 à tra­vers le satellite déclenche un programme de diagnostique. Se­lon ce programme, des signaux de commande sont émis par la voie directe en ondes courtes vers la bouée pour répéter la séquence de données en question. Si l'erreur persiste, on peut élargir par la même voie de communication la procédure de diagnostique à l'ordinateur 20 et même à la capsule 1.The computer is programmed so that it automatically gathers the data coming from the hydrophone 4 and the sensors 23 and it automatically transmits them to the transmission circuit 21 and the antenna 19. The transmission of a sequence of data incorrectly received at ground base 7 through the satellite triggers a diagnostic program. According to this program, control signals are sent by the direct shortwave route to the buoy to repeat the data sequence in question. If the error persists, the diagnostic procedure can be extended by the same communication channel to computer 20 and even to capsule 1.

En utilisant cette voie de communication, il est également possible d'interroger des capteurs 23 ou via l'émetteur 4 la capsule pour obtenir des informations supplémentaires ou pour changer le fonctionnement des capteurs.By using this communication channel, it is also possible to interrogate sensors 23 or via the transmitter 4 the capsule to obtain additional information or to change the operation of the sensors.

Les moyens d'alimentation sur la bouée comportent les panneaux 14 et une batterie d'accumulateur 28 de 12 V/105 Ah chacune, qui peuvent alimenter la bouée pendant plus d'un mois sans recharge. Les panneaux solaires 14 fournissent 30 W, ce qui suffit pour recharger régulièrement les accumulateurs.The supply means on the buoy include the panels 14 and a storage battery 28 of 12 V / 105 Ah each, which can supply the buoy for more than a month without recharge. The solar panels 14 provide 30 W, which is sufficient to regularly recharge the batteries.

Une telle bouée peut servir de relais pendant des années entre une ou plusieurs capsules instrumentées placées au fond de la mer profonde, et une base terrestre éloignée pour fournir des données concernant les phénomènes long-terme en mer pro­fonde et même des phénomènes dans des sédiments sous-marins, au cas où la capsule ou une partie de celle-ci ait pénétrée dans ces sédiments.Such a buoy can serve as a relay for years between one or more instrumented capsules placed at the bottom of the deep sea, and a distant land base to provide data concerning long-term phenomena in the deep sea and even phenomena in sediments under -seamen, in case the capsule or a part of it has penetrated into these sediments.

Claims (4)

1. Bouée marine servant de relais bidirectionnel entre une base terrestre et une capsule sous-marine émettrice/réceptrice de signaux ultrasonores, comportant un émetteur acoustique pour transmettre des commandes à la capsule sous-marine, des hydrophones pour recevoir des signaux acoustiques de la cap­sule, des moyens d'amplification et de codage délivrant en réponse à ces signaux des signaux numériques, un système d'­émission radio et des moyens d'alimentation électrique, carac­térisée en ce que les moyens d'amplification et de codage (27) sont associés à une mémoire (25) permettant de stocker les signaux les plus récents ou leurs équivalents numériques pen­dant au moins quelques semaines sous le contrôle d'un ordina­teur (20), que les moyens d'émission radio comportent une an­tenne (19) omnidirectionnelle de liaison avec un satellite géostationnaire (6) et que les moyens d'alimentation compor­tent des accumulateurs (28) rechargés par des panneaux solai­res (14).1. Marine buoy serving as a bidirectional relay between a land base and an underwater capsule transmitting / receiving ultrasonic signals, comprising an acoustic transmitter to transmit commands to the underwater capsule, hydrophones to receive acoustic signals from the capsule , amplification and coding means delivering in response to these signals digital signals, a radio transmission system and power supply means, characterized in that the amplification and coding means (27) are associated to a memory (25) enabling the most recent signals or their digital equivalents to be stored for at least a few weeks under the control of a computer (20), that the radio transmission means comprise an omnidirectional link antenna (19) with a geostationary satellite (6) and that the supply means comprise accumulators (28) recharged by solar panels (14). 2. Bouée selon la revendication 1, caractérisée en ce qu'elle comporte en outre un émetteur/récepteur haute fréquence (18) pour une liaison bidirectionnelle directe de télécommande et de télédiagnostique entre la base terrestre (7) et ledit ordi­nateur (20).2. Buoy according to claim 1, characterized in that it further comprises a high frequency transmitter / receiver (18) for a direct bidirectional link of remote control and remote diagnosis between the ground base (7) and said computer (20). 3. Bouée selon la revendication 2, caractérisée en ce qu'elle comporte un émetteur (4) de signaux ultrasonores qui coopère sous le contrôle de l'ordinateur (20) avec un récepteur cor­respondant placé dans ladite capsule (1) pour lui transmettre des signaux de commande, et des hydrophones (5) servant à re­cevoir des signaux ultrasonores provenant de ladite capsule.3. Buoy according to claim 2, characterized in that it comprises a transmitter (4) of ultrasonic signals which cooperates under the control of the computer (20) with a corresponding receiver placed in said capsule (1) to transmit to it control signals, and hydrophones (5) for receiving ultrasonic signals from said capsule. 4. Bouée selon l'une des revendications 1 à 3, caractérisée en ce qu'elle comporte un système (24) de localisation par satellite.4. Buoy according to one of claims 1 to 3, characterized in that it comprises a system (24) for satellite location.
EP19880107602 1987-05-13 1988-05-11 Buoy acting as a bidirectional relay between an underwater ultrasonic signal emitter-receiver capsule and a land base Expired - Lifetime EP0291041B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
LU86877 1987-05-13
LU86877A LU86877A1 (en) 1987-05-13 1987-05-13 MARINE BUOY USING A TWO-WAY RELAY BETWEEN AN UNDERWATER CAPSULE TRANSMITTING AND RECEIVING ULTRASONIC SIGNALS AND A LAND BASE

Publications (2)

Publication Number Publication Date
EP0291041A1 true EP0291041A1 (en) 1988-11-17
EP0291041B1 EP0291041B1 (en) 1993-03-03

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EP19880107602 Expired - Lifetime EP0291041B1 (en) 1987-05-13 1988-05-11 Buoy acting as a bidirectional relay between an underwater ultrasonic signal emitter-receiver capsule and a land base

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EP (1) EP0291041B1 (en)
DE (1) DE3878728T2 (en)
DK (1) DK248088A (en)
ES (1) ES2039501T3 (en)
LU (1) LU86877A1 (en)
PT (1) PT87468B (en)

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EP0408179A2 (en) * 1989-07-14 1991-01-16 General Atomics Integrated automated system for waste site characterization
FR2674338A1 (en) * 1991-03-19 1992-09-25 Orca Instrumentation Sarl Instrumental maritime device for locating concentrations of fish, fishing system comprising such devices, and receiving station for such a system
ES2239493A1 (en) * 2003-01-23 2005-09-16 Fundacion Internacional Para La Proteccion Y Difusion Del Arte System controlling and monitoring quality of underwater in archaeological field, has thread attached to anchor by remote control unit, and self-protection system provided with water level unit and deep anchoring unit
US7387012B2 (en) 2006-07-14 2008-06-17 Veyance Technologies, Inc. Leak detection sensor system and method for double carcass hose
US7509841B2 (en) * 2006-07-14 2009-03-31 Veyance Technologies, Inc. Flexible leak detection system and method for double carcass hose
WO2012079559A3 (en) * 2010-12-07 2013-04-04 L-3 Communications Elac Nautik Gmbh Transmitting device
RU2492508C1 (en) * 2012-03-14 2013-09-10 Федеральное государственное военное образовательное учреждение высшего профессионального образования Военная академия Ракетных войск стратегического назначения имени Петра Великого МО РФ Hydroacoustic detection device
CN111204411A (en) * 2020-01-18 2020-05-29 张晓环 Self-stabilizing satellite signal amplification buoy

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ES2504015B1 (en) * 2014-06-04 2015-07-07 Luis Felipe MAZO SANFELIZ Floating device and communications system for aquatic areas based on floating devices

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US3674225A (en) * 1970-07-09 1972-07-04 Us Army Buoy
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0408179A2 (en) * 1989-07-14 1991-01-16 General Atomics Integrated automated system for waste site characterization
EP0408179A3 (en) * 1989-07-14 1991-05-29 General Atomics Integrated automated system for waste site characterization
FR2674338A1 (en) * 1991-03-19 1992-09-25 Orca Instrumentation Sarl Instrumental maritime device for locating concentrations of fish, fishing system comprising such devices, and receiving station for such a system
ES2239493A1 (en) * 2003-01-23 2005-09-16 Fundacion Internacional Para La Proteccion Y Difusion Del Arte System controlling and monitoring quality of underwater in archaeological field, has thread attached to anchor by remote control unit, and self-protection system provided with water level unit and deep anchoring unit
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PT87468B (en) 1993-09-30
ES2039501T3 (en) 1993-10-01
DE3878728D1 (en) 1993-04-08
PT87468A (en) 1989-05-31
DK248088A (en) 1988-11-14
DE3878728T2 (en) 1993-06-09
LU86877A1 (en) 1988-06-13
DK248088D0 (en) 1988-05-06
EP0291041B1 (en) 1993-03-03

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