507084 五、發明説明（1 ) 本發明是有關於聲學導航裝置其使得（單獨或成組地潛 水）的海底潛水者能夠持久的知道其相對於實施此潛水所 支援船艇之位置（方向與距離）。此裝置是根據處理數位信 號之處理器所構成，其被給予所有所須之計算能力’可以 適合對在海底中聲波傳播之特殊情況之處理。此裝置不涉 及須求而是以自動以及持續的方式不須要潛水者之介入。 此裝置亦允許接收傳送給船艇之訊息（尤其是警告的訊息） ，並且亦可以整合”潛水電腦π之功能。數個此種裝置可以 由數個組之潛水者設置在相同之地點而不會互相妨礙。 海底潛水此項活動擁有越來越多精通此道的行家，然而 它仍然被歸類於危險的運動。今日潛水之安全之改善較以 往更爲主要的關切。大部份意外是當潛水者迷失並且不能 夠重新找到其支援之船艇時發生。由於此驚慌的結果導致 失去方向的感覺，而經常造成悲劇。因此是重要能夠設置 一種自主的系統，其使得潛水者能夠自動地並且以容易的 方式藉由簡單的顯示而知道其相對於船艇的位置。此相同 安全之關切導致傳輸能力之硏究，其可以即時地傳送給潛 水者警告訊息，其例如在緊急的情況中要求潛水者主刻上 升回到水面。 今曰數個導航系統已商業化。所有這些系統均包括沈浸 於船艇底的聲源，其與拿在潛水者手上之手電筒式的接收 裝置配合。此後者應該以此手電筒式接收器掃瞄空間以截 取由聲源所發出的信號，並且找到其返回方向。 此系統僅不圓滿地回應了導航與運輸急迫的雙重須求、 507084 五、發明説明（2 ) 任何此系統均不能以完全自動的方式計算其方向，此用於 尋找方向之空間掃瞄須要潛水者所有的集中力，並且如果 信號沒有很快地截取的話，其所受的壓力會大大地增加。 任何這些接收器均未擁有一連串聲音信號處理裝置真正 地適合在海底中聲音傳播之複雜性（多重回音，反射，遮 蓋，衰減等），其中須要給予它在海上所能接受的行爲表 現。 另一方面，此等商業化裝置的大部份不能夠在相同的地 點同時設置數個系統。此功能由某些高頻率波段的裝置所 提供，而由於太小數目的頻道，而受到相當大的限制，在 以前經常以手工操作的方式作選擇。 最後，此最完善的裝置的價格高，此限制其擴散流傳。 如同用於此等商業化的系統，此由Bemp以及其他人所 描述的裝置（US 5 3 03 206)包括一沈入於船艇之下的聲源 ，其與由潛水者手上拿著接收器裝置相配合。‘ 此接收器是根據簡單的電子零件構成，具有基本的計算 能力，而嚴格的限制了根據此原理所製成的裝置在海上的 性能表現。 。方向：此裝置根據離散電子零件之一系列之處理，只能 提供給潛水者藉由電子發光二極體式之三個發光顯示器 之（左）、（右）、與（後）之粗略之指示。 。距離：此所使用於決定距離的原理，是由將聲源的時脈 與根據peynaud以及其他人之專利（FR 2 5 1 9 76 9，US 4 516 226)之接收器的時脈同步（synchronize)。爲了關於實現 -4- 507084 五、發明説明（3 ) 該一系列之措施，Bemp使用一種邏輯電纜，如果接收 器發覺暫時不能偵測到聲源的脈衝（pulse)時（此種情形 在海上經常發生，其由於潛水者的身體或障礙所導致該 脈衝的遮蔽所造成），則其不能提供保全。在此情況下 所呈現給潛水者之距離之顯示必然錯誤。此外，此脈衝 4,6875赫茲（hertz)之頻率將此裝置的範圍限制在320米 ⑻。 雖然其電子零件結構簡單，此以B emp之設計爲基礎所 製成之裝置並不因此而非常便宜，這是由於不但在聲源而 且在接收器中使用非常穩定但成本高的振盪器（oscillater) 所致。此外，選擇在29.5kHz之聲音頻率使得大眾不能使 用例如用於Hi-Fi系列產品中的成本非常低的電子零件。 此Prichard以及其他人的系統（US 5 570 323)包括一種 聲學發射機應答器（transponder)(即，接收器/發射器 receinver/emitter)，其沈於船艇之下而與潛水者手上拿的 接收器/詢問器相配合。‘ 在由潛水者啓動觸發的詢問下，此發射機應答器藉由發 射第二信號而回應。 此接收器藉由測定在詢問以及聲波返回之間之時間間隔 而計算其至發射機應答器之距離，對於此接收器是適合得 到發射機應答器（所認識）的反應。 然而藉由比較由兩個.側面聲音感應器（sensor>K接收的 能量而判定方向。此方向之計算受到多重回音相當大的千 擾’此回音由海底、海面或附近的障礙反射，其增加了直 507084 五、發明説明（4 ) 接脈波（衝）的能量，並且因此完全扭曲了其大小。 此外，此由Prichard建議用於每個裝置之聲源與接收器 (發射機應答器與接收器/詢問器），其相較於純粹被動式的 接收器的解決方式而言在實際上加倍了實現之成本。i 發明描述 本發明的目的是至少部份地補救上述之不便：裝置在海 上的性能表現不足用以確保合適的保全（security)，使得潛 水者必須藉由”掃瞄”以手工操作的方式尋找其方向，對於 在相同地點位置可以設置之系統數目的限制，以手工操作 方式選擇運作頻道以及昂貴的價格。 爲了達此目的，本發明的目的是設立根據申請專利範圍 第1項用於潛水之聲學導航裝置。 此根據本發明的裝置使用一種聲源其結合數組之接收與 發射裝置，其特性與目前商業化可獲得之製品之特性大不 相同。 此裝置之設計能足夠地減少此接收器與發射器整體的尺 寸大小，以致於它可以根據手錶的原理被載在潛水者的手 腕上。 本發明其他的特點與優點在以下的說明中，參考所附圖 ‘式以作爲非限制性的例子而更加明顯。 圖式之簡單說明 第1圖以槪要圖式說明海底之環境，其使用具有聲源之 根據本發明之裝置，以及數組之接收與發射裝置。 第2圖是根據本發明之聲源之槪要圖。 -6- 507084 五、發明説明（5 ) 第3圖是由聲源所發射信號之時間之圖式說明’以及在 海底中聲波各向同性（全方向性）的傳播原理。 第4圖以槪要圖式說明海底之環境，其使用具有聲源之 根據本發明之裝置，以及數組之接收與發射裝置。 第5圖是根據本發明之接收與發射裝置之槪要圖。 第6圖說明根據在每一個聲波感應器上所接收之信號相 位（phase)的大小，而計算出角度方向之機構。 第7圖說明信號發射裝置8。 如同在第1圖所顯示，此裝置包括兩個主要的部份：由 支援之船艇2所浸入海中的聲源1，以及藉由電纜1 1連接 至此聲源之由每一個潛水者所攜帶之接收與發射裝置3之 機組。由於此等信號接收與發射裝置3機組之被動性質， 同一個聲源可以用於不限制數目之潛水者，其每一個配備 了信號接收與發射機組。 如同在第2圖中所顯示，聲源1包括由壓電式感測/轉 換器（sensor/transducer)組件18，其可以在海中收聽（感測 功能），或是產生聲音脈衝12(轉換功能），該組件以電的 方式將此信號傳送給頻率辨別裝置1 9。此裝置1 9可以例 如藉由與通帶（pass-band)濾波器電池並聯而實現，其每一 個在本身的頻帶中以經濾波之音波能量位準與處理器 (pr〇CeSS〇r)17通信。此等資訊之整體使得該處理器可以辨 識可供使用之頻率通道，或是在接近聲源1的環境1中所 占用的通道。 在其轉換功能中，此壓電式構件1 8將由音波脈衝發射 507084 五、發明説明（6 ) 裝置20所收到之電性刺激在處理器17的控制下被轉換成 聲音的能量，以及此時間基準器9其正確之振盪頻率被事 先測定，其相較於例如由”全球定位系統”（GPS:Global Positioning System)之接收器所發送之參考信號之每秒脈 衝（PPSiPulse Per Second)，在平均溫度的作業中具有至少 1(Γ6之準確度。 如同在第3圖中所顯示，聲源1發射正確頻率之脈衝 12，其可以被非矩形之時間封包（ennelop)將其振幅平均加 權，而根據其大於或等於1秒之正確頻率1 3，允許其範圍 超過1.5公里（km)，在空間之所有的方向中同時產生球形 之傳播波前15。此發射頻率13是借由計算時間基準器9 的振盪而獲得。如果例如該時間基準器9是在Mega(106) 赫奴中運作’而在處理器1 7每次算得5忍爲振备數目適合 於確保頻率1 3之準確度至1秒，則根據此例發射聲波脈 衝12。此適當振盪頻率之數目，是將根據時間基準器9之 所測得之確實振盪頻率而計算之値的理論振盪頻率 20,000,000予以補償而獲得。在操作人員的干預下，聲源 1同樣地可以發出特殊之警告信號，其像是例如被信號接 收與發射裝置3之機組作解釋說明。 自從它被置入水中，此由聲源1所發射之脈衝頻率是在 數個頻道中自動選擇未被占用的頻道，例如是具有500赫 茲（Hz)頻道寬度之分佈於18.5至22kHz之八個頻道。爲 達此目的，在聲源1的起始時刻’處理器17啓動（activate) 頻率辨識裝置1 9。此處理器1 7能夠決定是否另一個聲源 507084 五、發明説明（7 ) 在其緊靠的附近是處於活化狀態。如果是此種情形’則處 理器1 7禁止在相對應的頻道上產生脈衝1 2，並且選擇另 一個”未占用’’的頻道用於發射該脈衝。 此數個發射頻率之可能之存在使得其在相同的地點可以 共存而不會干擾數組之潛水者。如同在第4圖中所示，第 一組的潛水者是相對於在頻率fl上發出聲波之聲源而判 斷位置方向，其信號接收與發射裝置30之機組是自動依 附於頻率fl上；然而第二組的潛水者是相對於聲源f2判 斷位置方向，其信號接收與發射裝置3 1自動依附於頻率 η上。 如同在第5圖中顯示，此信號接收與發射裝置3的機組 包括至少三個未排齊的聲波感應器5、時間基準器4其與 聲源之時間基準器9相同，以及其確實的振盪頻率可事先 測定具有平均運作溫度之1 (Γ6最小準確度、與每個感測器 配合之調整（濾波與類比放大）與數位化電子裝置6，具有 大的計算能力（其能力是大於每秒4千萬個運算）之信號處 理之數位處理器7，其使得能以適合於海底傳播條件的算 法（algorithm)處理感應器之信號並且免除多重回音與反射 的問題、信號發射裝置8、以及選擇性配置的壓力感應器 22。此接收器機組是由一組電池1 〇供應電源。 如同第6圖顯示’此未排齊之聲波感應器5在不同的時 刻11、t2與t3接收來自聲源1之聲波脈衝12。此調整電 子裝置實施數個運算使得能夠將由天線所發出的信號調整 作以下之處理··過濾此頻帶使得能夠隔離出所使用頻率的 507084 五、發明説明（8 ) 區段（例如是18.5〜22kHz)、將此信號放大以調整其位準 (例如增益（gain)300倍），並且實施（將類比數字轉換之）數 位化（藉由delta-sigme轉換器（vonverter)在1 8位元的序列 中將其轉換成48Hz)，而產生根據本例之20.8微秒（# s)之 樣本。 在數位化之後，此聲音信號被傳送給信號處理之處理器 7作以下之處理：複雜之去除調變（demodulation)、低通 (olw-pass)濾波、能量計算、偵測、判定距離與方向然後 顯示。 處理器7可以在德州儀器（Texas Instalment)的數位信號 處理器之頻道波段中選出，其以少量的消耗而具有超過每 秒40百萬（mega)運算之計算能力，並且配備一組指令其 良好適用於即時（real time)載入系統之算法。 此複雜之去除調變（demodulation)的目的在於將三個數 位信號的每一個簡化爲關於其振幅與相位之低頻道（low band)。它對於每個信號同相的分量乘以cos(2 7Γ FM+ (/)) ，並且對於異相之分量乘以sin(2;r Fo.t+φ )。此複雜之去 除調變的頻率F〇對應於聲源之發射頻率。 此低通濾波器應該以足夠的選擇性實施用於隔離而沒有 顯著的千擾發射頻道並且在通過此濾波器的頻帶中將此頻 道衰減至接近周圍噪音的水準。吾人可選擇一種非自動循 環式的濾波器其產生約計-7〇dB的減弱至5 00Hz。此三個 聲音線路之濾波器可以在20.8微秒（/z s)的週期期間執行6 次低通之濾波。 -10- 507084 五、發明説明（9 ) 在計算了每一個信號之能量後，此處理器7對於每一個 線路保持兩個整合器（integrate)，一個用於恆定的短時間 ，另一個用於恆定的長時間。當此兩個整合器之間的差異 超過了預設之界限時，則此處理器宣佈它已偵測到。 此處理器7測量由低通濾波器所發出之三個信號之相位 ，其對應於此等感應器之間行程之差異’然後進行其測角 術之算法（algorithm)以確定該等感應器相對於傳播方向 14(其顯示支援船艇2的方向）的位置與方向。此方向藉由 信號發射裝置8以相同的準確度顯示’此裝置可以是液晶 顯示器（LCD)螢幕，其畫面之解析度是1〇〇行X64列，如 同於第7圖中所顯示者。 在潛水的開始，潛水人員啓動其沈浸於聲源1之直接附 近之信號接收與發射裝置3之機組。此信號接收與發射裝 置3之模組之啓始步驟如下： •自動地偵測該聲源之發射之頻率，以及相對應之處理器 7之軟體參數， •產生並減弱該聲源1所發射之頻率13之同步的複製品 用以計算距離。爲了避免此頻率13的此複製只在潛水 期間與其同步，此處理器7藉由獲得時間基準器4之確 實振盪頻率來補償該複製只產生之算法’此時間基準器 例如經由事先之設計安排在平均的作業溫度中具有1 〇~6 之最小之準確度。 此潛水者與其船艇之距離之測量是直接由以下的方式獲 得：即，藉由測量介於由聲源1所發出代表其同步複製品 -11- 507084 五、發明説明（10) 的聲波脈衝12的發出時刻T0，與由該信號接收與發射裝 置3之模組接收該脈衝的時刻T之間的時間間隔。 然後將此時間間隔（Τ-Τ0)乘以聲音在水中傳播的速度（大 約1 500公尺/秒）以得出距離，其在每次接收到聲波脈衝 1 2時顯示。 由聲源1所傳送之緊急訊息（message)，例如如同脈衝 12之循環之修正，是可以彼此信號接收與發射裝置3之機 組之處理器7所辨認出，然而該處理器在信號發射裝置8 上產生特殊記號，以例如顯示給潛水者快速重新上升至水 面之命令。此視覺的顯示可以有利地以警鈴（蜂嗚器）或振 動系統加強。 此信號接收與發射裝置3之機組附帶地整合了潛水用電 腦之功能，其中壓力感應器22之指示以在數次連續的潛 水（例如1 〇次）中以不消逝的方式記載。在潛水者重新上升 至水面的作業中，此信號接收與發射裝置3之機組可以在 他的要求下顯示用於實施其減壓階段所須之指示。 雖然此裝置之性能表現提高，其製造成本藉由使用以下 而降低： -在聲源以及信號接收與發射裝置之機組中標準的時間基 準器。該時間基準器之振盪頻库受到非常準確的初步與 安排，以便每一個處理器7或1 7在處理其各自同步時 脈的衰減中，可以獲得所簣的補償， -處理信號之處理器7可以如同行動電話成本低廉地在廣 大群眾的應用中使用， -12- 507084 五、發明説明（ 1 1 m/ 複 tl -聲波信號之頻率被選擇在24kHz之下，使得它可以使用 於聲源中，以及以非常低的成本使用於大眾電子組件之 調整電子零件中，如同其使用於Hi-Fi音響的裝置之中。 符號之說明 賴請委 ‘一厶.贺贺内§' 1 聲源 2 支援船艇 4 時間基準器 5 聲波感應器 7 處理器 8 信號發射裝置 9 時間基準器 10 電池 12 聲波脈衝 14 方向 17 處理器 19 頻率辨別裝置 22 壓力感測器507084 V. Description of the invention (1) The present invention relates to an acoustic navigation device which enables (underdivided or group diving) submarine divers to permanently know their position (direction and distance) relative to the boat supported by the dive ). This device is based on a processor that processes digital signals, which is given all the necessary computing power, which can be adapted to the special case of sound wave propagation in the ocean floor. This device does not involve requirements, but does not require the intervention of a diver in an automatic and continuous manner. This device also allows to receive messages (especially warning messages) sent to the boat, and can also integrate the function of "dive computer π." Several such devices can be set up by several groups of divers at the same location without It can interfere with each other. Underwater diving has more and more experts in this field, but it is still classified as a dangerous sport. The improvement of diving safety today is more of a major concern than in the past. Most of the accidents are Occurs when the diver is lost and unable to rediscover the boat it supports. As the result of this panic causes a sense of disorientation, often causing tragedy. It is therefore important to be able to set up an autonomous system that enables the diver to automatically And in an easy way know its position relative to the boat with a simple display. This same safety concern leads to a search for transmission capabilities, which can instantly send a warning message to divers, for example in emergency situations Divers are required to ascend back to the surface. Several navigation systems have been commercialized today. All of these systems include sinking. The sound source at the bottom of the boat cooperates with a flashlight-type receiving device held by the diver. This latter should scan the space with this flashlight-type receiver to intercept the signal from the sound source and find its return This system only satisfactorily responds to the dual demands of navigation and transportation urgency. 507084 V. Description of the invention (2) No such system can calculate its direction in a fully automatic way. This is used for space scanning for finding directions All the diver's concentration is required, and if the signal is not intercepted quickly, the pressure on it will increase greatly. None of these receivers have a series of sound signal processing devices that are truly suitable for the complexity of sound transmission in the ocean floor (Multiple echoes, reflections, obscurations, attenuation, etc.), which requires giving it acceptable behavior at sea. On the other hand, most of these commercial devices cannot be equipped with multiple systems at the same location. This feature is provided by some high-frequency band devices, but is quite limited due to too small number of channels In the past, manual selection was often used. Finally, the most complete device is expensive, which limits its spread. As used in these commercial systems, the device described by Bemp and others ( US 5 3 03 206) includes a sound source submerged under the boat, which cooperates with a receiver device held by the diver. 'The receiver is based on simple electronic parts and has basic calculations Capabilities, and severely limit the performance of devices made according to this principle at sea. Direction: This device is processed according to a series of discrete electronic parts and can only be provided to divers through the use of electronic light-emitting diodes. (Left), (right), and (rear) rough indications of the three light-emitting displays. Distance: The principle used to determine distance is based on the clock of the sound source and according to the patents of Peynaud and others (FR 2 5 1 9 76 9, US 4 516 226). In order to realize -4- 507084 V. Description of the invention (3) This series of measures, Bemp uses a logic cable, if the receiver detects that the pulse of the sound source cannot be detected temporarily (this situation is often at sea Occurs, which is caused by the obscuration of the pulse due to the diver's body or obstacle), it cannot provide security. The distance displayed to the diver in this case is necessarily incorrect. In addition, the frequency of this pulse of 4,6875 hertz (hertz) limits the range of this device to 320 meters. Although the structure of the electronic parts is simple, this device based on the design of B emp is not very cheap because of the very stable but expensive oscillator (oscillater) used not only in the sound source but also in the receiver. ). In addition, the selection of a sound frequency of 29.5 kHz prevents the public from using very low-cost electronic parts such as those used in the Hi-Fi series. This Prichard and others system (US 5 570 323) includes an acoustic transponder (ie, receiver / transmitter receiver / emitter) that sinks under the boat and holds it with the diver Of the receiver / interrogator. ‘This transponder responds by sending a second signal in response to an interrogation triggered by the diver. This receiver calculates the distance to the transponder by measuring the time interval between the interrogation and the return of the sound wave. For this receiver, it is suitable to get the transponder (recognized) response. However, the direction is determined by comparing the energy received by the two side sound sensors (sensor> K. The calculation of this direction is subject to considerable perturbations from multiple echoes. This echo is reflected by obstacles on the sea floor, the sea surface, or nearby, which increases Straight 507084 V. Description of the invention (4) The energy of the pulse wave (rush), and therefore completely distorted its size. In addition, this sound source and receiver (transponder and transponder) Receiver / interrogator), which actually doubles the cost of implementation compared to a purely passive receiver solution. I Description of the invention The object of the invention is to at least partially remedy the above inconvenience: the device is at sea The performance is not sufficient to ensure proper security, so that divers must manually find their direction by "scanning". For the limit on the number of systems that can be set at the same location, manually Selection of operating channels and expensive prices. To achieve this, the purpose of the present invention is to establish Acoustic navigation device for water. This device according to the present invention uses a sound source that combines an array of receiving and transmitting devices with characteristics that are quite different from those of products currently available commercially. The design of this device can sufficiently reduce this The overall size of the receiver and the transmitter is such that it can be carried on the wrist of a diver according to the principle of a watch. Other features and advantages of the present invention are referred to in the following description as non-limiting with reference to the drawings The example of the figure is more obvious. The first figure is a schematic illustration of the seabed environment, which uses a device according to the invention with a sound source, and an array of receiving and transmitting devices. Figure 2 is based on The essential diagram of the sound source of the present invention. -6- 507084 V. Description of the invention (5) Figure 3 is a graphical illustration of the time of the signal emitted by the sound source 'and the sound wave isotropy (omnidirectionality) in the ocean floor The principle of propagation is illustrated in Figure 4. Figure 4 illustrates the submarine environment in a schematic diagram, using a device according to the invention with a sound source, and an array of receiving and transmitting devices. Figure 5 It is the essential diagram of the receiving and transmitting device according to the present invention. Fig. 6 illustrates a mechanism for calculating an angular direction according to the phase of a signal received on each acoustic wave sensor. Fig. 7 illustrates a signal Transmitting device 8. As shown in Fig. 1, this device includes two main parts: the sound source 1 submerged in the sea by the supporting boat 2 and each of them connected by a cable 11 to this sound source. The receiver and transmitter unit 3 carried by the diver. Due to the passive nature of these signal receiver and transmitter unit 3, the same sound source can be used for an unlimited number of divers, each of which is equipped with signal receiver and transmitter As shown in Figure 2, the sound source 1 includes a piezoelectric sensor / transducer component 18, which can be listened to in the sea (sensing function), or generates a sound pulse 12 ( Conversion function), the component electrically transmits this signal to the frequency discrimination device 19. This device 19 can be implemented, for example, in parallel with a pass-band filter battery, each of which is in its own frequency band with a filtered sonic energy level and a processor (pr0CeSS〇r) 17 Communication. The whole of this information allows the processor to identify the available frequency channels or the channels occupied in environment 1 close to sound source 1. In its conversion function, this piezoelectric component 18 will be emitted by sonic pulses 507084 V. Description of the Invention (6) The electrical stimulus received by the device 20 is converted into sound energy under the control of the processor 17, and this The correct oscillation frequency of the time reference 9 is measured in advance. Compared with the reference signal pulse per second (PPSiPulse Per Second) transmitted by a receiver such as a “Global Positioning System” (GPS: Global Positioning System), The average temperature operation has an accuracy of at least 1 (Γ6. As shown in Figure 3, the sound source 1 emits a pulse 12 of the correct frequency, which can be averagely weighted by its amplitude by non-rectangular time packets (ennelop), According to its correct frequency 1 3 which is greater than or equal to 1 second, its range is allowed to exceed 1.5 kilometers (km), and a spherical propagation wavefront 15 is generated in all directions of space at the same time. This emission frequency 13 is calculated by calculating the time reference It is obtained by the oscillation of the device 9. If, for example, the time reference device 9 is operating in Mega (106) Genu ', and the processor 1 7 is calculated 5 at a time, the number of vibrations is suitable to ensure the frequency of 1 3 Degree to 1 second, according to this example, a sound wave pulse 12 is transmitted. This number of appropriate oscillation frequencies is obtained by compensating the theoretical oscillation frequency of 20,000,000, which is calculated based on the measured actual oscillation frequency of the time reference device 9. With the intervention of the operator, the sound source 1 can also issue a special warning signal, as if explained by the unit of the signal receiving and transmitting device 3. Since it was placed in the water, this is emitted by the sound source 1 The pulse frequency is the automatic selection of unoccupied channels among several channels, such as eight channels with a channel width of 500 Hertz (Hz) distributed between 18.5 and 22 kHz. To achieve this, at the beginning of sound source 1 At time 'processor 17 activates frequency identification device 19. This processor 17 can determine whether another sound source is 507084. V. Description of the invention (7) It is in an activated state in its immediate vicinity. If so In case 'the processor 1 7 prohibits generating a pulse 12 on the corresponding channel, and selects another "unoccupied" channel for transmitting the pulse. The existence of energy allows them to coexist in the same place without disturbing the array of divers. As shown in Figure 4, the divers of the first group judge the position relative to the sound source that emits sound waves at frequency fl Direction, the unit of its signal receiving and transmitting device 30 is automatically attached to the frequency fl; however, the diver of the second group judges the position direction with respect to the sound source f2, and its signal receiving and transmitting device 31 is automatically attached to the frequency η As shown in Figure 5, the unit of this signal receiving and transmitting device 3 includes at least three non-aligned sonic sensors 5, time reference 4, which is the same as the time reference 9 of the sound source, and its exact The oscillation frequency can be determined in advance. It has a minimum average operating temperature of 1 (Γ6 minimum accuracy, adjustment (filtering and analog amplification) with each sensor, and digital electronic device 6. It has a large computing power (its ability is greater than each 40 million operations per second), a digital processor 7 for signal processing, which enables processing of sensor signals with an algorithm suitable for underwater propagation conditions and eliminates multiple echoes Problems with reflections, signal transmitting means 8, and the pressure sensor 22 is selectively configured. This receiver unit is powered by a set of batteries. As shown in Fig. 6, 'the non-aligned acoustic wave sensor 5 receives acoustic wave pulses 12 from the sound source 1 at different times 11, t2 and t3. This adjustment electronic device implements several operations to adjust the signal sent by the antenna to the following processing. · Filtering this frequency band enables the 507084 of the used frequency to be isolated. V. Invention description (8) section (for example, 18.5 ~ 22kHz) Amplify this signal to adjust its level (for example, gain 300 times), and digitize (convert analog to digital) (by a delta-sigme converter (vonverter) in a 18-bit sequence This is converted to 48 Hz), resulting in a sample of 20.8 microseconds (# s) according to this example. After digitization, this sound signal is transmitted to the signal processing processor 7 for the following processing: complex demodulation, low-pass filtering, energy calculation, detection, determination of distance and direction Then displayed. The processor 7 can be selected in the channel band of Texas Digital's digital signal processor. It has a computing power of more than 40 million (mega) operations per second with a small amount of consumption, and is equipped with a set of instructions. Algorithm suitable for real time loading system. The purpose of this complex demodulation is to simplify each of the three digital signals into a low band with respect to its amplitude and phase. It multiplies cos (2 7Γ FM + (/)) for in-phase components of each signal, and multiplies sin (2; r Fo.t + φ) for out-of-phase components. The frequency of this complex removal modulation F0 corresponds to the emission frequency of the sound source. This low-pass filter should be implemented with sufficient selectivity for isolation without significant spurious emission channels and attenuate this channel to a level close to the surrounding noise in the frequency band that passes through this filter. We can choose a non-automatic loop filter that produces a attenuation of about -70dB to 500Hz. These three sound line filters can perform low-pass filtering six times during a period of 20.8 microseconds (/ z s). -10- 507084 V. Description of the invention (9) After calculating the energy of each signal, this processor 7 maintains two integrates for each line, one for a constant short time and the other for Constantly long. When the difference between the two integrators exceeds a preset limit, the processor announces that it has detected it. The processor 7 measures the phase of the three signals emitted by the low-pass filter, which corresponds to the difference in travel between these sensors' and then performs its algorithm for determining the relative angle of these sensors. The position and direction in the propagation direction 14 (which shows the direction supporting the boat 2). This direction is displayed with the same accuracy by the signal transmitting device 8. This device may be a liquid crystal display (LCD) screen with a resolution of 100 rows by 64 columns, as shown in FIG. At the beginning of the dive, the diver activates his crew of signal receiving and transmitting device 3 immersed in the immediate vicinity of sound source 1. The initial steps of the module of this signal receiving and transmitting device 3 are as follows: • Automatically detect the emission frequency of the sound source and the corresponding software parameters of the processor 7, • Generate and weaken the emission of the sound source 1 A synchronized copy of frequency 13 is used to calculate the distance. In order to avoid that the copy of this frequency 13 is only synchronized with it during the dive, the processor 7 compensates for the algorithm that the copy only generates by obtaining the exact oscillation frequency of the time reference 4 'The time reference is arranged, for example, by prior design The average working temperature has a minimum accuracy of 10 ~ 6. The measurement of the distance between this diver and his boat is obtained directly by measuring the sonic pulses emitted by sound source 1 on behalf of its synchronized replica-11-507084 V. Description of invention (10) The time interval between the sending time T0 of 12 and the time T of receiving the pulse by the signal receiving and transmitting module 3 module. This time interval (T-TO) is then multiplied by the speed at which sound travels in the water (approximately 1 500 m / s) to obtain the distance, which is displayed each time a sonic pulse 12 is received. The emergency message transmitted by sound source 1, such as the correction of the cycle of pulse 12, can be recognized by the processor 7 of the unit of the signal receiving and transmitting device 3 of each other, but the processor is in the signal transmitting device 8 Special marks are generated on the display, for example, to show a command to the diver to quickly return to the surface. This visual display can advantageously be enhanced with a bell (buzzer) or a vibration system. This signal receiving and transmitting unit 3 is incidentally integrated with the function of a diving computer, in which the indication of the pressure sensor 22 is recorded in a continuous manner (for example, 10 times) in a continuous manner. The signal receiving and transmitting unit 3 may, at the request of the diver, ascend to the surface, display the instructions necessary to implement its decompression phase. Although the performance of this device is improved, its manufacturing cost is reduced by using the following:-A standard time reference in the sound source and the unit of the signal receiving and transmitting device. The oscillating frequency library of the time reference is subjected to very accurate preliminary arrangements, so that each processor 7 or 17 can obtain the compensation in processing its own synchronous clock attenuation,-the processor 7 that processes the signal It can be used in the masses of applications at a low cost like a mobile phone. -12- 507084 V. Description of the invention (1 1 m / complex tl-the frequency of the acoustic signal is selected below 24kHz, so that it can be used in sound sources , And used in the adjustment of electronic components of Volkswagen electronic components at a very low cost, as it is used in Hi-Fi audio devices. The explanation of the symbol depends on the 'Yi. Hehe §' 1 Sound source 2 Support boat 4 Time reference 5 Sonic sensor 7 Processor 8 Signal transmitter 9 Time reference 10 Battery 12 Sonic pulse 14 Direction 17 Processor 19 Frequency discrimination device 22 Pressure sensor