CN104502915B - Ultra-short baseline underwater positioning method and system based on active target detection principle - Google Patents
Ultra-short baseline underwater positioning method and system based on active target detection principle Download PDFInfo
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- 238000004422 calculation algorithm Methods 0.000 claims abstract description 18
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- 238000005293 physical law Methods 0.000 claims abstract description 9
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an ultra-short baseline underwater positioning method based on an active target detection principle. The method comprises the following steps of adopting a microcontroller to generate a GOLD sequence; adopting a modulator to modulate a sinusoidal signal and form a modulating signal according to the GOLD sequence; adopting a matching amplifier to matching and amplifying the modulating signal; adopting an energy converter to emit an ultrasonic incident wave according to the matched and amplified modulating signal; adopting a receiving array to receive a reflected ultrasonic echo wave as the ultrasonic incident wave is contact with an object to be positioned; adopting a filter amplifier to filter and amplify the ultrasonic echo wave; adopting the microcontroller to collect and demodulate the filtered and amplified ultrasonic echo wave to obtain an echo wave sequence signal; utilizing an FFT (Fast Fourier Transform Algorithm) to calculate the period and the phase position of the echo wave sequence signal; adopting a relationship between a physical law and a solid geometry to obtain a three-dimensional coordinate of the object to be positioned according to the period and the phase position. The invention also discloses an ultra-short baseline underwater positioning system based on the active target detection principle. The method and the system can realize multisystem and multitarget detection.
Description
Technical field
The present invention relates to location technology, more particularly to a kind of ultra-short baseline based on active target acquisition principle is under water calmly
Position method and system.
Background technology
With the development of science and technology, the mankind are not only limited to land resources to the exploitation of resource and cognition, and progressively to
Ocean starts to expand.Therefore positioning under water is increasingly subject to people's attention with detection technique.Early stage Long baselines positioning, it is short
Baseline location technology is widely used, but both of which has very big drawback, the hereafter measurement of ultra-short baseline
Method is arisen at the historic moment.But traditional ultra-short baseline measuring method is required for placing transponder in water, and so measurement is increased
Significant limitation, and traditional ultrasonic signal is simply adopted in terms of signal source, increase to the multiobject measurement of multisystem
Very big interference and difficulty are added.
The content of the invention
The technical problem to be solved is, there is provided a kind of ultra-short baseline based on active target acquisition principle
Underwater Navigation method and system, it is possible to achieve multisystem multi-target detection.
In order to solve above-mentioned technical problem, the invention provides a kind of ultra-short baseline based on active target acquisition principle
Underwater Navigation method, including：
GOLD sequences are produced using microcontroller；
According to the GOLD sequences using modulator to sinusoidal signal modulation, modulated signal is formed；
Modulated signal matching is amplified using adapter amplifier；
Modulated signal after being amplified according to matching sends ultrasonic incidence wave using transducer；
The ultrasonic echo that the ultrasonic incidence wave touches object back reflection to be positioned is received using basic matrix is received；
The ultrasonic echo is filtered by amplification using filter amplifier；
The ultrasonic echo for conciliating menstruation regulating filter and amplification is gathered using the microcontroller, echo sequence signal is obtained；
Cycle and the phase place of the echo sequence signal are calculated using fft algorithm；
The object to be positioned is obtained using the relation between physical law and solid geometry according to the cycle and phase place
Three-dimensional coordinate.
Wherein, it is described that the ultrasound time that the ultrasonic incidence wave touches object back reflection to be positioned is received using reception basic matrix
Ripple, specifically includes：
The ultrasonic incidence wave is received respectively using four hydrophones for receiving basic matrix touches object back reflection to be positioned
Four groups of ultrasonic echos, wherein, it is described reception basic matrix be four 4 perpendicular water placed as the center of circle with the transducer
Device, 4 perpendicular hydrophones is listened to constitute plane orthogonal matrix.
Wherein, it is described to treat according to the cycle and phase place are obtained using the relation between physical law and solid geometry
The three-dimensional coordinate of positioning object, specifically includes：
The vertical reflection beeline of the object to be positioned is drawn according to the cycle and phase place；
The azimuth of the object to be positioned is obtained according to the phase angle difference of four groups of echo sequence signals；
The thing to be positioned is obtained according to the vertical reflection beeline and the azimuthal angle calculation of the object to be positioned
The three-dimensional coordinate of body.
Wherein, the ultrasonic echo is filtered amplification by the employing filter amplifier, is specifically included：
Primary amplification is carried out to the ultrasonic echo using the chip of model CX20106A, afterwards using bandpass filtering electricity
Road is filtered.
Wherein, the microcontroller is the single-chip microcomputer of model msp430f149 of TI companies production, using the monolithic
Timer inside machine is equipped with GOLD Sequence Generation Algorithms and produces GOLD sequences；The modulator is the core of model AD9854
Piece；The adapter amplifier is the chip of model MJE2955.
Present invention also offers a kind of ultra-short baseline underwater positioning system based on active target acquisition principle, including：
Microcontroller, for producing GOLD sequences；
Modulator, for according to the GOLD sequence pairs sinusoidal signal modulation, forming modulated signal；
Adapter amplifier, for matching the modulated signal is amplified；
Transducer, for the modulated signal after amplifying according to matching ultrasonic incidence wave is sent；
Basic matrix is received, for receiving the ultrasonic echo that the ultrasonic incidence wave touches object back reflection to be positioned；
Filter amplifier, for the ultrasonic echo to be filtered into amplification；
The microcontroller is additionally operable to gather the ultrasonic echo for conciliating menstruation regulating filter and amplification, obtains echo sequence signal；
Signal processor, for calculating cycle and the phase place of the echo sequence signal using fft algorithm, and according to described
Cycle and phase place obtain the three-dimensional coordinate of the object to be positioned using the relation between physical law and solid geometry.Specifically
, the signal processor is DSP signal processors.
Wherein, the reception basic matrix is four 4 perpendicular hydrophones placed as the center of circle with the transducer, institute
State 4 perpendicular hydrophones and constitute plane orthogonal matrix, be respectively used to receive the ultrasonic incidence wave and touch thing to be positioned
Four groups of ultrasonic echos of body back reflection.
Wherein, the signal processor is specifically included：
FFT unit, for calculating cycle and the phase place of the echo sequence signal using fft algorithm；
Metrics calculation unit, for drawing the vertical reflection most short distance of the object to be positioned according to the cycle and phase place
From；
Azimuthal angle calculation unit, for obtaining the side of the object to be positioned according to the phase angle difference of four groups of echo sequence signals
Parallactic angle；
Coordinate calculating unit, for according to the vertical reflection beeline and the azimuthal angle calculation of the object to be positioned
Obtain the three-dimensional coordinate of the object to be positioned.
Wherein, the filter amplifier is specifically included：
The chip of CX20106A, for carrying out primary amplification to the ultrasonic echo；
Bandwidth-limited circuit, for being filtered to the ultrasonic echo after primary amplification.
Wherein, the microcontroller is the single-chip microcomputer of model msp430f149 of TI companies production, using the monolithic
Timer inside machine is equipped with GOLD Sequence Generation Algorithms and produces GOLD sequences；The modulator is the core of model AD9854
Piece；The adapter amplifier is the chip of model MJE2955.
Implement the present invention, have the advantages that：
The present invention is the transmission and reception based on ultrasonic wave, and reaches difference object according to the absorptivity of different material
Purpose, using the concept of spreading code in Principle of Communication the multiobject detection of multisystem is reached, and is processed using FFT methods in mathematics
The cycle of echo-signal and the relation of phase place, recycle the relation between solid geometry to solve the orientation of target object, using super
The sound wave velocity of sound solves the three-dimensional coordinate of object.The device of the present invention is easy to use, is adapted to quick detection, with traditional detection method
Compare cheap, it is not necessary to which the early stage of transponder is implemented in water, with promptness, whole system coordinates other systems to use,
The difference and analysis of multisystem are reached using GOLD sequences.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a reality of the ultra-short baseline Underwater Navigation method based on active target acquisition principle that the present invention is provided
Apply the schematic flow sheet of example；
Fig. 2 is a reality of the ultra-short baseline underwater positioning system based on active target acquisition principle that the present invention is provided
Apply the system block diagram of example.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is a reality of the ultra-short baseline Underwater Navigation method based on active target acquisition principle that the present invention is provided
The schematic flow sheet of example is applied, as shown in figure 1, including step：
S101, using microcontroller produce GOLD sequences.
Wherein, the microcontroller (MCU) is the single-chip microcomputer of model msp430f149 of TI companies production, using described
Timer inside single-chip microcomputer is equipped with GOLD Sequence Generation Algorithms and produces GOLD sequences.
GOLD sequences with extensive, can both reduce white noise in the communications, can realize multi-target detection by code sequence again.
The generation of GOLD sequences includes step：Using software algorithm, two groups of numbers are set in MCU used as the primitive polynomial of m-sequence, it is right
Two groups of numbers carry out shifting mould two plus generation m-sequence；Now m-sequence limited amount, recycles balance of the software algorithm to m-sequence
Judged, picked out preferred m-sequence.Mould 2 plus computing are carried out for germline followed by preferred m-sequence, is produced big
The GOLD sequence pairs of amount.Now, sequence is selected according to man-machine interaction, so that it may select in different periods, different system
With GOLD sequences, with multipair GOLD sequences reach communication with distinguish purpose.
S102, according to the GOLD sequences using modulator to sinusoidal signal modulation, form modulated signal.
Wherein, the modulator is the chip of model AD9854.Start AD9854 and produce sinusoidal signal, in the defeated of signal
Enter end to be modulated using GOLD sequences, the program that the 0 of GOLD sequences, 1 yard is used for controlling AD9854, using binary frequency shift
Keying, if the current symbol of GOLD sequences is the sinusoidal signal frequency that now produces of 0, AD9854 sequences halving, otherwise frequency
It is equal with desired value.The generation and modulation of signal section are so completed, and the signal of communication is arrived with 0,1 yard of situation storage
In sound wave.Different GOLD sequences, will produce different waveforms.
S103, using adapter amplifier by the modulated signal matching amplify.
Wherein, the adapter amplifier is the chip of model MJE2955.
S104, according to matching amplify after modulated signal ultrasonic incidence wave is sent using transducer.
S105, the ultrasonic echo that object back reflection to be positioned is touched using the reception basic matrix reception ultrasonic incidence wave.
Specifically, S105 includes step：
The ultrasonic incidence wave is received respectively using four hydrophones for receiving basic matrix touches object back reflection to be positioned
Four groups of ultrasonic echos, wherein, it is described reception basic matrix be four 4 perpendicular water placed as the center of circle with the transducer
Device, 4 perpendicular hydrophones is listened to constitute plane orthogonal matrix.
S106, the ultrasonic echo is filtered by amplification using filter amplifier.
Specifically, S106 includes step：Primary is carried out using the chip of model CX20106A to the ultrasonic echo to put
Greatly, it is filtered using bandwidth-limited circuit afterwards.
S107, the ultrasonic echo that reconciliation menstruation regulating filter and amplification is gathered using the microcontroller, obtain echo sequence signal.
S108, cycle and phase place that the echo sequence signal is calculated using fft algorithm.
S109, obtain described to be positioned using the relation between physical law and solid geometry according to the cycle and phase place
The three-dimensional coordinate of object.
Specifically, step S109 includes：
The vertical reflection beeline of the object to be positioned is drawn according to the cycle and phase place；
The azimuth of the object to be positioned is obtained according to the phase angle difference of four groups of echo sequence signals；
The thing to be positioned is obtained according to the vertical reflection beeline and the azimuthal angle calculation of the object to be positioned
The three-dimensional coordinate of body.
Fig. 2 is a reality of the ultra-short baseline underwater positioning system based on active target acquisition principle that the present invention is provided
The system block diagram of example is applied, as shown in Fig. 2 system includes：
Microcontroller 201, for producing GOLD sequences；
Modulator 202, for according to the GOLD sequence pairs sinusoidal signal modulation, forming modulated signal；
Adapter amplifier 203, for matching the modulated signal is amplified；
Transducer 204, for the modulated signal after amplifying according to matching ultrasonic incidence wave is sent；
Basic matrix 205 is received, for receiving the ultrasonic echo that the ultrasonic incidence wave touches object back reflection to be positioned；
Filter amplifier 206, for the ultrasonic echo to be filtered into amplification；
The microcontroller 201 is additionally operable to gather the ultrasonic echo for conciliating menstruation regulating filter and amplification, obtains echo sequence signal；
Signal processor 207, for calculating cycle and the phase place of the echo sequence signal using fft algorithm, and according to
The cycle and phase place obtain the three-dimensional coordinate of the object to be positioned using the relation between physical law and solid geometry.
Wherein, the reception basic matrix 205 is listened for four 4 perpendicular water placed as the center of circle with the transducer
Device, 4 perpendicular hydrophones constitute plane orthogonal matrix, be respectively used to receive the ultrasonic incidence wave touch it is undetermined
Four groups of ultrasonic echos of position object back reflection.
Wherein, the signal processor 207 is specifically included：
FFT unit, for calculating cycle and the phase place of the echo sequence signal using fft algorithm；
Metrics calculation unit, for drawing the vertical reflection most short distance of the object to be positioned according to the cycle and phase place
From；
Azimuthal angle calculation unit, for obtaining the side of the object to be positioned according to the phase angle difference of four groups of echo sequence signals
Parallactic angle；
Coordinate calculating unit, for according to the vertical reflection beeline and the azimuthal angle calculation of the object to be positioned
Obtain the three-dimensional coordinate of the object to be positioned.
Wherein, the filter amplifier 206 is specifically included：
The chip of CX20106A, for carrying out primary amplification to the ultrasonic echo；
Bandwidth-limited circuit, for being filtered to the ultrasonic echo after primary amplification.
Wherein, the microcontroller 201 is the single-chip microcomputer of model msp430f149 of TI companies production, using the list
Timer inside piece machine is equipped with GOLD Sequence Generation Algorithms and produces GOLD sequences；The modulator 202 is model AD9854
Chip；The adapter amplifier 203 is the chip of model MJE2955.
Implement the present invention, have the advantages that：
The present invention is the transmission and reception based on ultrasonic wave, and reaches difference object according to the absorptivity of different material
Purpose, using the concept of spreading code in Principle of Communication the multiobject detection of multisystem is reached, and is processed using FFT methods in mathematics
The cycle of echo-signal and the relation of phase place, recycle the relation between solid geometry to solve the orientation of target object, using super
The sound wave velocity of sound solves the three-dimensional coordinate of object.The device of the present invention is easy to use, is adapted to quick detection, with traditional detection method
Compare cheap, it is not necessary to which the early stage of transponder is implemented in water, with promptness, whole system coordinates other systems to use,
The difference and analysis of multisystem are reached using GOLD sequences.
It should be noted that herein, term " including ", "comprising" or its any other variant are intended to non-row
His property is included, so that a series of process, method, article or device including key elements not only include those key elements, and
And also include other key elements being not expressly set out, or also include for this process, method, article or device institute inherently
Key element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
Also there is other identical element in the process of key element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In several embodiments provided herein, it should be understood that disclosed system and method can pass through it
Its mode is realized.For example, system embodiment described above is only schematic, for example, the division of the unit, and only
Only a kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can be tied
Close or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or discussed
Coupling each other or direct-coupling or communication connection can be the INDIRECT COUPLINGs by some interfaces, device or unit or logical
Letter connection, can be electrical, mechanical or other forms.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can with electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate hardware and
The interchangeability of software, according to function has generally described the composition and step of each example in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can use different methods to realize described function to each specific application, but this realization should not
Think beyond the scope of this invention.
The step of method described with reference to the embodiments described herein or algorithm, directly can be held with hardware, processor
Capable software module, or the combination of the two is implementing.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In field in known any other form of storage medium.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (10)
1. a kind of ultra-short baseline Underwater Navigation method based on active target acquisition principle, it is characterised in that include：
GOLD sequences are produced using microcontroller；
According to the GOLD sequences using modulator to sinusoidal signal modulation, modulated signal is formed；
Modulated signal matching is amplified using adapter amplifier；
Modulated signal after being amplified according to matching sends ultrasonic incidence wave using transducer；
The ultrasonic echo that the ultrasonic incidence wave touches object back reflection to be positioned is received using basic matrix is received；
The ultrasonic echo is filtered by amplification using filter amplifier；
The ultrasonic echo for conciliating menstruation regulating filter and amplification is gathered using the microcontroller, echo sequence signal is obtained；
Cycle and the phase place of the echo sequence signal are calculated using fft algorithm；
The three of the object to be positioned is obtained using the relation between physical law and solid geometry according to the cycle and phase place
Dimension coordinate.
2. the ultra-short baseline Underwater Navigation method of active target acquisition principle is based on as claimed in claim 1, and its feature exists
In described to receive the ultrasonic echo that the ultrasonic incidence wave touches object back reflection to be positioned, concrete bag using reception basic matrix
Include：
The ultrasonic incidence wave touches object back reflection to be positioned four are received respectively using four hydrophones for receiving basic matrix
Group ultrasonic echo, wherein, the reception basic matrix is that four 4 perpendicular water placed as the center of circle with the transducer are listened
Device, 4 perpendicular hydrophones constitute plane orthogonal matrix.
3. the ultra-short baseline Underwater Navigation method of active target acquisition principle is based on as claimed in claim 2, and its feature exists
In described to obtain the object to be positioned using the relation between physical law and solid geometry according to the cycle and phase place
Three-dimensional coordinate, specifically includes：
The vertical reflection beeline of the object to be positioned is drawn according to the cycle and phase place；
The azimuth of the object to be positioned is obtained according to the phase angle difference of four groups of echo sequence signals；
The object to be positioned is obtained according to the vertical reflection beeline and the azimuthal angle calculation of the object to be positioned
Three-dimensional coordinate.
4. the ultra-short baseline Underwater Navigation method of active target acquisition principle is based on as claimed in claim 1, and its feature exists
In the ultrasonic echo is filtered amplification by the employing filter amplifier, is specifically included：
Primary amplification is carried out to the ultrasonic echo using the chip of model CX20106A, is entered using bandwidth-limited circuit afterwards
Row filtering.
5. the ultra-short baseline Underwater Navigation method of active target acquisition principle is based on as claimed in claim 1, and its feature exists
In the microcontroller is the single-chip microcomputer of model msp430f149 of TI companies production, using determining inside the single-chip microcomputer
When device be equipped with GOLD Sequence Generation Algorithms produce GOLD sequences；The modulator is the chip of model AD9854；The matching
Amplifier is the chip of model MJE2955.
6. a kind of ultra-short baseline underwater positioning system based on active target acquisition principle, it is characterised in that include：
Microcontroller, for producing GOLD sequences；
Modulator, for according to the GOLD sequence pairs sinusoidal signal modulation, forming modulated signal；
Adapter amplifier, for matching the modulated signal is amplified；
Transducer, for the modulated signal after amplifying according to matching ultrasonic incidence wave is sent；
Basic matrix is received, for receiving the ultrasonic echo that the ultrasonic incidence wave touches object back reflection to be positioned；
Filter amplifier, for the ultrasonic echo to be filtered into amplification；
The microcontroller is additionally operable to gather the ultrasonic echo for conciliating menstruation regulating filter and amplification, obtains echo sequence signal；
Signal processor, for calculating cycle and the phase place of the echo sequence signal using fft algorithm, and according to the cycle
And phase place obtains the three-dimensional coordinate of the object to be positioned using the relation between physical law and solid geometry.
7. the ultra-short baseline underwater positioning system of active target acquisition principle is based on as claimed in claim 6, and its feature exists
In the reception basic matrix is four 4 perpendicular hydrophones placed as the center of circle with the transducer, and described 4 vertical
Orthogonal hydrophone constitutes plane orthogonal matrix, is respectively used to receive the ultrasonic incidence wave and touches object back reflection to be positioned
Four groups of ultrasonic echos.
8. the ultra-short baseline underwater positioning system of active target acquisition principle is based on as claimed in claim 7, and its feature exists
In the signal processor is specifically included：
FFT unit, for calculating cycle and the phase place of the echo sequence signal using fft algorithm；
Metrics calculation unit, for drawing the vertical reflection beeline of the object to be positioned according to the cycle and phase place；
Azimuthal angle calculation unit, for obtaining the orientation of the object to be positioned according to the phase angle difference of four groups of echo sequence signals
Angle；
Coordinate calculating unit, obtains for the vertical reflection beeline and the azimuthal angle calculation according to the object to be positioned
The three-dimensional coordinate of the object to be positioned.
9. the ultra-short baseline underwater positioning system of active target acquisition principle is based on as claimed in claim 6, and its feature exists
In the filter amplifier is specifically included：
The chip of CX20106A, for carrying out primary amplification to the ultrasonic echo；
Bandwidth-limited circuit, for being filtered to the ultrasonic echo after primary amplification.
10. the ultra-short baseline underwater positioning system of active target acquisition principle is based on as claimed in claim 6, and its feature exists
In the microcontroller is the single-chip microcomputer of model msp430f149 of TI companies production, using determining inside the single-chip microcomputer
When device be equipped with GOLD Sequence Generation Algorithms produce GOLD sequences；The modulator is the chip of model AD9854；The matching
Amplifier is the chip of model MJE2955.
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| CN104809350B (en) * | 2015-04-29 | 2018-11-09 | 浙江工商大学 | The differentiating method of ocean rubbish and bion |
| CN105572674B (en) * | 2016-02-18 | 2018-06-22 | 河海大学常州校区 | Active target detection unit and method based on GOLD sequences |
| CN106199565B (en) * | 2016-06-27 | 2018-11-09 | 天津工业大学 | A kind of MSK waveform optimization methods for undersea detection based on genetic algorithm |
| CN108327854B (en) * | 2017-12-29 | 2020-07-10 | 中国船舶重工集团公司第七一0研究所 | Drift anchor system buoy for detecting underwater acoustic signals |
| CN109655056A (en) * | 2018-11-26 | 2019-04-19 | 江苏科技大学 | A kind of compound positioning system of Sea miner and its localization method |
| CN109725304A (en) * | 2018-12-28 | 2019-05-07 | 河海大学常州校区 | A kind of acoustic releaser receive-transmit system and method based on GOLD sequence |
| CN109725292B (en) * | 2019-03-05 | 2021-04-23 | 中国电子科技集团公司第三研究所 | Multi-target high-precision ultra-short baseline positioning method and device for underwater operation |
| CN111854704A (en) * | 2020-07-15 | 2020-10-30 | 天津市陆海测绘有限公司 | Marine geophysical comprehensive survey system |
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| FR2718249B1 (en) * | 1994-04-05 | 1996-04-26 | Thomson Csf | Radar distance measuring method and device. |
| ITTO20120417A1 (en) * | 2012-05-09 | 2013-11-10 | St Microelectronics Srl | PROCEDURE AND DEVICES FOR DEVELOPING RADAR SIGNALS, FOR EXAMPLE FOR ROAD SAFETY SYSTEMS, ITS RELATED PRODUCT |
| CN104020473A (en) * | 2014-06-16 | 2014-09-03 | 罗宇 | Portable underwater broadband spread spectrum beacon navigation and location system and method based on time synchronization |
| CN104007418B (en) * | 2014-06-16 | 2018-01-09 | 江苏中海达海洋信息技术有限公司 | A kind of big basic matrix Underwater Wide Band Sources spread spectrum beacon alignment system and method based on time synchronized |
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