CN216248301U - Underwater positioning system - Google Patents
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- CN216248301U CN216248301U CN202122776277.1U CN202122776277U CN216248301U CN 216248301 U CN216248301 U CN 216248301U CN 202122776277 U CN202122776277 U CN 202122776277U CN 216248301 U CN216248301 U CN 216248301U
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Abstract
The application provides an underwater positioning system, this system includes: the acoustic communication module, the first transducer and the positioning equipment; the first energy converter is respectively in communication connection with the acoustic communication module and the positioning equipment; the acoustic communication module is used for sending a ranging command to the first transducer; the first transducer is used for converting the ranging command into a first sound signal and sending the first sound signal to the positioning equipment; the positioning equipment is used for replying a corresponding response signal according to the first sound signal and converting the response signal into a corresponding second sound signal; the first transducer is also used for receiving the second sound signal and converting the second sound signal into a corresponding range finding reply command; the acoustic communication module is used for receiving the ranging reply command. Through the positioning system, the positioning equipment can be monitored in real time, and the accuracy of positioning the equipment to be positioned is improved.
Description
Technical Field
The application relates to the technical field of underwater sound positioning, in particular to an underwater positioning system.
Background
With the increasing importance of human beings on ocean resources, it is more and more important to effectively monitor and locate important underwater equipment to determine whether the equipment is flushed away or lost. The existing underwater positioning system directly scans underwater equipment through equipment such as multi-beam equipment, sonar equipment and the like, but the underwater equipment needs to be scanned by a rented ship or an unmanned ship provided with related equipment every time, underwater acoustic communication has a typical weak communication characteristic and is easily influenced by other interferences such as underwater sound, and the obtained position information of the underwater equipment is inaccurate.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the application is to provide an underwater positioning system for solving the problem that underwater equipment cannot be accurately positioned.
In a first aspect, an embodiment of the present application provides an underwater positioning system, including: the acoustic communication module, the first transducer and the positioning equipment;
the first energy converter is respectively in communication connection with the acoustic communication module and the positioning equipment;
the acoustic communication module is used for sending a ranging command to the first transducer;
the first transducer is used for converting the ranging command into a first sound signal and sending the first sound signal to the positioning equipment;
the positioning equipment is used for replying a corresponding response signal according to the first sound signal and converting the response signal into a corresponding second sound signal;
the first transducer is also used for receiving the second sound signal and converting the second sound signal into a corresponding range finding reply command;
the acoustic communication module is used for receiving the ranging reply command.
In the embodiment of the application, the positioning device is fixed on the underwater device, the acoustic communication module sends the ranging command to the positioning device, the positioning device replies the corresponding ranging reply command according to the received ranging command and sends the ranging reply command to the acoustic communication module, the real-time acquisition of the distance between the positioning device and the acoustic communication module is realized through the real-time joint calculation of the acoustic communication module, and the accuracy of positioning the underwater device is effectively improved.
Further, the positioning apparatus includes: the second transducer, the signal processing unit, the signal analysis unit, the signal control unit and the signal sending unit;
the second transducer is respectively connected with the signal processing unit and the signal sending unit, the signal analyzing unit is respectively connected with the signal processing unit and the signal control unit, and the signal control unit is also connected with the signal sending unit;
the second transducer is used for receiving the first sound signal, converting the first sound signal into an electric signal and sending the electric signal to the signal processing unit;
the signal processing unit is used for filtering and amplifying the electric signal to obtain an amplified electric signal;
the signal analysis unit is used for demodulating the amplified electric signal and decoding the demodulated electric signal to generate a corresponding ranging command;
the signal control unit is used for generating a corresponding response signal according to the ranging command and sending the response signal to the signal sending unit;
the signal transmitting unit is used for modulating the response signal;
the second transducer is also used for converting the modulated answer signal into the second sound signal.
In the embodiment of the application, the underwater positioning device analyzes the received first sound signal, generates a corresponding response signal according to the obtained distance measuring command and transmits the response signal back to the acoustic communication module, and the distance between the acoustic communication module and the underwater device can be accurately calculated through the response of the acoustic communication module and the underwater device.
Further, the signal processing unit includes: the device comprises a voltage limit amplifier, a band-pass filtering module and an amplifier;
the voltage-limiting amplifier is used for compressing and limiting the amplitude of the electric signal and then sending the electric signal to the band-pass filtering module;
the band-pass filtering module is used for performing band-pass filtering on the electric signal subjected to compression amplitude limiting and sending the filtered electric signal into the amplifier;
the amplifier is used for amplifying the filtered electric signal to obtain the amplified electric signal.
In the embodiment of the application, the signal processing unit filters and amplifies the electric signals through the voltage limiting amplifier, the band-pass filtering module and the amplifier, amplifies the amplitude of the weak electric signals obtained by converting the transducer, facilitates subsequent analysis and processing of the electric signals, effectively attenuates out-of-band signals through the band-pass filtering module, removes underwater acoustic environment noise existing in the electric signals, and reduces interference of noise on subsequent electric signal analysis.
Further, the signal parsing unit includes: the signal demodulation module and the signal processing module;
the signal demodulation module is used for carrying out Fourier transform on the amplified electric signal to obtain a demodulated coded signal;
the signal processing module is configured to decode the demodulated coded signal to obtain the corresponding ranging command.
In the embodiment of the application, the amplified electric signal is demodulated and decoded, the electric signal is restored into the ranging command represented by the electric signal, the part with stronger signal can be dynamically obtained, the part with weaker signal can be filtered, and the obtained ranging signal has strong anti-interference capability.
Further, the signal transmission unit includes: a modulation module and a power amplifier;
the modulation module is used for carrying out pulse width modulation on the response signal;
the power amplifier is used for amplifying the power of the modulated response signal and sending the amplified response signal to the second transducer.
In the embodiment of the application, the response signal is subjected to pulse width modulation, the obtained response signal is smooth and has less low-order harmonic waves, digital-to-analog conversion is not needed, the response signal is kept in a digital form, the noise influence can be reduced to the minimum, the modulated response signal is subjected to voltage amplification through the power amplifier, and the response signal can be transmitted to the acoustic communication module in a long distance.
Furthermore, the band-pass filtering module is a multistage filtering module;
the multistage filtering module is used for filtering noise signals in the electric signals.
In the embodiment of the application, the noise signals in the electric signals are attenuated through the multistage filtering module, so that the interference of the noise signals to the electric signals is reduced, and the communication efficiency of the positioning equipment is improved.
Further, the positioning apparatus further includes: a power amplifier power supply;
the power amplifier power supply is used for providing power for the power amplifier; the power amplifier power supply comprises two single-chip asynchronous switching voltage regulators which are connected in parallel.
In the embodiment of the application, the power amplifier is powered by two parallel single-chip asynchronous switching voltage regulators with integrated 5A, 40V power switches, and the single-chip asynchronous switching voltage regulator has a wide input voltage range to support the operation of the power amplifier.
Further, the power amplifier adopts an IR2301STRPBF chip and a PQ3535 transformer to carry out power amplification on the response signal.
In the embodiment of the application, the modulated response signal is subjected to power amplification through the IR2301STRPBF chip and the PQ3535 high-frequency transformer, so that the obtained amplified response signal is low in loss and good in anti-interference performance.
Further, the acoustic communication module at least comprises three data collectors.
In the embodiment of the application, the data collectors of the acoustic communication module are not on the same straight line, the specific position of one positioning device is determined through at least three data collectors, and the specific position information of the positioning device is calculated through the real-time combination of a plurality of data collectors, so that the positioning accuracy of the positioning device can be effectively improved.
Further, the system further comprises: a terminal; and the terminal and the acoustic communication module are communicated through a gateway.
In the embodiment of the application, the acoustic communication module transmits the obtained initial distance to the terminal through the gateway, and the terminal analyzes and judges the plurality of initial distances to obtain the final position information of the positioning device, so that the positioning device is accurately positioned.
This application constitutes positioning system under water through acoustics communication module, first transducer and positioning device, and acoustics communication module sends the range finding order for positioning device, and positioning device replies the range finding that corresponds according to received range finding order and sends for acoustics communication module, through the real-time joint calculation at acoustics communication module and terminal, realizes the real-time collection to the distance between positioning device and the acoustics communication module, has effectively improved the accuracy to the positioning of equipment under water.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an underwater positioning system provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic circuit diagram of a positioning apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic internal structure diagram of a positioning apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Fig. 1 is a schematic structural diagram of an underwater positioning system 100 according to an embodiment of the present application, and as shown in fig. 1, the underwater positioning system 100 includes: an acoustic communication module 101, a first transducer 102 and a positioning device 103;
the first transducer 102 is respectively connected with the acoustic communication module 101 and the positioning device 103 in communication;
the acoustic communication module 101 is configured to send a ranging command to the first transducer 102;
the first transducer 102 is configured to convert the ranging command into a first sound signal and send the first sound signal to the pointing device 103;
the positioning device 103 is configured to reply a corresponding response signal according to the first sound signal, and is further configured to convert the response signal into a corresponding second sound signal;
the first transducer 102 is further configured to receive the second audible signal and convert the second audible signal into a corresponding range reply command;
the acoustic communication module 101 is configured to receive the ranging reply command.
In a specific implementation process, the acoustic communication module 101 is deployed on a bridge beam, a floating island or a ship, and is used for communicating with an underwater device to be positioned, and fixing the first transducer 102 connected with the underwater device in water.
The first transducer 102 is an energy conversion device, mainly including two major types, namely magnetostriction and piezoelectric crystal, and the present application uses an underwater acoustic transducer of piezoelectric crystal type to perform energy conversion. The conversion of electrical energy into acoustic energy is referred to as a transmitting transducer, and the conversion of acoustic energy into electrical energy is a receiving transducer, and the transmitting transducer and the receiving transducer are usually used separately, but may also share one, in the embodiment of the present application, a single underwater acoustic transducer is used for the transmission of the first acoustic signal and the reception of the second acoustic signal.
The positioning device 103 is fixed on the underwater equipment, the underwater equipment includes but is not limited to a submarine seismograph, a marine survey instrument, a marine geological and landform instrument, a marine temperature measuring instrument, a water quality detection device, an underwater granulation device, an underwater camera device and the like, and the underwater equipment is accurately positioned by positioning the positioning device 103.
The ranging command is a binary electric signal sent to the underwater positioning equipment by the acoustic communication module, the first sound signal is a sound wave signal obtained by converting the ranging signal through the first transducer, and the ranging reply command is an electric power signal obtained by converting the second sound signal through the first transducer. Through fixed positioning device on underwater equipment, acoustic communication module sends the range finding order for positioning device, and positioning device replies the range finding answer command that corresponds and sends for acoustic communication module according to the range finding order received, through acoustic communication module's real-time joint calculation, realizes gathering in real time the distance between positioning device and the acoustic communication module, has effectively improved the accuracy to underwater equipment location.
Optionally, fig. 2 is a schematic structural diagram of a positioning apparatus provided in an embodiment of the present application, and as shown in fig. 2, the positioning apparatus includes: a second transducer 201, a signal processing unit 202, a signal parsing unit 203, a signal control unit 204, and a signal transmission unit 205;
the second transducer 201 is connected to the signal processing unit 202 and the signal transmitting unit 205, the signal analyzing unit 203 is connected to the signal processing unit 202 and the signal control unit 204, and the signal control unit 204 is further connected to the signal transmitting unit 205;
the second transducer 201 is configured to receive the first sound signal, convert the first sound signal into an electrical signal, and send the electrical signal to the signal processing unit 202;
the signal processing unit 202 is configured to filter and amplify the electrical signal to obtain an amplified electrical signal;
the signal analysis unit 203 is configured to demodulate the amplified electrical signal and decode the demodulated electrical signal to generate a corresponding ranging command;
the signal control unit 204 is configured to generate a corresponding response signal according to the ranging command, and send the response signal to the signal sending unit;
the signal transmitting unit 205 is configured to modulate the response signal;
the second transducer 201 is further configured to convert the modulated reply signal into the second audible signal.
In a specific implementation process, the second transducer 201 and the first transducer 102 are the same type of transducer, and for a detailed description of the second transducer 201, refer to embodiment 1, which is not described herein again.
The electric signal converted by the second transducer 201 has weak intensity, and is amplified by the signal processing unit 202, but noise signals in the electric signal can be amplified while the electric signal is amplified, and the electric signal needs to be filtered by the signal processing unit 202, so that interference of the noise signals on the electric signal is reduced.
The amplified electric signal is demodulated and decoded through the information analysis unit 203, the electric signal is restored to a ranging command represented by the electric signal, the ranging command is replied and sent to the acoustic communication module 101 through the signal control unit 204, the distance between the positioning device 103 and the acoustic communication module 101 is acquired in real time through the real-time joint calculation of the acoustic communication module 101, and the accuracy of positioning the underwater equipment is effectively improved.
Optionally, referring to fig. 2 and fig. 3, fig. 3 is a schematic circuit diagram of a positioning apparatus provided in an embodiment of the present application, where the signal processing unit includes: a voltage limiting amplifier 302, a band pass filtering module 303 and an amplifier 304;
the voltage-limiting amplifier 302 is configured to send the electrical signal to the band-pass filtering module 303 after performing compression and amplitude limiting on the electrical signal;
the band-pass filtering module 303 is configured to perform band-pass filtering on the electrical signal after compression and amplitude limiting, and send the filtered electrical signal to the amplifier 304;
the amplifier 304 is configured to amplify the filtered electrical signal to obtain the amplified electrical signal.
In a specific implementation process, the second transducer 301 and the first transducer 102 are the same type of transducer, and for a detailed description of the second transducer 301, refer to embodiment 1, which is not described herein again. The two main functions of the limiting amplifier 302 are a compressor, which is an amplifier whose gain decreases as the input signal level increases, and a limiter, which is an amplifier whose maximum output level remains constant regardless of the increase in the input level after the output level reaches a certain value.
The band-pass filtering module 303 allows a signal of a specific frequency band in the electrical signal to pass through, and attenuates frequency components in other ranges to be extremely low, and the band-pass filtering module 303 is composed of a resonance circuit which is divided into a series resonance circuit and a parallel resonance circuit. For a series resonant circuit, if L and C have no loss, the impedance becomes zero at the resonant frequency, and the larger L is, the steeper the attenuation characteristic is; for the parallel resonant circuit, the impedance becomes infinite at the resonant frequency, and the smaller L, the larger C, and the steeper the attenuation characteristic.
The amplifier 304 is a device capable of amplifying the voltage or power of an input signal, and is composed of a tube, a transistor, a power transformer and other electrical components, the amplification function of the amplifier 304 is realized by controlling the energy source through the input signal, and the power consumption required by amplification is provided by the energy source. For a linear amplifier, the output is the reproduction and enhancement of the input signal. For a non-linear amplifier, the output is a function of the input signal. The amplifier 304 is divided into a mechanical amplifier, an electromechanical amplifier, an electronic amplifier, a hydraulic amplifier, a pneumatic amplifier, etc. according to the physical quantity of the processed signal, wherein the electronic amplifier is the most widely used amplifier.
In the embodiment of the present application, the amplitude of the electrical signal obtained by converting the second transducer 301 is small, the electrical signal is amplified by the voltage-limiting amplifier 302, the out-of-band noise in the electrical signal is filtered and secondarily amplified, the noise signal is effectively attenuated, and the subsequent analysis and processing of the electrical signal are facilitated.
Alternatively, referring to fig. 2 and fig. 3, the signal analyzing unit 203 includes: a signal demodulation module 305 and a signal processing module 306;
the signal demodulation module 305 is configured to perform fourier transform on the amplified electrical signal to obtain a demodulated encoded signal;
the signal processing module 306 is configured to decode the demodulated coded signal to obtain the corresponding ranging command.
In a specific implementation process, the signal demodulation module 305 performs a/D acquisition on the amplified electrical signal, disperses the continuous amplitude of the electrical signal into a plurality of quantization levels to obtain a digital quantity of the electrical signal, performs fourier transform on the digital quantity of the electrical signal, determines the frequency of the digital quantity by comparing the calculation result of the fourier transform, and demodulates the electrical signal.
The signal processing module 306 decodes the demodulated coded signal, which may be implemented by a fast fourier transform and a discrete fourier transform, and converts the coded signal into the ranging command represented by the coded signal, and may be implemented by STM32L4R 5.
By demodulating and decoding the electric signal, the stronger part of the signal can be dynamically acquired, and the weaker part of the signal can be filtered, so that the ranging signal has strong anti-interference capability.
Alternatively, referring to fig. 2 and fig. 3, the signal sending unit 205 includes: a modulation module 308 and a power amplifier 309;
the modulation module 308 is configured to perform pulse width modulation on the response signal;
the power amplifier 309 is configured to perform power amplification on the modulated reply signal, and send the amplified reply signal to the second transducer.
The power amplifier 309 amplifies the power of the response signal by using an IR2301STRPBF chip and a PQ3535 transformer. In a specific implementation process, the modulation module 308 performs Pulse Width Modulation (PWM) on the response signal to obtain a series of pulses with equal amplitudes but inconsistent widths, and generates a plurality of pulses in a half cycle of an output waveform, and an equivalent voltage of each Pulse is a sinusoidal waveform, so that the obtained PWM waveform is smooth and has few low-order harmonics, and meanwhile, the anti-interference capability of the response signal is improved.
The power amplifier 309 is referred to as "power amplifier" for short, and refers to an amplifier that can generate maximum power output to drive a certain load under a given distortion rate condition, and converts the power of a power supply into a current that changes according to an input signal by using the current control function of a triode or the voltage control function of a field effect transistor, and the common types include a radio frequency power amplifier, a high frequency power amplifier, and the like.
The signal modulation module 308 boosts the modulated 3.3V response signal to 12V through IR2301STRPBF, and boosts the 12V response signal to between 700 and 800V through a PQ3535 transformer, so as to increase the transmission distance of the first sound signal. Meanwhile, the response signal is amplified through the IR2301STRPBF chip and the PQ3535 transformer, so that the response signal is low in loss, good in anti-interference performance, provided with a plurality of pins, convenient to wind and wire and low in cost.
The signal is easy to be interfered in the long-distance transmission, such as electromagnetic interference, signal attenuation, underwater sound environmental noise and the like, and in order to eliminate the interference signal of the response signal in the transmission process, the modulated response signal is subjected to voltage amplification so as to ensure that the response signal can be transmitted in a long distance to reach the acoustic communication module.
Optionally, referring to fig. 3, the band-pass filtering module 303 is a multi-stage filtering module;
the multistage filtering module is used for filtering noise signals in the electric signals.
The multistage filtering module is at least four-stage band-pass filtering. In a specific implementation process, four first-order band-pass filters are connected in series to form a fourth-order band-pass filter, each first-order band-pass filter takes an AD8542 amplifier as an operational amplifier, noise signals in electric signals are attenuated by using the characteristic that useful signals and noise occupy different frequency bands, and the noise signals in the electric signals are filtered.
Optionally, referring to fig. 1 and fig. 3, the positioning apparatus 103 further includes: a power amplifier power supply 310;
the power amplifier power supply 310 is used for supplying power to the power amplifier 309; the power amplifier power supply 310 includes two parallel monolithic asynchronous switching regulators.
In a specific implementation process, two single-chip asynchronous switching regulator TPS55340 are connected in parallel to form a power amplifier power supply 310, which is used to supply power to the power amplifier 309. The TPS55340 is a monolithic asynchronous switching regulator with integrated 5A, 40V power switch, using current mode PWM control to regulate the output voltage, and equipped with an internal oscillator. The switching frequency of the PWM is set by an external resistor or synchronized to an external clock signal. The user can set the switching frequency between 100kHz and 1.2MHz, with other protection features built into the device, including cycle-by-cycle over-current limiting and thermal shutdown. While the TPS55340 may be configured into a variety of standard switching regulator topologies with a wide input voltage range.
Optionally, the acoustic communication module includes at least three data collectors.
In the specific implementation process, the data acquisition unit is located at the beam bridge, the floating island or the steamship and is used for communicating with the underwater equipment to be positioned. The data collectors of the acoustic communication modules are not on the same straight line, and when the data collectors are on the same straight line, the unique position information of the positioning equipment cannot be determined even if the distance from each data collector to the equipment to be positioned is obtained.
Optionally, the system further comprises: a terminal;
and the terminal and the acoustic communication module are communicated through a gateway.
In a specific implementation process, the cloud platform is in communication connection with the terminal device, and the terminal device can operate and control the cloud platform. Each data collector transmits the measured initial distance to the cloud platform through the gateway, the cloud platform analyzes and processes the received initial distance, the final position information of the underwater equipment is transmitted to the terminal through the gateway, and the final position information of the underwater equipment can be displayed on the terminal equipment.
Here, taking an example that the acoustic communication module includes three data collectors, determining a specific position of the underwater device specifically includes: data acquisition unit A, data acquisition unit B and data acquisition unit C send the range finding order to equipment D under water respectively, obtain the initial distance between three data acquisition unit to the positioning device, three data acquisition unit reports the initial distance that obtains to terminal equipment through the gateway, specifically can report the initial distance to cloud platform and intelligent terminal through modes such as 4G, 5G, GPS, WIFI, the concrete position of equipment under water is judged through the analysis of cloud platform and intelligent terminal, realize the accurate positioning to equipment under water.
This application constitutes positioning system under water through acoustics communication module, first transducer and positioning device, and acoustics communication module sends the range finding order for positioning device, and positioning device replies the range finding that corresponds according to received range finding order and sends for acoustics communication module, through acoustics communication module's real-time joint calculation, realizes the real-time collection to the distance between positioning device and the acoustics communication module, has effectively improved the accuracy to the equipment location under water.
Fig. 4 is a schematic internal structural diagram of a positioning apparatus provided in an embodiment of the present application, including: omnidirectional transducer 401, communication control module 402, power management module 403, battery compartment 404, and external connector 405.
The omnidirectional transducer 401 is configured to receive the first sound signal sent by the first transducer, convert the first sound signal into an electrical signal, and convert the modulated reply signal into the second sound signal.
The communication control module 402 is configured to perform amplification, band-pass filtering, demodulation, and decoding on the received first sound signal, analyze the ranging command, and respond to the received ranging command.
The power management module 403 is used for supplying power to each unit of the communication control module, and the outside of the communication control module further includes an adaptive indicator light for indicating the working state of the power management module, and the battery compartment 404 supplies power to the power management module.
The external connector 405 may be a Universal Asynchronous Receiver/Transmitter (UART), and the positioning device may communicate with the underwater device through the UART.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and system may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or mutual connection may be an indirect coupling or mutual connection of devices or units through some interactive interfaces, and may be in an electric, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An underwater positioning system, comprising: the acoustic communication module, the first transducer and the positioning equipment;
the first energy converter is respectively in communication connection with the acoustic communication module and the positioning equipment; the acoustic communication module is used for sending a ranging command to the first transducer;
the first transducer is used for converting the ranging command into a first sound signal and sending the first sound signal to the positioning equipment;
the positioning equipment is used for replying a corresponding response signal according to the first sound signal and converting the response signal into a corresponding second sound signal;
the first transducer is also used for receiving the second sound signal and converting the second sound signal into a corresponding range finding reply command;
the acoustic communication module is used for receiving the ranging reply command.
2. The system of claim 1, wherein the positioning device comprises:
the second transducer, the signal processing unit, the signal analysis unit, the signal control unit and the signal sending unit;
the second transducer is respectively connected with the signal processing unit and the signal sending unit, the signal analyzing unit is respectively connected with the signal processing unit and the signal control unit, and the signal control unit is also connected with the signal sending unit;
the second transducer is used for receiving the first sound signal, converting the first sound signal into an electric signal and sending the electric signal to the signal processing unit;
the signal processing unit is used for filtering and amplifying the electric signal to obtain an amplified electric signal;
the signal analysis unit is used for demodulating the amplified electric signal and decoding the demodulated electric signal to generate a corresponding ranging command;
the signal control unit is used for generating a corresponding response signal according to the ranging command and sending the response signal to the signal sending unit;
the signal transmitting unit is used for modulating the response signal;
the second transducer is also used for converting the modulated answer signal into the second sound signal.
3. The system of claim 2, wherein the signal processing unit comprises: the device comprises a voltage limit amplifier, a band-pass filtering module and an amplifier;
the voltage-limiting amplifier is used for compressing and limiting the amplitude of the electric signal and then sending the electric signal to the band-pass filtering module;
the band-pass filtering module is used for performing band-pass filtering on the electric signal subjected to compression amplitude limiting and sending the filtered electric signal into the amplifier;
the amplifier is used for amplifying the filtered electric signal to obtain the amplified electric signal.
4. The system of claim 3, wherein the signal parsing unit comprises: the signal demodulation module and the signal processing module;
the signal demodulation module is used for carrying out Fourier transform on the amplified electric signal to obtain a demodulated coded signal;
the signal processing module is configured to decode the demodulated coded signal to obtain the corresponding ranging command.
5. The system of claim 2, wherein the signal transmission unit comprises: a modulation module and a power amplifier;
the modulation module is used for carrying out pulse width modulation on the response signal;
the power amplifier is used for amplifying the power of the modulated response signal and sending the amplified response signal to the second transducer.
6. The system of claim 3, wherein the band pass filter module is a multi-stage filter module;
the multistage filtering module is used for filtering noise signals in the electric signals.
7. The system of claim 5, wherein the positioning device further comprises: a power amplifier power supply;
the power amplifier power supply is used for providing power for the power amplifier; the power amplifier power supply comprises two single-chip asynchronous switching voltage regulators which are connected in parallel.
8. The system of claim 5, wherein the power amplifier power amplifies the reply signal using an IR2301STRPBF chip and a PQ3535 transformer.
9. The system of claim 1, wherein the acoustic communication module comprises at least three data collectors.
10. The system according to any one of claims 1-9, further comprising: a terminal;
and the terminal and the acoustic communication module are communicated through a gateway.
Priority Applications (1)
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|---|---|---|---|
| CN202122776277.1U CN216248301U (en) | 2021-11-12 | 2021-11-12 | Underwater positioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122776277.1U CN216248301U (en) | 2021-11-12 | 2021-11-12 | Underwater positioning system |
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| CN216248301U true CN216248301U (en) | 2022-04-08 |
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| CN202122776277.1U Active CN216248301U (en) | 2021-11-12 | 2021-11-12 | Underwater positioning system |
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2021
- 2021-11-12 CN CN202122776277.1U patent/CN216248301U/en active Active
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