Time service method and device based on underwater acoustic communication, electronic equipment and storage medium

Abstract

The invention discloses a time service method and device based on underwater acoustic communication, electronic equipment and a storage medium, and relates to the field of underwater acoustic communication, the method is applied to slave equipment, and the method specifically comprises the following steps: generating multi-byte first underwater acoustic information according to local time, and sending the first underwater acoustic information to master equipment; generating a first pulse signal according to the first underwater sound information, and marking a first timestamp on the edge of the first pulse signal; generating a second pulse signal according to second underwater sound information fed back by the main equipment, and marking a second timestamp on the edge of the second pulse signal; and updating local time according to the first timestamp, the second timestamp and first time service information fed back by the master device. According to the technical scheme of the embodiment of the invention, the clock consistency between the master device and the slave device is realized, the clock signal synchronization efficiency is improved, and the signal transmission distance is greatly expanded while wireless signal transmission is realized based on a transmission mode of underwater acoustic communication.

Description

Technical Field

[0001] The present invention relates to the field of underwater acoustic communication, and in particular to a timing method, device, electronic equipment and storage medium based on underwater acoustic communication. Background Art

[0002] As an important part of positioning, navigation, and timing (PNT) technology, underwater timing is widely used in many fields such as marine resource exploration and marine environment monitoring. It is also a necessary prerequisite for underwater operations.

[0003] In the prior art, underwater timing is usually achieved by using different timing methods to obtain a high-precision time reference according to different application scenarios. For example, it is achieved through blue-green laser timing, optical fiber timing, and low-frequency radio timing. Among them, blue-green laser timing refers to a laser communication method that uses blue-green laser as a carrier.

[0004] However, the above-mentioned underwater timing methods, blue-green laser timing and low-frequency radio timing, have poor penetration ability underwater and are only suitable for short-distance underwater wireless timing, and cannot meet long-distance transmission requirements; fiber optic timing relies on optical cables laid underwater, with poor transmission convenience and high hardware costs. Summary of the invention

[0005] The present invention provides a timing method, device, electronic equipment and storage medium based on underwater acoustic communication to solve the problem of short transmission distance and low transmission efficiency of underwater clock signals.

[0006] According to one aspect of the present invention, there is provided a timing method based on underwater acoustic communication, which is applied to a slave device and includes:

[0007] Generate multi-byte first water acoustic information according to the local time, and send the first water acoustic information to the master device, so that the master device feeds back second water acoustic information and first timing information based on the first water acoustic information;

[0008] Generate a first pulse signal according to the first hydroacoustic information, and mark a first timestamp at the edge of the first pulse signal; wherein the number of the first pulse signals is equal to the number of bytes of the first hydroacoustic information;

[0009] Generate a second pulse signal according to the second hydroacoustic information, and mark a second timestamp at the edge of the second pulse signal; wherein the number of the second pulse signals is equal to the number of bytes of the first hydroacoustic information;

[0010] A first master-slave time difference is calculated and obtained according to each of the first timestamps, each of the second timestamps and the first timing information, and a local time is updated according to the first master-slave time difference.

[0011] The generating of the first pulse signal according to the first hydroacoustic information includes: generating the first pulse signal according to the first hydroacoustic information based on a preset pulse rule; the calculating and obtaining the first master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information includes: judging whether the second pulse signal complies with the preset pulse rule; if it is determined that the second pulse signal complies with the preset pulse rule, calculating and obtaining the first master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information; if it is determined that the second pulse signal does not comply with the preset pulse rule, abandoning the first timing information and not updating the local time.

[0012] After determining that the second pulse signal complies with the preset pulse rule, it also includes: judging whether the first timing information is valid according to the timing result identifier of the first timing information; if it is determined that the first timing information is invalid, abandoning the first timing information and not updating the local time; if it is determined that the first timing information is valid, calculating and obtaining the first master-slave time difference according to each first timestamp, each second timestamp and the first timing information.

[0013] The updating of local time according to the first master-slave time difference includes: continuing to generate multi-byte first hydroacoustic information according to the local time, and sending the first hydroacoustic information to the master device, so that the master device can feed back the second hydroacoustic information and the first timing information based on the first hydroacoustic information again; continuing to generate the first pulse signal according to the first hydroacoustic information, and marking the first timestamp at the edge of the first pulse signal, and generating the second pulse signal according to the second hydroacoustic information, and marking the second timestamp at the edge of the second pulse signal; calculating and obtaining the second master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information; judging whether the difference between the first master-slave time difference and the second master-slave time difference is less than or equal to a preset time difference threshold; if it is determined to be less than or equal to the preset time difference threshold, updating the local time according to the first master-slave time difference and the second master-slave time difference.

[0014] After determining whether the difference between the first master-slave time difference and the second master-slave time difference is less than or equal to a preset time difference threshold, it also includes: if it is determined to be greater than the preset time difference threshold, generating a multi-byte third hydroacoustic information according to the local time, and sending the third hydroacoustic information to the master device, so that the master device feeds back the fourth hydroacoustic information and the second timing information based on the third hydroacoustic information; wherein the number of bytes of the third hydroacoustic information is greater than the number of bytes of the first hydroacoustic information; generating a third pulse signal according to the third hydroacoustic information, and marking a third timestamp at the edge of the third pulse signal; wherein the number of the third pulse signal is equal to the number of bytes of the third hydroacoustic information; generating a fourth pulse signal according to the fourth hydroacoustic information, and marking a fourth timestamp at the edge of the fourth pulse signal; wherein the number of the fourth pulse signal is equal to the number of bytes of the third hydroacoustic information; calculating and obtaining the third master-slave time difference according to each of the third timestamps, each of the fourth timestamps and the second timing information, and updating the local time according to the first master-slave time difference, the second master-slave time difference and the third master-slave time difference.

[0015] According to another aspect of the present invention, a timing method based on underwater acoustic communication is provided, which is applied to a master device and includes:

[0016] Generate a fifth pulse signal according to the multi-byte first water acoustic information sent from the device, and mark a fifth timestamp at the edge of the fifth pulse signal; wherein the number of the fifth pulse signal is equal to the number of bytes of the first water acoustic information;

[0017] Generate multi-byte second water acoustic information according to the local time, and send the second water acoustic information to the slave device, so that the slave device generates a second pulse signal based on the second water acoustic information;

[0018] Generate a sixth pulse signal according to the second hydroacoustic information, and mark a sixth timestamp at the edge of the sixth pulse signal; wherein the number of the sixth pulse signals is equal to the number of bytes of the second hydroacoustic information;

[0019] First timing information is calculated and acquired according to each of the fifth timestamps and each of the sixth timestamps, and the first timing information is sent to the slave device, so that the slave device updates the local time based on the first timing information.

[0020] According to another aspect of the present invention, there is provided a timing device based on underwater acoustic communication, which is applied to a slave device and includes:

[0021] A first information sending module is used to generate multi-byte first water acoustic information according to local time, and send the first water acoustic information to a master device, so that the master device feeds back second water acoustic information and first timing information based on the first water acoustic information;

[0022] A first pulse generating module, used for generating a first pulse signal according to the first hydroacoustic information, and marking a first timestamp on the edge of the first pulse signal; wherein the number of the first pulse signals is equal to the number of bytes of the first hydroacoustic information;

[0023] A first information receiving module, used to generate a second pulse signal according to the second hydroacoustic information, and mark a second timestamp at the edge of the second pulse signal; wherein the number of the second pulse signals is equal to the number of bytes of the first hydroacoustic information;

[0024] The timing information receiving module is used to calculate and obtain a first master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information, and update the local time according to the first master-slave time difference.

[0025] According to another aspect of the present invention, there is provided a timing device based on underwater acoustic communication, which is applied to a main device and includes:

[0026] A second information receiving module is used to generate a fifth pulse signal according to the multi-byte first water acoustic information sent from the device, and mark a fifth timestamp at the edge of the fifth pulse signal; wherein the number of the fifth pulse signal is equal to the number of bytes of the first water acoustic information;

[0027] A second information sending module, used for generating multi-byte second water acoustic information according to local time, and sending the second water acoustic information to a slave device, so that the slave device generates a second pulse signal based on the second water acoustic information;

[0028] A second pulse generating module, used for generating a sixth pulse signal according to the second hydroacoustic information, and marking a sixth timestamp at the edge of the sixth pulse signal; wherein the number of the sixth pulse signals is equal to the number of bytes of the second hydroacoustic information;

[0029] The timing information sending module is used to calculate and obtain the first timing information according to each of the fifth timestamps and each of the sixth timestamps, and send the first timing information to the slave device, so that the slave device updates the local time based on the first timing information.

[0030] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0031] at least one processor; and

[0032] a memory communicatively connected to the at least one processor; wherein,

[0033] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the time synchronization method based on underwater acoustic communication described in Example 1 of the present invention, or execute the time synchronization method based on underwater acoustic communication described in Example 2 of the present invention.

[0034] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute the timing method based on underwater acoustic communication described in Example 1 of the present invention, or to execute the timing method based on underwater acoustic communication described in Example 2 of the present invention.

[0035] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the timing method based on underwater acoustic communication described in Embodiment 1 of the present invention, or implements the timing method based on underwater acoustic communication described in Embodiment 2 of the present invention.

[0036] The technical solution of the embodiment of the present invention is that the slave device generates a multi-byte first hydroacoustic information according to the local time, and sends the first hydroacoustic information to the master device; the slave device generates a first pulse signal according to the first hydroacoustic information, and marks a first timestamp at the edge of the first pulse signal; the slave device generates a second pulse signal according to the second hydroacoustic information fed back by the master device, and marks a second timestamp at the edge of the second pulse signal; the slave device updates the local time according to the first timestamp, the second timestamp and the first timing information fed back by the master device. In this way, not only the clock consistency between the master device and the slave device is achieved, and the clock signal synchronization efficiency is improved, but also based on the transmission mode of hydroacoustic communication, the signal transmission distance is greatly extended while realizing wireless signal transmission.

[0037] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 is a flow chart of a timing method based on underwater acoustic communication provided according to Embodiment 1 of the present invention;

[0040] Figure 2 is a schematic diagram of the structure of a slave device provided according to Embodiment 1 of the present invention;

[0041] Figure 3 is a schematic diagram of the structure of a main device provided according to Embodiment 1 of the present invention;

[0042] Figure 4 is a flow chart of another timing method based on underwater acoustic communication provided according to Embodiment 2 of the present invention;

[0043] Figure 5 1 is a schematic diagram of an interactive process of a timing method based on underwater acoustic communication provided according to Embodiment 3 of the present invention;

[0044] Figure 6 is a structural schematic diagram of a timing device based on underwater acoustic communication provided according to Embodiment 4 of the present invention;

[0045] Figure 7 is a schematic structural diagram of another timing device based on underwater acoustic communication provided according to Embodiment 5 of the present invention;

[0046] Figure 8 It is a structural schematic diagram of an electronic device for implementing the timing method based on underwater acoustic communication according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] Embodiment 1

[0050] Figure 1 A flowchart of a timing method based on underwater acoustic communication is provided in the first embodiment of the present invention. This embodiment is applicable to the case where clock signal transmission is realized according to the interaction of underwater acoustic information between a slave device and a master device. The method can be executed by the timing device based on underwater acoustic communication in the fourth embodiment of the present invention. The timing device based on underwater acoustic communication can be implemented in the form of hardware and / or software. The timing device based on underwater acoustic communication can be configured in a slave device. The slave device is specifically an electronic device used underwater, such as Figure 1 As shown, the method includes:

[0051] S101. Generate multi-byte first water acoustic information according to local time, and send the first water acoustic information to a master device, so that the master device feeds back second water acoustic information and first timing information based on the first water acoustic information.

[0052] like Figure 2 As shown, the slave device may specifically include a first timing unit 110, a first control unit 120 and a first communication unit 130; after generating a local timing signal, the first timing unit 110 sends the local time to the first control unit 120; after the first control unit 120 encodes the identified local time (for example, a convolutional code and an error correction code), the encoding information (i.e., the first encoding information) is sent to the first communication unit 130; wherein the first encoding information is multi-byte transmission information, and the specific number of bytes can be pre-configured.

[0053] The first communication unit 130 converts the first coded information into a data format suitable for underwater transmission to generate the first underwater acoustic information. For example, the digital signal is converted into an analog signal through modulation methods such as frequency shift keying modulation (FSK) and phase shift keying modulation (PSK), so as to meet the data transmission requirements of underwater acoustic communication. The number of bytes of the first underwater acoustic information and the first coded information is obviously the same. After receiving the first underwater acoustic information sent by the first communication unit 130, the master device will successively send the second underwater acoustic information and the first timing information to the slave device.

[0054] S102, generating a first pulse signal according to the first hydroacoustic information, and marking a first timestamp at the edge of the first pulse signal; wherein the number of the first pulse signals is equal to the number of bytes of the first hydroacoustic information.

[0055] When the first communication unit 130 sends the first underwater acoustic information, it will feed back a pulse signal (i.e., the first pulse signal) to the first control unit 120 every time it sends a byte; the first control unit 120 marks the timestamp information (i.e., the first timestamp) at the triggering edge (rising edge or falling edge) of each first pulse signal. The first timestamp indicates the triggering moment of the first pulse signal, and actually also reflects the sending moment of each byte of the first underwater acoustic information.

[0056] like Figure 3 As shown, the master device can specifically include a second timing unit 210, a second control unit 220 and a second communication unit 230; after the second communication unit 230 receives the multi-byte first acoustic information sent from the device, it sends a pulse signal (i.e., the fifth pulse signal) to the second control unit 220 each time it receives a byte; the second control unit 220 marks the timestamp information (i.e., the fifth timestamp) at the triggering edge (rising edge or falling edge) of each fifth pulse signal, and the fifth timestamp indicates the triggering moment of the fifth pulse signal, which actually also reflects the receiving moment of each byte of the first acoustic information.

[0057] After the second communication unit 230 completely receives the first underwater acoustic information, it sends the packaged information to the second control unit 220; after obtaining the first underwater acoustic information, the second control unit 220 encodes the local time in the second timing unit 210, and then sends the encoded information (i.e., the second encoded information) to the second communication unit 230; the second communication unit 230 converts the second encoded information into a data format suitable for underwater transmission to generate the second underwater acoustic information; wherein, the second underwater acoustic information is also a multi-byte transmission information, and the specific number of bytes is the same as that of the first underwater acoustic information.

[0058] When the second communication unit 230 sends the second underwater acoustic information, it will feed back a pulse signal (i.e., the sixth pulse signal) to the second control unit 220 for each byte sent; the second control unit 220 marks the timestamp information (i.e., the sixth timestamp) at the triggering edge (rising edge or falling edge) of each sixth pulse signal. The sixth timestamp indicates the triggering moment of the sixth pulse signal, which actually also reflects the sending moment of each byte of the second underwater acoustic information.

[0059] S103, generating a second pulse signal according to the second hydroacoustic information, and marking a second timestamp at the edge of the second pulse signal; wherein the number of the second pulse signals is equal to the number of bytes of the first hydroacoustic information.

[0060] After the first communication unit 130 receives the multi-byte second acoustic information sent from the device, it sends a pulse signal (i.e., the second pulse signal) to the first control unit 120 each time it receives a byte; the first control unit 120 marks the timestamp information (i.e., the second timestamp) at the triggering edge (rising edge or falling edge) of each second pulse signal. The second timestamp indicates the triggering moment of the second pulse signal, and actually also reflects the receiving moment of each byte of the second acoustic information.

[0061] In addition, the master device calculates the sum of each fifth timestamp and the corresponding sixth timestamp according to the triggering order of the pulse signal, and then continues to accumulate each sum result. The quotient of the accumulated result and the number of bytes of the first underwater acoustic information is the timing information (i.e., the first timing information); specifically, as shown in Formula 1:

[0062] (Formula 1);

[0063] in, Indicates the first timing information; and The fifth and sixth timestamps respectively; represents the number of the fifth timestamp or the sixth timestamp, and also represents the number of bytes of the first water acoustic information or the second water acoustic information; Indicates the numbers of the fifth and sixth timestamps.

[0064] S104: Calculate and obtain a first master-slave time difference according to each of the first timestamps, each of the second timestamps, and the first timing information, and update the local time according to the first master-slave time difference.

[0065] The slave device calculates the sum of each first timestamp and the corresponding second timestamp according to the triggering order of the pulse signal, and then continues to accumulate each sum result. The quotient of the accumulated result and the number of bytes of the first underwater acoustic information is the local timing information; specifically, as shown in Formula 2:

[0066] (Formula 2);

[0067] in, Indicates local timing information; and Represent the first timestamp and the second timestamp respectively; represents the number of the first timestamp or the second timestamp, and also represents the number of bytes of the first underwater acoustic information or the second underwater acoustic information; Indicates the number of the first timestamp and the second timestamp.

[0068] According to the first timing information and the local timing information, the first master-slave time difference can be calculated and obtained. The first master-slave time difference reflects the time difference between the master device and the slave device; as shown in Formula 3:

[0069] (Formula 3);

[0070] in, Indicates the first master-slave time difference; thus, the first master-slave time difference can be used as the difference between the local time and the master device time, thereby completing the update of the local time.

[0071] In particular, the first timing unit 110, the first control unit 120 and the first communication unit 130 inside the slave device use the system clock of the same frequency as the internal clock source to make the clocks of various functional units consistent; the second timing unit 210, the second control unit 220 and the second communication unit 230 inside the master device also use the system clock of the same frequency as the internal clock source; the transmission of the first underwater acoustic information and the second underwater acoustic information between the master device and the slave device is completed based on the underwater acoustic communication technology.

[0072] Optionally, in an embodiment of the present invention, generating a first pulse signal according to the first hydroacoustic information includes: generating a first pulse signal according to the first hydroacoustic information based on a preset pulse rule; calculating and obtaining a first master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information includes: judging whether the second pulse signal complies with the preset pulse rule; if it is determined that the second pulse signal complies with the preset pulse rule, calculating and obtaining the first master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information; if it is determined that the second pulse signal does not comply with the preset pulse rule, abandoning the first timing information and not updating the local time.

[0073] Specifically, when the first communication unit 130 triggers the first pulse signal while sending the first underwater acoustic information, each first pulse signal is sent according to the preset pulse rule; for example, the preset pulse rule can be defined as follows: the first pulse signal is used as the pulse signal frame header, and its pulse width length is N microseconds; the second pulse signal represents the number of pulse signals, and its pulse width length is M microseconds; the last pulse signal represents the pulse signal frame tail, and its pulse width length is 2N microseconds; the pulse width lengths of the remaining pulse signals are all 1 microsecond, and N in the above values ​​is greater than M. Therefore, the sending pulses generated when sending the underwater acoustic information are all generated according to the preset pulse rule.

[0074] Similarly, when the slave device triggers the second pulse signal while receiving the second aqueous acoustic information, it determines whether each received second pulse signal complies with the above-mentioned preset pulse rules; if the second pulse signal complies with the preset pulse rules, it means that the slave device generates pulse signals according to the same rules in the process of sending the first aqueous acoustic information and receiving the second aqueous acoustic information, which indicates that there is no transmission failure in the signal transmission process, and it is also convenient to match the first pulse signal with the second pulse signal according to the preset pulse rules, thereby completing the validity verification of the pulse signal.

[0075] Based on this, the first master-slave time difference can be calculated based on the first timestamp, the second timestamp and the first timing information; if it is determined that the second pulse signal does not meet the preset pulse rule, it means that there is a transmission failure in the signal transmission process, and each second pulse signal cannot establish a matching relationship with the corresponding first pulse signal, that is, the first timestamp and the second timestamp are deemed invalid, so the first timing information is abandoned, and the local time is not updated. The slave device continues to send subsequent water acoustic information to complete the local time update again through the subsequent water acoustic information. Therefore, according to the pulse signal validity check result of the slave device, the first timestamp and the second timestamp are ensured to be valid, and the accuracy of the first master-slave time difference calculation result is improved.

[0076] Optionally, in an embodiment of the present invention, after determining that the second pulse signal complies with the preset pulse rule, it also includes: judging whether the first timing information is valid based on the timing result identifier of the first timing information; if it is determined that the first timing information is invalid, abandoning the first timing information and not updating the local time; if it is determined that the first timing information is valid, calculating and obtaining the first master-slave time difference based on each first timestamp, each second timestamp and the first timing information.

[0077] Specifically, when the main device triggers the fifth pulse signal while receiving the first water acoustic information, it will also determine whether the received fifth pulse signals comply with the above-mentioned preset pulse rules. When it triggers the sixth pulse signal while sending the second water acoustic information, it will also generate each sixth pulse signal according to the preset pulse rules. If the fifth pulse signal complies with the preset pulse rules, it means that the main device generates pulse signals according to the same rules in the process of sending the second water acoustic information and receiving the first water acoustic information, which indicates that there is no transmission failure in the signal transmission process, and it is also convenient to match the fifth pulse signal with the sixth pulse signal according to the preset pulse rules, thereby completing the validity verification of the pulse signal.

[0078] If the master device passes the validity check of the pulse signal, the timing result flag in the first timing information is configured as valid (for example, configured as "1"), indicating that the first timing information sent this time is valid; if the master device fails to pass the validity check of the pulse signal, the timing result flag in the first timing information is configured as invalid (for example, configured as "0"), indicating that the first timing information sent this time is invalid; if the slave device determines that the first timing information is invalid, it abandons the first timing information and does not update the local time; if the slave device determines that the first timing information is valid, it can calculate and obtain the first master-slave time difference based on the first timestamp, the second timestamp and the first timing information, thereby ensuring that the first timing information is valid based on the pulse signal validity check result of the master device, and improving the accuracy of the first master-slave time difference calculation result.

[0079] Optionally, in an embodiment of the present invention, updating the local time according to the first master-slave time difference includes: continuing to generate a multi-byte first hydroacoustic information according to the local time, and sending the first hydroacoustic information to the master device, so that the master device can feed back the second hydroacoustic information and the first timing information based on the first hydroacoustic information again; continuing to generate a first pulse signal according to the first hydroacoustic information, and marking a first timestamp at the edge of the first pulse signal, and generating a second pulse signal according to the second hydroacoustic information, and marking a second timestamp at the edge of the second pulse signal; calculating and obtaining the second master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information; judging whether the difference between the first master-slave time difference and the second master-slave time difference is less than or equal to a preset time difference threshold; if it is determined to be less than or equal to the preset time difference threshold, updating the local time according to the first master-slave time difference and the second master-slave time difference.

[0080] Specifically, after obtaining the first master-slave time difference, the first underwater acoustic information can be continued to be sent as described in the above technical solution, and after the above interaction process, the master-slave time difference (i.e., the second master-slave time difference) sent by the master device can be obtained again; if the difference between the first master-slave time difference and the second master-slave time difference is small, that is, the two values ​​are similar, it means that the values ​​of the first master-slave time difference and the second master-slave time difference obtained above are relatively accurate. At this time, the average value of the two can be used as the actual master-slave time difference, and the local time update is completed based on the actual master-slave time difference, thereby improving the accuracy of the local time update result and ensuring the clock consistency between the slave device and the master device.

[0081] Optionally, in an embodiment of the present invention, after determining whether the difference between the first master-slave time difference and the second master-slave time difference is less than or equal to a preset time difference threshold, it also includes: if it is determined to be greater than the preset time difference threshold, generating a multi-byte third hydroacoustic information according to the local time, and sending the third hydroacoustic information to the master device, so that the master device feeds back fourth hydroacoustic information and second timing information based on the third hydroacoustic information; wherein the number of bytes of the third hydroacoustic information is greater than the number of bytes of the first hydroacoustic information; generating a third pulse signal according to the third hydroacoustic information, and marking a third timestamp at the edge of the third pulse signal; wherein the number of third pulse signals is equal to the number of bytes of the third hydroacoustic information; generating a fourth pulse signal according to the fourth hydroacoustic information, and marking a fourth timestamp at the edge of the fourth pulse signal; wherein the number of fourth pulse signals is equal to the number of bytes of the third hydroacoustic information; calculating and obtaining the third master-slave time difference according to each of the third timestamps, each of the fourth timestamps and the second timing information, and updating the local time according to the first master-slave time difference, the second master-slave time difference and the third master-slave time difference.

[0082] Specifically, if the difference between the first master-slave time difference and the second master-slave time difference is large, that is, the two values ​​are not close, it means that at least one of the first master-slave time difference and the second master-slave time difference obtained above has a large numerical error. At this time, the number of bytes of the underwater acoustic information is increased. Similarly, as described in the above technical solution, the third underwater acoustic information is sent again, and a third pulse signal is generated. Obviously, the number of bytes of the third underwater acoustic information is greater than the number of bytes of the first underwater acoustic information; then the fourth underwater acoustic information is received, and a fourth pulse signal is generated. Finally, the third master-slave time difference is calculated based on the second timing information obtained.

[0083] Therefore, the third master-slave time difference can be directly used as the actual master-slave time difference, or the weighted result of the first master-slave time difference, the second master-slave time difference and the third master-slave time difference can be used as the actual master-slave time difference, and the weight of the third master-slave time difference is greater than the weights of the first master-slave time difference and the second master-slave time difference. Of the first master-slave time difference and the second master-slave time difference, the one with a value close to the third master-slave time difference has a larger weight value, and the other has a smaller weight value. Then, the local time is updated based on the actual master-slave time difference, thereby improving the accuracy of the local time update result and ensuring the clock consistency between the slave device and the master device.

[0084] The technical solution of the embodiment of the present invention is that the slave device generates a multi-byte first hydroacoustic information according to the local time, and sends the first hydroacoustic information to the master device; the slave device generates a first pulse signal according to the first hydroacoustic information, and marks a first timestamp at the edge of the first pulse signal; the slave device generates a second pulse signal according to the second hydroacoustic information fed back by the master device, and marks a second timestamp at the edge of the second pulse signal; the slave device updates the local time according to the first timestamp, the second timestamp and the first timing information fed back by the master device. In this way, not only the clock consistency between the master device and the slave device is achieved, and the clock signal synchronization efficiency is improved, but also based on the transmission mode of hydroacoustic communication, the signal transmission distance is greatly extended while realizing wireless signal transmission.

[0085] Embodiment 2

[0086] Figure 4 A flowchart of a timing method based on underwater acoustic communication provided in the second embodiment of the present invention is applicable to the case where clock signal transmission is realized according to the interaction of underwater acoustic information between a slave device and a master device. The method can be executed by the timing device based on underwater acoustic communication in the fifth embodiment of the present invention. The timing device based on underwater acoustic communication can be implemented in the form of hardware and / or software. The timing device based on underwater acoustic communication can be configured in the master device. The master device is specifically an electronic device used underwater, such as Figure 4 As shown, the method includes:

[0087] S201. Generate a fifth pulse signal according to the multi-byte first underwater acoustic information sent from the device, and mark a fifth timestamp at the edge of the fifth pulse signal; wherein the number of the fifth pulse signals is equal to the number of bytes of the first underwater acoustic information.

[0088] S202. Generate multi-byte second hydroacoustic information according to the local time, and send the second hydroacoustic information to the slave device, so that the slave device generates a second pulse signal based on the second hydroacoustic information.

[0089] S203, generating a sixth pulse signal according to the second hydroacoustic information, and marking a sixth timestamp at the edge of the sixth pulse signal; wherein the number of the sixth pulse signals is equal to the number of bytes of the second hydroacoustic information.

[0090] S204: Calculate and obtain first timing information according to each of the fifth timestamps and each of the sixth timestamps, and send the first timing information to the slave device, so that the slave device updates the local time based on the first timing information.

[0091] According to the technical solution of the embodiment of the present invention, the master device generates a fifth pulse signal according to the multi-byte first hydroacoustic information sent by the slave device, and marks the fifth timestamp at the edge of the fifth pulse signal; generates multi-byte second hydroacoustic information according to the local time, and sends the second hydroacoustic information to the slave device; generates a sixth pulse signal according to the second hydroacoustic information, and marks the sixth timestamp at the edge of the sixth pulse signal; calculates and obtains the first timing information according to each fifth timestamp and each sixth timestamp, and sends it to the slave device, so that the slave device updates the local time based on the first timing information. In this way, not only the clock consistency between the master device and the slave device is achieved, and the clock signal synchronization efficiency is improved, but also based on the transmission mode of hydroacoustic communication, the signal transmission distance is greatly extended while realizing wireless signal transmission.

[0092] Embodiment 3

[0093] Figure 5 The following is a schematic diagram of an interaction flow of a timing method based on underwater acoustic communication provided in Embodiment 3 of the present invention. This embodiment ensures that the slave device maintains clock consistency with the master device through interaction between the slave device and the master device. Figure 5 As shown, the method includes:

[0094] The slave device generates a multi-byte first water acoustic information according to the local time, and sends the first water acoustic information to the master device; the slave device generates a first pulse signal according to the first water acoustic information, and marks a first timestamp at the edge of the first pulse signal; the master device generates a fifth pulse signal according to the multi-byte first water acoustic information sent by the slave device, and marks a fifth timestamp at the edge of the fifth pulse signal; the master device generates a multi-byte second water acoustic information according to the local time, and sends the second water acoustic information to the slave device.

[0095] The slave device generates a second pulse signal according to the second hydroacoustic information, and marks a second timestamp at the edge of the second pulse signal; the master device generates a sixth pulse signal according to the second hydroacoustic information, and marks a sixth timestamp at the edge of the sixth pulse signal; the master device calculates and obtains the first timing information according to each fifth timestamp and each sixth timestamp, and sends the first timing information to the slave device; the slave device calculates and obtains the first master-slave time difference according to each first timestamp, each second timestamp and the first timing information, and updates the local time according to the first master-slave time difference.

[0096] The technical solution of the embodiment of the present invention not only achieves clock consistency between the master device and the slave device and improves the clock signal synchronization efficiency, but also greatly expands the signal transmission distance while realizing wireless signal transmission based on the transmission method of underwater acoustic communication.

[0097] Embodiment 4

[0098] Figure 6: is a structural block diagram of a timing device based on underwater acoustic communication provided by the fourth embodiment of the present invention, which specifically includes:

[0099] The first information sending module 401 is used to generate multi-byte first water acoustic information according to the local time, and send the first water acoustic information to the master device, so that the master device feeds back second water acoustic information and first timing information based on the first water acoustic information;

[0100] A first pulse generating module 402 is used to generate a first pulse signal according to the first hydroacoustic information, and mark a first timestamp at the edge of the first pulse signal; wherein the number of the first pulse signals is equal to the number of bytes of the first hydroacoustic information;

[0101] The first information receiving module 403 is used to generate a second pulse signal according to the second hydroacoustic information, and mark a second timestamp at the edge of the second pulse signal; wherein the number of the second pulse signals is equal to the number of bytes of the first hydroacoustic information;

[0102] The timing information receiving module 404 is used to calculate and obtain a first master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information, and update the local time according to the first master-slave time difference.

[0103] The technical solution of the embodiment of the present invention is that the slave device generates a multi-byte first hydroacoustic information according to the local time, and sends the first hydroacoustic information to the master device; the slave device generates a first pulse signal according to the first hydroacoustic information, and marks a first timestamp at the edge of the first pulse signal; the slave device generates a second pulse signal according to the second hydroacoustic information fed back by the master device, and marks a second timestamp at the edge of the second pulse signal; the slave device updates the local time according to the first timestamp, the second timestamp and the first timing information fed back by the master device. In this way, not only the clock consistency between the master device and the slave device is achieved, and the clock signal synchronization efficiency is improved, but also based on the transmission mode of hydroacoustic communication, the signal transmission distance is greatly extended while realizing wireless signal transmission.

[0104] Optionally, the timing device based on underwater acoustic communication is also used to generate a first pulse signal according to the first underwater acoustic information based on a preset pulse rule; determine whether the second pulse signal complies with the preset pulse rule; if it is determined that the second pulse signal complies with the preset pulse rule, calculate and obtain the first master-slave time difference based on each first timestamp, each second timestamp and the first timing information; if it is determined that the second pulse signal does not comply with the preset pulse rule, abandon the first timing information and do not update the local time.

[0105] Optionally, the timing device based on underwater acoustic communication is also used to determine whether the first timing information is valid according to the timing result identifier of the first timing information; if it is determined that the first timing information is invalid, the first timing information is abandoned and the local time is not updated; if it is determined that the first timing information is valid, the first master-slave time difference is calculated according to each first timestamp, each second timestamp and the first timing information.

[0106] Optionally, the timing device based on underwater acoustic communication is also used to continue to generate multi-byte first underwater acoustic information according to local time, and send the first underwater acoustic information to the master device, so that the master device can again feed back second underwater acoustic information and first timing information based on the first underwater acoustic information; continue to generate a first pulse signal according to the first underwater acoustic information, and mark the first timestamp at the edge of the first pulse signal, and generate a second pulse signal according to the second underwater acoustic information, and mark the second timestamp at the edge of the second pulse signal; calculate and obtain the second master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information; determine whether the difference between the first master-slave time difference and the second master-slave time difference is less than or equal to a preset time difference threshold; if it is determined to be less than or equal to the preset time difference threshold, update the local time according to the first master-slave time difference and the second master-slave time difference.

[0107] Optionally, the timing device based on underwater acoustic communication is also used to generate a multi-byte third aqueous acoustic information according to the local time if it is determined that it is greater than a preset time difference threshold, and send the third aqueous acoustic information to the master device, so that the master device feeds back the fourth aqueous acoustic information and the second timing information based on the third aqueous acoustic information; wherein the number of bytes of the third aqueous acoustic information is greater than the number of bytes of the first aqueous acoustic information; generate a third pulse signal according to the third aqueous acoustic information, and mark a third timestamp at the edge of the third pulse signal; wherein the number of third pulse signals is equal to the number of bytes of the third aqueous acoustic information; generate a fourth pulse signal according to the fourth aqueous acoustic information, and mark a fourth timestamp at the edge of the fourth pulse signal; wherein the number of fourth pulse signals is equal to the number of bytes of the third aqueous acoustic information; calculate and obtain the third master-slave time difference according to each of the third timestamps, each of the fourth timestamps and the second timing information, and update the local time according to the first master-slave time difference, the second master-slave time difference and the third master-slave time difference.

[0108] The above device can execute the timing method based on underwater acoustic communication provided in the first embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the timing method based on underwater acoustic communication provided in any embodiment of the present invention.

[0109] Embodiment 5

[0110] Figure 7: is a structural block diagram of a timing device based on underwater acoustic communication provided by Embodiment 5 of the present invention, which specifically includes:

[0111] The second information receiving module 501 is used to generate a fifth pulse signal according to the multi-byte first water acoustic information sent from the device, and mark a fifth timestamp at the edge of the fifth pulse signal; wherein the number of the fifth pulse signal is equal to the number of bytes of the first water acoustic information;

[0112] A second information sending module 502, configured to generate multi-byte second water acoustic information according to local time, and send the second water acoustic information to a slave device, so that the slave device generates a second pulse signal based on the second water acoustic information;

[0113] A second pulse generating module 503 is used to generate a sixth pulse signal according to the second hydroacoustic information, and mark a sixth timestamp at the edge of the sixth pulse signal; wherein the number of the sixth pulse signals is equal to the number of bytes of the second hydroacoustic information;

[0114] The timing information sending module 504 is used to calculate and obtain first timing information according to each of the fifth timestamps and each of the sixth timestamps, and send the first timing information to the slave device, so that the slave device updates the local time based on the first timing information.

[0115] According to the technical solution of the embodiment of the present invention, the master device generates a fifth pulse signal according to the multi-byte first hydroacoustic information sent by the slave device, and marks the fifth timestamp at the edge of the fifth pulse signal; generates multi-byte second hydroacoustic information according to the local time, and sends the second hydroacoustic information to the slave device; generates a sixth pulse signal according to the second hydroacoustic information, and marks the sixth timestamp at the edge of the sixth pulse signal; calculates and obtains the first timing information according to each fifth timestamp and each sixth timestamp, and sends it to the slave device, so that the slave device updates the local time based on the first timing information. In this way, not only the clock consistency between the master device and the slave device is achieved, and the clock signal synchronization efficiency is improved, but also based on the transmission mode of hydroacoustic communication, the signal transmission distance is greatly extended while realizing wireless signal transmission.

[0116] The above device can execute the timing method based on underwater acoustic communication provided in the second embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the timing method based on underwater acoustic communication provided in any embodiment of the present invention.

[0117] Embodiment 6

[0118] Figure 8A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, blade electronic devices, mainframe computers, and other suitable computers. The electronic device 10 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0119] like Figure 8 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0120] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0121] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a timing method based on underwater acoustic communication.

[0122] In some embodiments, the timing method based on underwater acoustic communication can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on a heterogeneous hardware accelerator via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the timing method based on underwater acoustic communication described above can be performed. Alternatively, in other embodiments, the processor can be configured to execute the timing method based on underwater acoustic communication in any other appropriate manner (for example, by means of firmware).

[0123] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0124] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or electronic device.

[0125] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] To provide interaction with a user, the systems and techniques described herein may be implemented on a heterogeneous hardware accelerator having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which a user can provide input to the heterogeneous hardware accelerator. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0127] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data electronic device), or a computing system that includes middleware components (e.g., an application electronic device), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0128] The computing system may include a client and an electronic device. The client and the electronic device are generally remote from each other and usually interact through a communication network. The relationship between the client and the electronic device is generated by computer programs running on corresponding computers and having a client-electronic device relationship with each other. The electronic device may be a cloud electronic device, also known as a cloud computing electronic device or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0129] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0130] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A timing method based on underwater acoustic communication, characterized in that: Applicable to slave devices, including: Generate multi-byte first water acoustic information according to the local time, and send the first water acoustic information to the master device, so that the master device feeds back second water acoustic information and first timing information based on the first water acoustic information; Generate a first pulse signal according to the first hydroacoustic information, and mark a first timestamp at the edge of the first pulse signal; wherein the number of the first pulse signals is equal to the number of bytes of the first hydroacoustic information; Generate a second pulse signal according to the second hydroacoustic information, and mark a second timestamp at the edge of the second pulse signal; wherein the number of the second pulse signals is equal to the number of bytes of the first hydroacoustic information; A first master-slave time difference is calculated and obtained according to each of the first timestamps, each of the second timestamps and the first timing information, and a local time is updated according to the first master-slave time difference.

2. The method according to claim 1, characterized in that: The step of generating a first pulse signal according to the first hydroacoustic information comprises: Based on a preset pulse rule, generating a first pulse signal according to the first hydroacoustic information; The calculating and obtaining a first master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information includes: Determining whether the second pulse signal meets the preset pulse rule; If it is determined that the second pulse signal meets the preset pulse rule, a first master-slave time difference is calculated and obtained according to each of the first timestamps, each of the second timestamps and the first timing information; If it is determined that the second pulse signal does not comply with the preset pulse rule, the first timing information is discarded and the local time is not updated.

3. The method according to claim 2, characterized in that After determining that the second pulse signal meets the preset pulse rule, the method further includes: Determining whether the first timing information is valid according to the timing result identifier of the first timing information; If it is determined that the first timing information is invalid, the first timing information is discarded and the local time is not updated; If it is determined that the first timing information is valid, a first master-slave time difference is calculated based on each of the first timestamps, each of the second timestamps and the first timing information.

4. The method according to claim 1, characterized in that The updating of the local time according to the first master-slave time difference comprises: Continue to generate multi-byte first water acoustic information according to the local time, and send the first water acoustic information to the master device, so that the master device feeds back second water acoustic information and first timing information again based on the first water acoustic information; Continue to generate a first pulse signal according to the first hydroacoustic information, and mark a first timestamp at the edge of the first pulse signal, and generate a second pulse signal according to the second hydroacoustic information, and mark a second timestamp at the edge of the second pulse signal; Calculate and obtain a second master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information; Determine whether the difference between the first master-slave time difference and the second master-slave time difference is less than or equal to a preset time difference threshold; If it is determined that the time difference is less than or equal to the preset time difference threshold, the local time is updated according to the first master-slave time difference and the second master-slave time difference.

5. The method according to claim 4, characterized in that After determining whether the difference between the first master-slave time difference and the second master-slave time difference is less than or equal to a preset time difference threshold, the method further includes: If it is determined that the time difference is greater than the preset time difference threshold, a multi-byte third water acoustic information is generated according to the local time, and the third water acoustic information is sent to the master device, so that the master device feeds back the fourth water acoustic information and the second timing information based on the third water acoustic information; wherein the number of bytes of the third water acoustic information is greater than the number of bytes of the first water acoustic information; Generate a third pulse signal according to the third hydroacoustic information, and mark a third timestamp at the edge of the third pulse signal; wherein the number of the third pulse signals is equal to the number of bytes of the third hydroacoustic information; Generate a fourth pulse signal according to the fourth hydroacoustic information, and mark a fourth timestamp at the edge of the fourth pulse signal; wherein the number of the fourth pulse signals is equal to the number of bytes of the third hydroacoustic information; A third master-slave time difference is calculated and obtained according to each of the third timestamps, each of the fourth timestamps and the second timing information, and a local time is updated according to the first master-slave time difference, the second master-slave time difference and the third master-slave time difference.

6. A timing method based on underwater acoustic communication, characterized in that: Applicable to main equipment, including: Generate a fifth pulse signal according to the multi-byte first water acoustic information sent from the device, and mark a fifth timestamp at the edge of the fifth pulse signal; wherein the number of the fifth pulse signal is equal to the number of bytes of the first water acoustic information; Generate multi-byte second water acoustic information according to the local time, and send the second water acoustic information to the slave device, so that the slave device generates a second pulse signal based on the second water acoustic information; Generate a sixth pulse signal according to the second hydroacoustic information, and mark a sixth timestamp at the edge of the sixth pulse signal; wherein the number of the sixth pulse signals is equal to the number of bytes of the second hydroacoustic information; First timing information is calculated and acquired according to each of the fifth timestamps and each of the sixth timestamps, and the first timing information is sent to the slave device, so that the slave device updates the local time based on the first timing information.

7. A timing device based on underwater acoustic communication, characterized in that: Applicable to slave devices, including: A first information sending module, used for generating multi-byte first water acoustic information according to local time, and sending the first water acoustic information to a master device, so that the master device feeds back second water acoustic information and first timing information based on the first water acoustic information; A first pulse generating module, used for generating a first pulse signal according to the first hydroacoustic information, and marking a first timestamp on the edge of the first pulse signal; wherein the number of the first pulse signals is equal to the number of bytes of the first hydroacoustic information; A first information receiving module, used to generate a second pulse signal according to the second hydroacoustic information, and mark a second timestamp at the edge of the second pulse signal; wherein the number of the second pulse signals is equal to the number of bytes of the first hydroacoustic information; A timing information receiving module is used to calculate and obtain a first master-slave time difference according to each of the first timestamps, each of the second timestamps and the first timing information, and update the local time according to the first master-slave time difference.

8. A timing device based on underwater acoustic communication, characterized in that: Applicable to main equipment, including: A second information receiving module is used to generate a fifth pulse signal according to the multi-byte first water acoustic information sent from the device, and mark a fifth timestamp at the edge of the fifth pulse signal; wherein the number of the fifth pulse signal is equal to the number of bytes of the first water acoustic information; A second information sending module, used for generating multi-byte second water acoustic information according to local time, and sending the second water acoustic information to a slave device, so that the slave device generates a second pulse signal based on the second water acoustic information; A second pulse generating module, used for generating a sixth pulse signal according to the second hydroacoustic information, and marking a sixth timestamp at the edge of the sixth pulse signal; wherein the number of the sixth pulse signals is equal to the number of bytes of the second hydroacoustic information; The timing information sending module is used to calculate and obtain the first timing information according to each of the fifth timestamps and each of the sixth timestamps, and send the first timing information to the slave device, so that the slave device updates the local time based on the first timing information.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the timing method based on underwater acoustic communication as described in any one of claims 1 to 5, or execute the timing method based on underwater acoustic communication as described in claim 6.

10. A computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the timing method based on underwater acoustic communication according to any one of claims 1 to 5, or to implement the timing method based on underwater acoustic communication according to claim 6 when executed.

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