Near-field radio transmission large-depth underwater navigation positioning method, system and device

Abstract

The invention relates to the technical field of underwater navigation and positioning, and provides a near-field radio emission large-depth underwater navigation and positioning method, system and device. Comprising the following steps: deploying a near-field extremely-low-frequency electromagnetic signal transmitting device on the water surface; setting parameters of an underwater receiving unit and laying an underwater carrier; and navigating and positioning the underwater carrier to obtain a positioning coordinate. A plurality of extremely-low-frequency electromagnetic signal transmitting devices are deployed on the water surface, each near-field extremely-low-frequency electromagnetic signal transmitting device transmits a specific double-frequency wireless electromagnetic signal through a loop antenna, and an underwater receiving unit receives near-field electromagnetic signals of the near-field extremely-low-frequency electromagnetic signal transmitting devices on the water surface. Position information of the underwater carrier is obtained through positioning calculation by combining position information of the near-field extremely-low-frequency electromagnetic signal transmitting device and water pressure sensor information of the underwater receiving unit, and navigation positioning of the large-depth underwater carrier of thousands of meters underwater is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater navigation and positioning, and provides a near-field radio transmission deep-depth underwater navigation and positioning method, system and device. Background Art

[0002] Underwater navigation and positioning technologies primarily include acoustics, inertial navigation, matching (terrain, gravity, magnetism, etc.), and radio navigation. While underwater acoustics experience minimal attenuation, the channel exhibits temporal and spatial variations. Acoustic signals transmitted through the underwater acoustic channel are subject to Doppler and multipath effects. The complexity of the ocean environment complicates underwater acoustic navigation, making positioning difficult in acoustic shadow zones. Inertial navigation is subject to drift and requires regular calibration. Matching navigation requires background field and characteristic environmental characteristics, resulting in low availability and large matching errors in areas with less distinct features. Shore-based very low frequency radio navigation signals have a certain ability to penetrate water, but only to a depth of several tens of meters, providing navigation and positioning services only for vehicles operating in the shallow submerged layer.

[0003] The electromagnetic energy of existing shore-based high-power very low frequency and extremely low frequency transmitter signals attenuates significantly when the air crosses the seawater interface after a long transmission distance. The depth of shore-based very low frequency radio signals (3k~30kHz) entering the seawater is about tens of meters, and the depth of shore-based extremely low frequency (30~300Hz) entering the seawater is about hundreds of meters. The construction cost of shore-based very low frequency or extremely low frequency transmitters is high, and the water penetration depth is limited, and it is difficult to reach a water penetration depth of more than one kilometer.

[0004] The transmitting end of the existing underwater acoustic navigation and positioning device must be in the sea water, and the acoustic signal is difficult to penetrate the sea ice to navigate and position the underwater carrier under the sea ice. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a method, system, and device for deep-sea navigation and positioning using near-field radio transmission, which achieves navigation and positioning at depths of 3,000 meters underwater, is low-cost, easy to deploy and recover, and has a high cost-effectiveness.

[0006] The present invention provides a near-field radio transmission deep-depth underwater navigation and positioning method, comprising: S1: Deploy a near-field extremely low frequency electromagnetic signal transmitter on the water surface; The near-field extremely low frequency electromagnetic signal transmitting device includes the following modules: a signal source and transmission control device, a supercapacitor group, a superconducting energy storage coil and a loop antenna; The signal source and the broadcast control device are connected to the super capacitor group. The supercapacitor group is connected to the superconducting energy storage coil; The superconducting energy storage coil is connected to the loop antenna; The signal source and the transmission control device are used to control the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device; S2: Set the underwater receiving unit parameters and deploy the underwater carrier; S3: Use a near-field extremely low frequency electromagnetic signal transmitter to navigate and locate the underwater carrier to obtain positioning coordinates.

[0007] According to a near-field radio transmission deep-depth underwater navigation and positioning method provided by the present invention, the signal source and broadcast control device include the following modules: a satellite navigation timing receiver, a time reference unit, a central control unit, and a power amplification unit; The satellite navigation timing receiver is connected to a time reference unit; Said satellite navigation timing receiver and central control unit; The satellite navigation timing receiver is used to receive a clock signal and a latitude and longitude position, and send the clock signal to the time reference unit and send the latitude and longitude position to the central control unit; The time reference unit is connected to the central control unit, and the time reference unit is used to provide a clock signal to the central control unit; The central control unit is connected to the power amplification unit; The central control unit is connected to the supercapacitor switch assembly; The central control unit is used to control the power amplification unit and the supercapacitor switch assembly; The power amplification unit is used to amplify the signal. The supercapacitor switch assembly is used to control the access of the supercapacitor group.

[0008] According to a near-field radio transmission deep-depth underwater navigation and positioning method provided by the present invention, step S1 includes: S11: installing a plurality of near-field extremely low frequency electromagnetic signal transmitting devices on the water surface, wherein the distance between two near-field extremely low frequency electromagnetic signal transmitting devices is greater than 1.5 kilometers; S12: Connect adjacent near-field extremely low frequency electromagnetic signal transmitting devices using ropes.

[0009] According to a near-field radio transmission deep-depth underwater navigation and positioning method provided by the present invention, step S11 includes: When the number of installed near-field extremely low frequency electromagnetic signal transmitting devices is N, the near-field extremely low frequency electromagnetic signal transmitting devices are arranged in a regular N-gon.

[0010] According to a near-field radio transmission deep-depth underwater navigation and positioning method provided by the present invention, the loop antenna is composed of more than 1000 strands of excitation wire wound with more than 10 turns, the radius of the loop antenna is greater than 50 meters, the outside of the loop antenna coil is wrapped with insulating material, and more than 8 floating materials are deployed on the coil.

[0011] According to a near-field radio transmission deep-sea navigation and positioning method provided by the present invention, a superconducting energy storage coil is composed of more than 8 sets of coil cakes wound with superconducting materials, and the superconducting energy storage coil is immersed in a liquid below -196.15°C for heat preservation; The capacitance of the supercapacitor is greater than 1F.

[0012] According to a near-field radio transmission deep-depth underwater navigation and positioning method provided by the present invention, step S2 includes: S21: Obtain the longitude and latitude position data of the center of the near-field extremely low frequency electromagnetic signal transmitter ring antenna deployed on the water surface through the satellite navigation timing receiver; S22: The position data, frequency data and timing of the transmission signals of the three near-field extremely low frequency electromagnetic signal transmitting devices deployed on the water surface are set to the underwater receiving unit of the underwater carrier by binding, and the water pressure sensor of the underwater receiving unit is calibrated. When the water depth measurement accuracy is less than 0.2 meters, the underwater carrier is deployed and step S3 is executed. If the water depth measurement accuracy is not less than 0.2 meters, the measurement is suspended.

[0013] According to a near-field radio transmission deep-depth underwater navigation and positioning method provided by the present invention, step S3 includes: S31: All near-field extremely low frequency electromagnetic signal transmitting devices transmit signals in a time sequence, wherein the nth near-field extremely low frequency electromagnetic signal transmitting device transmits signals in a time sequence. 2n-1 The electromagnetic pulse signal is transmitted at a frequency of F for a first time length, the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal for a second time length, and the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal at a frequency of F for a second time length. 2n The electromagnetic pulse signal is transmitted at a frequency for a third time length, and the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal for a fourth time length, where n is the ordinal number of the near-field extremely low frequency electromagnetic signal transmitting device; S32: The underwater carrier receives the electromagnetic pulse signal and calculates the difference between the two signals. The signal phase is measured and solved to obtain the distance between the underwater carrier and the extremely low frequency navigation signal transmitter. ; S33: Calculate the position of the underwater carrier by solving the equation using the least squares method: in, is the horizontal coordinate of the underwater carrier position, is the abscissa of the location of the extremely low frequency navigation signal transmitter; is the ordinate of the underwater carrier position, is the vertical coordinate of the position of the extremely low frequency navigation signal transmitter; is the depth of the underwater carrier; S34: Synchronize the clock signal of the extremely low frequency navigation signal transmitting device according to the clock difference between the underwater carrier and the extremely low frequency navigation signal transmitting device.

[0014] The present invention also provides a near-field radio transmission deep-depth underwater navigation and positioning system, comprising: Near-field extremely low frequency electromagnetic signal transmitter deployment module: used to deploy near-field extremely low frequency electromagnetic signal transmitters on the water surface; The near-field extremely low frequency electromagnetic signal transmitting device includes the following modules: a signal source and transmission control device, a supercapacitor group, a superconducting energy storage coil and a loop antenna; The signal source and the broadcast control device are connected to the super capacitor group. The supercapacitor group is connected to the superconducting energy storage coil; The superconducting energy storage coil is connected to the loop antenna; The signal source and the transmission control device are used to control the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device; Underwater carrier launch module: used to set the parameters of the underwater receiving unit and deploy the underwater carrier; Positioning coordinate acquisition module: used to navigate and locate the underwater carrier and obtain the positioning coordinates.

[0015] The present invention also provides an electronic device comprising a memory, a communication interface, a processor and a communication bus. When the processor executes a computer program, the steps of any of the above-mentioned near-field radio transmission deep-depth underwater navigation and positioning methods are implemented.

[0016] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The present invention provides a method, system, and device for underwater navigation and positioning at great depths using near-field radio transmission. Three extremely low frequency (ELF) electromagnetic signal transmitters are deployed on the water surface. Each ELF electromagnetic signal transmitter transmits a specific dual-frequency radio electromagnetic signal via a loop antenna. An underwater receiving unit uses a superconducting quantum interference magnetometer to receive the near-field electromagnetic signals from the three surface ELF electromagnetic signal transmitters. The position information of the underwater carrier is obtained through positioning and calculation based on the position information of the surface ELF electromagnetic signal transmitters and the information from the water pressure sensor of the underwater receiving unit. This enables underwater carrier navigation and positioning at great depths of several thousand meters underwater.

[0017] According to the method and device proposed in the present invention, the launch device can be deployed not only on the water surface but also on the surface of sea ice to provide navigation and positioning for deep underwater carriers under the sea ice.

[0018] The present invention emits strong electromagnetic pulses in a local area, which can realize navigation and positioning at a depth of 3,000 meters underwater. It has low cost, is easy to deploy and recover, and has a high cost-effectiveness ratio.

[0019] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 The present invention provides a flowchart of a method for deep-sea navigation and positioning using near-field radio transmission.

[0022] Figure 2 It is a working diagram of the near-field radio transmission and reception system.

[0023] Figure 3 It is a schematic diagram of the composition of a near-field extremely low frequency electromagnetic signal transmitting device.

[0024] Figure 4 This is a schematic diagram of the supercapacitor group and switches.

[0025] Figure 5 It is a schematic diagram of signal source and broadcast control.

[0026] Figure 6 It is a schematic diagram of the underwater receiving unit.

[0027] Figure 7 This is a structural block diagram of the near-field radio transmission deep-depth underwater navigation and positioning system provided by the present invention.

[0028] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention.

[0029] Reference numerals: 31. Loop antenna; 32. Superconducting energy storage coil; 33. Supercapacitor group; 34. Signal source and broadcast control device; 41. First switch; 42. First capacitor; 43. Second switch; 44. Second capacitor; 51. Satellite navigation timing receiver; 52. Time reference unit; 53. Central control unit; 54. Power amplifier unit; 55. Supercapacitor switch assembly; 61. Superconducting quantum interference magnetometer; 62. Water pressure sensor; 63. Navigation and positioning processing unit; 101. Near-field extremely low frequency electromagnetic signal transmitter deployment module; 102. Underwater carrier transmission module; 103. Positioning coordinate acquisition module; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. DETAILED DESCRIPTION

[0030] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0031] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0032] The following combination Figures 1 to 8 The present invention is described.

[0033] like Figure 1 As shown, Figure 1 The flowchart of the near-field radio transmission deep-depth underwater navigation and positioning method provided by the present invention includes: S1: Deploy a near-field extremely low frequency electromagnetic signal transmitter on the water surface; S2: Set the underwater receiving unit parameters and deploy the underwater carrier; S3: Use a near-field extremely low frequency electromagnetic signal transmitter to navigate and locate the underwater carrier to obtain positioning coordinates.

[0034] like Figure 2 As shown, Figure 2 A schematic diagram of the near-field radio transmission and reception system is provided. The underwater carrier receives extremely low frequency (ELF) electromagnetic signals from surface-based ELF electromagnetic signal transmitters 1, 2, and 3. By measuring the time difference between the arrival of the frequency signals, the distance between the underwater receiving unit and the three near-field radio transmitters is determined.

[0035] As an example, assume that each near-field extremely low frequency (ELF) electromagnetic signal transmitter uses two sets of transmission frequencies. Near-field extremely low frequency (ELF) electromagnetic signal transmitter 1 uses frequencies F1 and F2, near-field extremely low frequency (ELF) electromagnetic signal transmitter 2 uses frequencies F3 and F4, and near-field extremely low frequency (ELF) electromagnetic signal transmitter 3 uses frequencies F5 and F6, for a total of six transmission frequencies ranging from 5 Hz to 10 Hz. Each set of transmission frequencies is fixedly assigned to each near-field transmitter. The receiving end can distinguish which near-field transmitter is transmitting based on the received signal frequency. A typical example frequency setting is (5 Hz, 6 Hz), (7 Hz, 8 Hz), and (9 Hz, 10 Hz). Distance is obtained by measuring the time difference of arrival of signals at different frequencies. For example, in seawater with a conductivity of 4 S / m, the velocity difference at (5 Hz, 6 Hz) is 337 m / s, at (7 Hz, 8 Hz) is 290 m / s, and at (9 Hz, 10 Hz) is 256 m / s. Because the transmission time of each extremely low frequency electromagnetic frequency signal is aligned with the universal coordinated time second, the distance measurement value is calculated by measuring the arrival time difference of each set of electric field signal frequencies and the linear relationship between speed difference, arrival time difference and propagation distance. Combined with the water depth value obtained by the water pressure sensor 62 of the underwater receiving unit and the position data transmitted by the near-field radio transmitter, the position of the underwater carrier can be determined through least squares solution.

[0036] Specifically, such as Figure 3 As shown, the near-field extremely low frequency electromagnetic signal transmitting device includes the following modules: a signal source and broadcasting control device 34, a supercapacitor group 33, a superconducting energy storage coil 32 and a loop antenna 31; The signal source and broadcast control device 34 is connected to the super capacitor group 33. The supercapacitor group 33 is connected to the superconducting energy storage coil 32; The superconducting energy storage coil 32 is connected to the loop antenna 31; The signal source and broadcast control device 34 is used to control the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device.

[0037] The loop antenna 31 is constructed from more than 1000 strands of excitation wire wound in more than 10 turns. Its radius is greater than 50 meters. The coil is wrapped in insulating material, and more than eight floating materials are deployed on the coil. The superconducting energy storage coil 32 is constructed from more than eight coils wound with superconducting material. The superconducting energy storage coil 32 is immersed in liquid nitrogen at -196.15°C for insulation. The supercapacitor has a capacitance greater than 1F.

[0038] Specifically, step S1 includes: S11: installing a plurality of near-field extremely low frequency electromagnetic signal transmitting devices on the water surface, wherein the distance between two near-field extremely low frequency electromagnetic signal transmitting devices is greater than 1.5 kilometers; S12: Connect adjacent near-field extremely low frequency electromagnetic signal transmitting devices using ropes.

[0039] According to a near-field radio transmission deep-depth underwater navigation and positioning method provided by the present invention, step S11 includes: When the number of installed near-field extremely low frequency electromagnetic signal transmitting devices is N, the near-field extremely low frequency electromagnetic signal transmitting devices are arranged in a regular N-gon.

[0040] like Figure 4 As shown, Figure 4 Figure 3 is a schematic diagram of the supercapacitor bank 33 and switch. The supercapacitors, depending on the switch, form an LC oscillator circuit with the inductance of the superconducting energy storage coil 32 and the transmitting loop antenna 31 to generate the operating frequency of the transmitted electromagnetic signal. Supercapacitors typically have a capacity greater than 1F and are capable of rapid, high-current charging and discharging, up to 1000A. The signal source and transmitter control the opening and closing of the switch, replenishing the energy of the LC oscillator circuit formed by the inductance of the energy storage coil and the transmitting loop antenna 31, ensuring long-term operation.

[0041] Specifically, the supercapacitor group 33 includes a first switch 41, a first capacitor 42, a second switch 43, and a second capacitor 44; by opening and closing the first switch 41 and the second switch 43, the near-field extremely low frequency electromagnetic signal transmitting device can transmit signals of two frequencies.

[0042] like Figure 5 As shown, the signal source and broadcast control device 34 includes the following modules: a satellite navigation timing receiver 51, a time reference unit 52, a central control unit 53, and a power amplifier unit 54; The satellite navigation timing receiver 51 is connected to the time reference unit 52; The satellite navigation timing receiver 51 and the central control unit 53; The satellite navigation timing receiver 51 is used to receive a clock signal and a latitude and longitude position, and send the clock signal to the time reference unit 52 for connection, and send the latitude and longitude position to the central control unit 53; The time reference unit 52 is connected to the central control unit 53, and the time reference unit 52 is used to provide a clock signal to the central control unit 53; The central control unit 53 is connected to the power amplification unit 54; The central control unit 53 is connected to the supercapacitor switch assembly 55; The central control unit 53 is used to control the power amplifier unit 54 and the supercapacitor switch assembly 55; The power amplifier unit 54 is used to amplify the signal. The supercapacitor switch assembly 55 is used to control the access of the supercapacitor group 33 .

[0043] The satellite navigation timing receiver 51 receives satellite navigation signals, acquires longitude and latitude position and time information, and transmits a 1PPS second UTC time signal to the time reference unit 52 (which contains a rubidium clock). Based on the set frequency group and signal transmission sequence, the central control unit 53 controls the supercapacitor switch assembly 55 to switch between extremely low frequency (ELF) electromagnetic signals of different frequencies at the exact second of UTC time. The ELF electromagnetic signals of the set frequency are amplified by the power amplifier unit 54 and then transmitted through the loop antenna 31. Frequency-division signal transmission ensures no mutual interference at the receiving end. The time reference stability and accuracy are better than 1E-11, ensuring precise synchronization of the transmission time. The power amplifier unit 54 uses pulsed power amplification to compensate for energy loss during oscillation of the superconducting energy storage coil 32 and the supercapacitor, ensuring that the peak strength of the magnetic field emitted by the loop antenna 31 exceeds 1T. The central control unit 53 operates according to the following steps: First, it completes a system startup self-test to ensure that the satellite navigation timing receiver 51 can properly receive satellite navigation signals and output position data and timing signals. The second step is to adjust the time base of the time reference unit 52 (including the rubidium clock) so that its pulse per second (PPS) is synchronized with the satellite navigation UTC time (1PPS). The third step is to control the supercapacitor switch assembly 55 to switch on and off at the full second of UTC time, according to the set operating frequency and time sequence, to achieve periodic transmission of the extremely low frequency navigation signal.

[0044] Specifically, step S2 includes: S21: Obtaining the longitude and latitude position data of the center of the near-field extremely low frequency electromagnetic signal transmitting device ring antenna 31 deployed on the water surface through the satellite navigation timing receiver 51; S22: The position data of the three near-field extremely low frequency electromagnetic signal transmitting devices deployed on the water surface, the extremely low frequency electromagnetic signal transmitting frequency data, the transmitting signal timing and other parameters are set to the underwater receiving unit of the underwater carrier by binding, and the water pressure sensor 62 of the underwater receiving unit is calibrated. When the water depth measurement accuracy is less than 0.2 meters, the underwater carrier is deployed and step S3 is executed. If the water depth measurement accuracy is not less than 0.2 meters, the measurement is suspended.

[0045] Specifically, step S3 includes: S31: All near-field extremely low frequency electromagnetic signal transmitting devices transmit signals in a time sequence, wherein the nth near-field extremely low frequency electromagnetic signal transmitting device transmits signals in a time sequence. 2n-1 The electromagnetic pulse signal is transmitted at a frequency of F for a first time length, the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal for a second time length, and the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal at a frequency of F for a second time length. 2n The electromagnetic pulse signal is transmitted at a frequency for a third time length, and the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal for a fourth time length, where n is the ordinal number of the near-field extremely low frequency electromagnetic signal transmitting device; S32: The underwater carrier receives the electromagnetic pulse signal and calculates the difference between the two signals. The signal phase is measured and solved to obtain the distance between the underwater carrier and the extremely low frequency navigation signal transmitter. ; S33: Calculate the position of the underwater carrier by solving the equation using the least squares method: in, is the horizontal coordinate of the underwater carrier position, is the abscissa of the location of the extremely low frequency navigation signal transmitter; is the ordinate of the underwater carrier position, is the vertical coordinate of the position of the extremely low frequency navigation signal transmitter; is the depth of the underwater carrier; S34: Synchronize the clock signal of the extremely low frequency navigation signal transmitting device according to the clock difference between the underwater carrier and the extremely low frequency navigation signal transmitting device.

[0046] like Figure 6 As shown, Figure 6 The underwater receiving unit consists of a superconducting quantum interference magnetometer 61 that receives extremely low frequency electromagnetic signals of varying frequencies from a near-field radio transmitter on the surface and sends them to a navigation and positioning processing unit 63 for time difference of arrival measurement. The water pressure sensor 62 sends the measured water depth data to the navigation and positioning processing unit 63.

[0047] The dual-frequency electromagnetic pulse arrival time difference measurement uses the pulse signal matching correlation method. The arrival time difference measurement accuracy is better than 0.1ms, and the ranging error is between 0.25 and 0.33 meters, achieving high ranging accuracy. The navigation and positioning processing unit 63 uses the ranging value obtained from the arrival time difference measurement, the water depth value, and the position data of the surface near-field radio transmitter to calculate the position data of the underwater carrier through a least squares solution. The ranging error is estimated to be 0.33 meters. When the geometric factor (DOP) of the underwater carrier receiving the three surface electromagnetic pulse signals is less than 10, the positioning accuracy is better than 3.3 meters.

[0048] The SQUID magnetometer 61 receives signals in the frequency range of 4 to 11 Hz, with a sensitivity better than 0.01 nT. For extremely low-frequency signals of 5 to 10 Hz, when the peak magnetic field signal strength at the transmitter exceeds 10 T, after near-field attenuation (estimated as the cube of the distance) at 3,000 meters of seawater, the signal's magnetic field strength at the receiver exceeds 0.37 nT. This significantly exceeds the SQUID magnetometer's sensitivity, demonstrating excellent electromagnetic signal reception and measurement capabilities.

[0049] In marine resource exploration areas, three near-field radio transmitters are deployed on the sea surface to provide real-time positioning services for underwater remotely operated vehicles (ROVs). During deep-sea scientific research, multi-carrier collaborative operations are implemented in hydrothermal vent areas (water depths of 3,800 meters) to provide high-precision navigation and positioning services for underwater AUVs. Providing navigation and positioning in hydrothermal areas requires thermal insulation protection for the underwater receiving unit in the underwater carrier to ensure normal operation in the high temperatures of the hydrothermal fluids.

[0050] In areas where underwater navigation services are needed on the Arctic ice, three near-field radio transmitters are deployed on the sea ice. When underwater vehicles enter the underwater navigation service area, they provide high-precision navigation and positioning services at great depths beneath the sea ice. During navigation and positioning under the Arctic sea ice, the near-field radio transmitters on the ice surface require cryogenic protection to ensure normal operation in the Arctic's low temperatures.

[0051] like Figure 7 As shown, the following describes a near-field radio transmission deep-depth underwater navigation and positioning system provided by the present invention. The near-field radio transmission deep-depth underwater navigation and positioning system described below and the near-field radio transmission deep-depth underwater navigation and positioning method described above can be referenced to each other. It includes: Near-field extremely low frequency electromagnetic signal transmitter deployment module 101: used to deploy a near-field extremely low frequency electromagnetic signal transmitter on the water surface; The near-field extremely low frequency electromagnetic signal transmitting device includes the following modules: a signal source and broadcasting control device 34, a supercapacitor group 33, a superconducting energy storage coil 32 and a loop antenna 31; The signal source and broadcast control device 34 is connected to the super capacitor group 33. The supercapacitor group 33 is connected to the superconducting energy storage coil 32; The superconducting energy storage coil 32 is connected to the loop antenna 31; The signal source and broadcast control device 34 is used to control the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device; Underwater carrier transmitting module 102: used to set the parameters of the underwater receiving unit and deploy the underwater carrier; Positioning coordinate acquisition module 103: used to perform navigation and positioning on the underwater carrier to obtain positioning coordinates.

[0052] The present invention also provides an electronic device, including a memory, a processor 810, and a computer program stored in the memory and executable on the processor 810. When the processor 810 executes the program, the steps of a near-field radio transmission deep-sea navigation and positioning method as described above are implemented.

[0053] Figure 8 An example of a physical structure diagram of an electronic device is shown below. Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute a near-field radio transmission deep-sea navigation and positioning method, which includes: S1: Deploy a near-field extremely low frequency electromagnetic signal transmitter on the water surface; The near-field extremely low frequency electromagnetic signal transmitting device includes the following modules: a signal source and broadcasting control device 34, a supercapacitor group 33, a superconducting energy storage coil 32 and a loop antenna 31; The signal source and broadcast control device 34 is connected to the super capacitor group 33. The supercapacitor group 33 is connected to the superconducting energy storage coil 32; The superconducting energy storage coil 32 is connected to the loop antenna 31; The signal source and broadcast control device 34 is used to control the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device; S2: Set the underwater receiving unit parameters and deploy the underwater carrier; S3: Use a near-field extremely low frequency electromagnetic signal transmitter to navigate and locate the underwater carrier to obtain positioning coordinates.

[0054] Furthermore, the logic instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

[0056] It should be noted that the embodiments of the present disclosure can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such code is provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.

[0057] In addition, although the operations of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that these operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flow chart can change the order of execution. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps. It should also be noted that the features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, the features and functions of a device described above can be further divided into being embodied by multiple devices.

[0058] Although the present disclosure has been described with reference to several specific embodiments, it should be understood that the present disclosure is not limited to the specific embodiments disclosed. The present disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A near-field radio transmission deep underwater navigation and positioning method, characterized in that: The following steps are involved: S1: Deploy a near-field extremely low frequency electromagnetic signal transmitter on the water surface; The near-field extremely low frequency electromagnetic signal transmitting device includes the following modules: a signal source and transmission control device, a supercapacitor group, a superconducting energy storage coil and a loop antenna; The signal source and the broadcast control device are connected to the super capacitor group. The supercapacitor group is connected to the superconducting energy storage coil; The superconducting energy storage coil is connected to the loop antenna; The signal source and the transmission control device are used to control the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device; S2: Set the underwater receiving unit parameters and deploy the underwater carrier; S3: Use a near-field extremely low frequency electromagnetic signal transmitter to navigate and locate the underwater carrier to obtain positioning coordinates.

2. The method for deep underwater navigation and positioning using near-field radio transmission according to claim 1, characterized in that: The signal source and broadcast control device includes the following modules: a satellite navigation timing receiver, a time reference unit, a central control unit, a power amplifier unit and a supercapacitor switch assembly; The satellite navigation timing receiver is connected to a time reference unit; Said satellite navigation timing receiver and central control unit; The satellite navigation timing receiver is used to receive a clock signal and a latitude and longitude position, and send the clock signal to the time reference unit and send the latitude and longitude position to the central control unit; The time reference unit is connected to the central control unit, and the time reference unit is used to provide a clock signal to the central control unit; The central control unit is connected to the power amplification unit; The central control unit is connected to the supercapacitor switch assembly; The central control unit is used to control the power amplification unit and the supercapacitor switch assembly; The power amplification unit is used to amplify the signal. The supercapacitor switch assembly is used to control the access of the supercapacitor group.

3. The method for deep underwater navigation and positioning using near-field radio transmission according to claim 1, characterized in that: Step S1 includes: S11: installing a plurality of near-field extremely low frequency electromagnetic signal transmitting devices on the water surface, wherein the distance between two near-field extremely low frequency electromagnetic signal transmitting devices is greater than 1.5 kilometers; S12: Connect adjacent near-field extremely low frequency electromagnetic signal transmitting devices using ropes.

4. The method for deep underwater navigation and positioning using near-field radio transmission according to claim 3, characterized in that: Step S11 includes: When the number of installed near-field extremely low frequency electromagnetic signal transmitting devices is N, the near-field extremely low frequency electromagnetic signal transmitting devices are arranged in a regular N-gon.

5. The method for deep underwater navigation and positioning using near-field radio transmission according to claim 1, characterized in that: The loop antenna is composed of more than 1000 excitation wires wound with more than 10 turns. The radius of the loop antenna is greater than 50 meters. The outside of the loop antenna coil is wrapped with insulating material, and more than 8 floating materials are deployed on the coil.

6. The method for deep underwater navigation and positioning using near-field radio transmission according to claim 1, characterized in that: The superconducting energy storage coil is made of more than 8 sets of coil cakes wound with superconducting materials. The superconducting energy storage coil is immersed in liquid below -196.15℃ for heat preservation. The capacitance of the supercapacitor is greater than 1F.

7. The method for deep underwater navigation and positioning using near-field radio transmission according to claim 2, characterized in that: Step S2 includes: S21: Obtain the longitude and latitude position data of the center of the near-field extremely low frequency electromagnetic signal transmitter ring antenna deployed on the water surface through the satellite navigation timing receiver; S22: The position data, frequency data and timing of the transmission signals of the three near-field extremely low frequency electromagnetic signal transmitting devices deployed on the water surface are set to the underwater receiving unit of the underwater carrier by binding, and the water pressure sensor of the underwater receiving unit is calibrated. When the water depth measurement accuracy is less than 0.2 meters, the underwater carrier is deployed and step S3 is executed. If the water depth measurement accuracy is not less than 0.2 meters, the measurement is suspended.

8. The method for deep underwater navigation and positioning using near-field radio transmission according to claim 1, characterized in that: Step S3 includes: S31: All near-field extremely low frequency electromagnetic signal transmitting devices transmit signals in a time sequence, wherein the nth near-field extremely low frequency electromagnetic signal transmitting device transmits signals in a time sequence. 2n-1 The electromagnetic pulse signal is transmitted at a frequency of F for a first time length, the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal for a second time length, and the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal at a frequency of F for a second time length. 2n The electromagnetic pulse signal is transmitted at a frequency for a third time length, and the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting the signal for a fourth time length, where n is the ordinal number of the near-field extremely low frequency electromagnetic signal transmitting device; S32: The underwater carrier receives the electromagnetic pulse signal and calculates the difference between the two signals. The signal phase is measured and solved to obtain the distance between the underwater carrier and the extremely low frequency navigation signal transmitter. ; S33: Calculate the position of the underwater carrier by solving the equation using the least squares method: in, is the horizontal coordinate of the underwater carrier position, is the abscissa of the location of the extremely low frequency navigation signal transmitter; is the ordinate of the underwater carrier position, is the vertical coordinate of the position of the extremely low frequency navigation signal transmitter; is the depth of the underwater carrier; S34: Synchronize the clock signal of the extremely low frequency navigation signal transmitting device according to the clock difference between the underwater carrier and the extremely low frequency navigation signal transmitting device.

9. A near-field radio transmission deep-depth underwater navigation and positioning system, used to execute a near-field radio transmission deep-depth underwater navigation and positioning method as claimed in any one of claims 1 to 8, characterized in that: include: Near-field extremely low frequency electromagnetic signal transmitter deployment module: used to deploy near-field extremely low frequency electromagnetic signal transmitters on the water surface; The near-field extremely low frequency electromagnetic signal transmitting device includes the following modules: a signal source and transmission control device, a supercapacitor group, a superconducting energy storage coil and a loop antenna; The signal source and the broadcast control device are connected to the super capacitor group. The supercapacitor group is connected to the superconducting energy storage coil; The superconducting energy storage coil is connected to the loop antenna; The signal source and the transmission control device are used to control the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device; Underwater carrier launch module: used to set the parameters of the underwater receiving unit and deploy the underwater carrier; Positioning coordinate acquisition module: used to navigate and locate the underwater carrier and obtain the positioning coordinates.

10. An electronic device comprising a memory, a communication interface, a processor and a communication bus, characterized in that: When the processor executes the computer program, the steps of the near-field radio transmission deep-depth underwater navigation and positioning method as claimed in any one of claims 1 to 8 are implemented.

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