Multi-pulse underwater acoustic time service method, system and device in bathymetry

Abstract

The present application relates to the field of underwater acoustic time service, and provides an underwater acoustic time service method, system and device in seabed surveying, the underwater acoustic time service method comprising: a transmitting end transmits a first acoustic pulse signal, and a receiving end sends a first response signal to the transmitting end after receiving the first acoustic pulse signal; the transmitting end receives the first response signal, and calculates a first propagation time length based on the first response signal; the transmitting end transmits a second acoustic pulse signal, and the receiving end sends a second response signal to the transmitting end after receiving the second acoustic pulse signal; the transmitting end receives the second response signal, and calculates a second propagation time length based on the second response signal; the first propagation time length is corrected based on the second propagation time length; and the transmitting end is time-served based on the corrected first propagation time length. The technical problem of noise interference and multi-path propagation encountered in underwater acoustic time service can be solved, and the correctness and accuracy of time service can be improved.

Description

Technical Field

[0001] This invention relates to the field of underwater acoustic timing technology, and in particular to an underwater acoustic timing method, system, and device for seabed geodesy. Background Technology

[0002] Underwater acoustic time synchronization is an important technology in the field of underwater acoustic communication. It enables time measurement and information transmission underwater, making underwater time synchronization possible. This technology plays a vital role in marine exploration, underwater communication, and navigation.

[0003] In practical applications, due to the limitations of the size and power consumption of underwater equipment, traditional underwater acoustic time synchronization methods encounter problems such as noise interference and multipath propagation, which can affect the accuracy and precision of time synchronization.

[0004] To improve the accuracy and reliability of time synchronization, researchers have been working to refine related algorithms, models, and signal processing techniques to address issues caused by interference and multipath propagation. However, the results have been less than ideal. Summary of the Invention

[0005] This invention provides a method, system, and apparatus for underwater acoustic time synchronization in seabed geodesy, which solves the defects of noise interference and multipath propagation encountered in underwater acoustic time synchronization, and can improve the accuracy and precision of time synchronization.

[0006] This invention provides an underwater acoustic timing method, comprising:

[0007] The transmitting end transmits the first acoustic pulse signal, and the receiving end sends a first response signal to the transmitting end after receiving the first acoustic pulse signal.

[0008] After receiving the first response signal, the transmitting end calculates the first propagation time based on the first response signal;

[0009] The transmitting end emits a second acoustic pulse signal, and the receiving end, upon receiving the second acoustic pulse signal, sends a second response signal to the transmitting end.

[0010] After receiving the second response signal, the transmitting end calculates the second propagation duration based on the second response signal;

[0011] The first propagation duration is adjusted based on the second propagation duration;

[0012] The transmitter is timed based on the corrected first propagation duration.

[0013] According to the underwater acoustic timing method provided by the present invention, the transmitting end transmits a first acoustic pulse signal, including: the transmitting end transmits two identical first pulse signals in succession;

[0014] After receiving the first acoustic pulse signal, the receiving end sends a first response signal to the transmitting end, including: the receiving end sends a first response signal for each first pulse signal received.

[0015] According to the underwater acoustic timing method provided by the present invention, calculating a first propagation duration based on a first response signal includes:

[0016] The communication duration is calculated based on the two first response signals received sequentially.

[0017] The first propagation duration is calculated using the following formula (1).

[0018]

[0019] Where t' c For the first propagation duration, t t For communication duration, t a For response delay.

[0020] According to the underwater acoustic timing method provided by the present invention, the transmitting end transmits a second acoustic pulse signal, including:

[0021] After receiving the first response signal, the transmitter sends a second acoustic pulse signal at a first time interval. The second acoustic pulse signal includes the time of transmission of the second acoustic pulse signal.

[0022] According to the underwater acoustic timing method provided by the present invention, after receiving a second acoustic pulse signal, the receiving end sends a second response signal to the transmitting end, including:

[0023] Upon receiving the second acoustic pulse signal, the receiving end immediately sends out a second response signal, which includes the time of sending the second response signal.

[0024] According to the underwater acoustic timing method provided by the present invention, calculating a second propagation duration based on a second response signal includes:

[0025] The second propagation duration is calculated using the following formula (2).

[0026]

[0027] Where t' c 't' represents the second propagation duration. h t is the time when the second response signal is received. f t is the time for transmitting the second acoustic pulse signal. a For response delay.

[0028] According to the underwater acoustic timing method provided by the present invention, the first propagation duration is corrected based on the second propagation duration, including:

[0029] Calculate the absolute value of the difference between the first propagation duration and the second propagation duration. If it is less than or equal to the time difference threshold, use the second propagation duration to correct the first propagation duration.

[0030] According to the underwater acoustic timing method provided by the present invention, timing is provided to the transmitting end based on the corrected first propagation duration, including:

[0031] The transmitter is timed based on the corrected first propagation time and the time of sending the second response signal.

[0032] The present invention also provides an underwater acoustic timing system, comprising:

[0033] The first transmitting module is used to transmit a first acoustic pulse signal at the transmitting end, and the receiving end sends a first response signal to the transmitting end after receiving the first acoustic pulse signal.

[0034] The first calculation module is used to calculate the first propagation duration based on the first response signal after the transmitter receives the first response signal.

[0035] The second transmitting module is used to transmit a second acoustic pulse signal at the transmitting end, and after receiving the second acoustic pulse signal, the receiving end sends a second response signal to the transmitting end.

[0036] The second calculation module is used to calculate the second propagation duration based on the second response signal after the transmitter receives the second response signal.

[0037] The correction module is used to correct the first propagation duration based on the second propagation duration;

[0038] The timing module is used to provide timing information to the transmitter based on the corrected first propagation duration.

[0039] The present invention also provides an underwater acoustic timing device, including an underwater acoustic communication module, a signal processing module and a clock module;

[0040] The underwater acoustic communication module is used to transmit and receive acoustic pulse signals;

[0041] The signal processing module is used to process and analyze the pulse signals received by the underwater acoustic communication module;

[0042] The clock module is used to provide a high-precision time reference.

[0043] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the above-described underwater acoustic timing methods.

[0044] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the underwater acoustic timing methods described above.

[0045] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the underwater acoustic timing methods described above.

[0046] The solution of the present invention has the following beneficial effects:

[0047] (1) Strong anti-interference capability: The transmission mode of multi-pulse signal has the characteristics of anti-interference and anti-multipath, which can effectively reduce the influence of external interference on the timing results, and can overcome the multipath propagation problem caused by multiple reflections of the signal in water.

[0048] (2) High timing accuracy: By adopting threshold detection and multi-pulse correction, precise measurement between seabed geodetic equipment is achieved, reaching microsecond-level timing accuracy;

[0049] (3) Broad application prospects: It provides a high-precision timing scheme suitable for the field of underwater acoustics, which will provide important support for the development and application of underwater acoustics. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is one of the flowcharts of the underwater acoustic timing method provided in the embodiments of the present invention;

[0052] Figure 2 This is a schematic diagram of the pulse structure provided in an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the underwater acoustic timing system provided in an embodiment of the present invention;

[0054] Figure 4 This is a schematic diagram illustrating an application scenario of the underwater acoustic timing device provided in an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0057] Figure 1 This is one of the flowcharts of the underwater acoustic timing method provided in the embodiments of the present invention.

[0058] like Figure 1 As shown, this embodiment provides an underwater acoustic timing method, including:

[0059] Step 101: The transmitting end transmits a first acoustic pulse signal, and the receiving end sends a first response signal to the transmitting end after receiving the first acoustic pulse signal.

[0060] Step 102: After receiving the first response signal, the transmitting end calculates the first propagation duration based on the first response signal;

[0061] Step 103: The transmitting end transmits a second acoustic pulse signal, and the receiving end sends a second response signal to the transmitting end after receiving the second acoustic pulse signal;

[0062] Step 104: After receiving the second response signal, the transmitting end calculates the second propagation duration based on the second response signal;

[0063] Step 105: Correct the first propagation duration based on the second propagation duration;

[0064] Step 106: Time synchronization is performed on the transmitter based on the corrected first propagation duration.

[0065] In practical applications, the transmitting end can be a seabed geodetic device, and the receiving end can be a seabed geodetic reference device. An acoustic pulse signal is a pulse signal transmitted by the underwater acoustic communication module in the seabed geodetic device according to preset parameters, which may include pulse width t1, pulse interval t2 information, and pulse type CW information.

[0066] In an exemplary embodiment, the transmitting end transmits a first acoustic pulse signal, including: the transmitting end transmits two identical first pulse signals sequentially;

[0067] After receiving the first acoustic pulse signal, the receiving end sends a first response signal to the transmitting end, including: the receiving end sends a first response signal for each first pulse signal received.

[0068] During implementation, the underwater acoustic communication module of the seabed geodetic equipment first transmits a pulse signal p1 to ensure the clarity and recognizability of the transmitted signal; then, after a certain time interval t2, it transmits another pulse signal p2 of the same type to avoid mutual interference and multipath effects between various underwater signals. This signal transmission method helps improve the accuracy and precision of underwater acoustic timing.

[0069] Upon receiving an acoustic pulse signal, the underwater acoustic communication module in the seabed geodetic reference equipment immediately generates two corresponding response signals, a1 and a2. These response signals are received by the underwater acoustic communication module in the seabed geodetic equipment and transmitted to the signal processing module for subsequent calculations and analysis.

[0070] In an exemplary embodiment, calculating the first propagation duration based on the first response signal includes:

[0071] The communication duration is calculated based on the two first response signals received sequentially.

[0072] The first propagation duration is calculated using the following formula (1).

[0073]

[0074] Where t' c For the first propagation duration, t t For communication duration, t a For response delay.

[0075] In practice, the signal processing module of the seabed geodetic equipment can perform correlation peak calculation on the two received response signals; then, using preset peak thresholds and preset time delay deviation thresholds, the time t taken by the target response signal in this communication can be determined. t .

[0076] The two received response signals, a1 and a2, are subjected to correlation peak-to-peak calculation. The core of this correlation peak calculation is the generalized cross-correlation method, which essentially adjusts the power spectral density between the signals to improve the performance of the correlation function. The formula for calculating the generalized cross-correlation function is as follows:

[0077]

[0078] in, For related peaks, For the weight function, The cross-power spectrum between signals a1 and a2 is then used. Finally, with the help of preset peak thresholds and preset time delay deviation thresholds, the time t taken by the target response signal in this communication is determined. t .

[0079] In practical applications, the peak threshold and preset time delay deviation threshold can be dynamically adjusted according to the underwater acoustic environment and signal characteristics, which can effectively reduce the system's misjudgment rate and improve the detection rate of the target signal, thereby achieving microsecond-level accurate timing.

[0080] In an exemplary embodiment, the transmitting end transmits a second acoustic pulse signal, including:

[0081] After receiving the first response signal, the transmitter sends a second acoustic pulse signal at a first time interval. The second acoustic pulse signal includes the time of transmission of the second acoustic pulse signal.

[0082] During implementation, the underwater acoustic communication module of the seabed geodetic equipment will send an interrogation pulse signal p3, i.e., the second pulse signal, to the seabed geodetic reference equipment after a time interval t3. The width of the second pulse signal can be t4. At the same time, the time of the current pulse transmission is recorded and denoted as t. f The time interval t3 satisfies the condition: t3 > 2·t c +2·t1+t2. This ensures that the pulse signal is not lost and the response signal is not erratic. The overall timing design fully considers the signal transmission speed and delay to ensure the stability of the timing method and the reliability of the timing system.

[0083] In an exemplary embodiment, after receiving the second acoustic pulse signal, the receiving end sends a second response signal to the transmitting end, including:

[0084] Upon receiving the second acoustic pulse signal, the receiving end immediately sends out a second response signal, which includes the time of sending the second response signal.

[0085] The underwater acoustic communication module of the seabed geodetic benchmark equipment will immediately reply and inform you of the current time t after receiving the interrogation pulse signal. d Through this inquiry-and-response mechanism, seabed geodetic equipment can obtain reference time information in real time and accurately, facilitating subsequent time synchronization and other related work.

[0086] In an exemplary embodiment, calculating the second propagation duration based on the second response signal includes:

[0087] The second propagation duration is calculated using the following formula (2).

[0088]

[0089] Where t' c 't' represents the second propagation duration. h t is the time when the second response signal is received. f t is the time for transmitting the second acoustic pulse signal. a For response delay.

[0090] In an exemplary embodiment, modifying the first propagation duration based on the second propagation duration includes:

[0091] Calculate the absolute value of the difference between the first propagation duration and the second propagation duration. If it is less than or equal to the time difference threshold, use the second propagation duration to correct the first propagation duration.

[0092] Specifically, calculate t' c and t” c The time difference Δt between the two c =|t” c -t' c |. If Δt c ≤E c (E c If a preset time difference threshold is used, then t” can be utilized. c Correct t' c To obtain the corrected propagation time t c If Δt c >E c Then ignore t” c Its corrective effect.

[0093] In an exemplary embodiment, timing the transmitter based on the modified first propagation duration includes:

[0094] The transmitter is timed based on the corrected first propagation time and the time of sending the second response signal.

[0095] During implementation, the recovery time t of the seabed geodetic reference equipment can be used as a reference. d and the corrected propagation time t c , through t d +t c t was calculated z Used for timing seabed geodetic equipment. For example, the response time t of a seabed geodetic reference equipment. d The corrected propagation time t is 12:00:00. c It lasts for 10 seconds, meaning that the time it takes for the seabed geodetic reference equipment to emit a signal is 10 seconds. d This information reaches the seabed geodetic equipment after 10 seconds, so the seabed geodetic equipment can calculate the current time as 12:00:10. The above data is just an example. In actual applications, this application can achieve time synchronization accuracy at the microsecond level.

[0096] Figure 2 This is a schematic diagram of the pulse structure provided in an embodiment of the present invention.

[0097] like Figure 2 As shown in the exemplary implementation, a second pulse signal is continuously transmitted after the first preliminary time synchronization is completed, in order to effectively correct the propagation time t.c This allows us to obtain high-precision time information at the microsecond level.

[0098] The underwater acoustic timing system provided by the present invention is described below. The underwater acoustic timing system described below can be referred to in correspondence with the underwater acoustic timing method described above.

[0099] Figure 3 This is one of the structural schematic diagrams of the underwater acoustic timing system provided in the embodiments of the present invention.

[0100] like Figure 3 As shown, the underwater acoustic timing system provided in this embodiment includes:

[0101] The first transmitting module 301 is used to transmit a first acoustic pulse signal at the transmitting end, and after receiving the first acoustic pulse signal, the receiving end sends a first response signal to the transmitting end.

[0102] The first calculation module 302 is used to calculate the first propagation duration based on the first response signal after the transmitter receives the first response signal.

[0103] The second transmitting module 303 is used to transmit a second acoustic pulse signal at the transmitting end, and after receiving the second acoustic pulse signal, the receiving end sends a second response signal to the transmitting end.

[0104] The second calculation module 304 is used to calculate the second propagation duration based on the second response signal after the transmitter receives the second response signal.

[0105] The correction module 305 is used to correct the first propagation duration based on the second propagation duration;

[0106] The timing module 306 is used to provide timing to the transmitter based on the corrected first propagation duration.

[0107] In an exemplary embodiment, the first transmitting module 301 is specifically used for:

[0108] The transmitter sends two identical first pulse signals in succession.

[0109] Each time the receiver receives a first pulse signal, it transmits a first response signal.

[0110] In an exemplary embodiment, the first computing module 302 is specifically used for:

[0111] The communication duration is calculated based on the two first response signals received sequentially.

[0112] The first propagation duration is calculated using the following formula (1).

[0113]

[0114] Where t'c For the first propagation duration, t t For communication duration, t a For response delay.

[0115] In an exemplary embodiment, the second transmitting module 303 is specifically used for:

[0116] After receiving the first response signal, the transmitter sends a second acoustic pulse signal at a first time interval. The second acoustic pulse signal includes the time of transmitting the second acoustic pulse signal.

[0117] Upon receiving the second acoustic pulse signal, the receiving end immediately sends out a second response signal, which includes the time of sending the second response signal.

[0118] In the exemplary embodiment, the second computing module 304 is specifically used for:

[0119] The second propagation duration is calculated using the following formula (2).

[0120]

[0121] Where t' c 't' represents the second propagation duration. h t is the time when the second response signal is received. f t is the time for transmitting the second acoustic pulse signal. a For response delay.

[0122] In the exemplary embodiment, the correction module 305 is specifically used for:

[0123] Calculate the absolute value of the difference between the first propagation duration and the second propagation duration. If it is less than or equal to the time difference threshold, use the second propagation duration to correct the first propagation duration.

[0124] In an exemplary embodiment, the time synchronization module 306 is specifically used for:

[0125] The transmitter is timed based on the corrected first propagation time and the time of sending the second response signal.

[0126] The present invention also provides an underwater acoustic timing device, including an underwater acoustic communication module, a signal processing module and a clock module;

[0127] The underwater acoustic communication module is used to transmit and receive acoustic pulse signals;

[0128] The signal processing module is used to process and analyze the pulse signals received by the underwater acoustic communication module;

[0129] The clock module is used to provide a high-precision time reference.

[0130] Specifically, an underwater acoustic communication module is an output module that converts electrical signals into underwater acoustic wave signals, or an input module that converts underwater acoustic wave signals into electrical signals. When the underwater acoustic communication module acts as an output module, it can transmit multi-pulse signals in a specific frequency band; when the transducer acts as an input module, it can receive signals in a specific frequency band underwater.

[0131] The signal processing module is an important component of the timing device, mainly responsible for processing and analyzing the pulse signals received by the underwater acoustic communication module. The specific functions of the signal processing module are as follows: (1) Filtering, amplifying, and denoising the acquired acoustic signals to extract the required information; (2) Using digital signal processing technology to perform spectrum analysis and time domain analysis on the acoustic signals to obtain characteristic parameters such as frequency, amplitude, and phase of the signals; (3) Calculating and identifying the received acoustic signals according to the preset signal characteristic parameters; (4) Storing the processed signal data in memory or external storage media for subsequent data analysis and application.

[0132] The clock module generates or synchronizes local time information by using an internal crystal oscillator or by receiving external time signals, ensuring that all parts of the device operate under the same time standard.

[0133] In practical applications, the timing device also includes a power supply module and a release control module. The power supply module provides a stable and reliable power supply to the entire device, ensuring that the electrical energy required for normal operation is effectively supplied. The power supply module also has overcurrent, overvoltage, and overheat protection functions to ensure that the timing device can promptly cut off power or take corresponding protective measures in abnormal situations to prevent damage to other modules.

[0134] The release control module ensures accurate deployment and retrieval of seabed geodetic equipment in underwater environments. This module typically consists of buoys, sinkers, and a base frame, which work together to guarantee the stability and controllability of the device, thereby improving operational accuracy and reliability.

[0135] Figure 4 This is a schematic diagram of an application scenario for the underwater acoustic timing device provided in an embodiment of the present invention.

[0136] like Figure 4 As shown, the underwater acoustic timing device provided by the present invention is laid on the seabed. One seabed geodetic reference device can be connected to multiple seabed geodetic devices to provide timing services for multiple seabed geodetic devices.

[0137] The specific implementation method of the underwater acoustic time synchronization system provided in this embodiment can be implemented with reference to the above embodiments, and will not be repeated here.

[0138] Figure 5An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 930, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute an underwater acoustic timing method, which includes:

[0139] The transmitting end transmits the first acoustic pulse signal, and the receiving end sends a first response signal to the transmitting end after receiving the first acoustic pulse signal.

[0140] After receiving the first response signal, the transmitting end calculates the first propagation time based on the first response signal;

[0141] The transmitting end emits a second acoustic pulse signal, and the receiving end, upon receiving the second acoustic pulse signal, sends a second response signal to the transmitting end.

[0142] After receiving the second response signal, the transmitting end calculates the second propagation duration based on the second response signal;

[0143] The first propagation duration is adjusted based on the second propagation duration;

[0144] The transmitter is timed based on the corrected first propagation duration.

[0145] Furthermore, the logical instructions in the aforementioned memory 530 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, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0146] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the underwater acoustic timing method provided by the above methods, the method comprising:

[0147] The transmitting end transmits the first acoustic pulse signal, and the receiving end sends a first response signal to the transmitting end after receiving the first acoustic pulse signal.

[0148] After receiving the first response signal, the transmitting end calculates the first propagation time based on the first response signal;

[0149] The transmitting end emits a second acoustic pulse signal, and the receiving end, upon receiving the second acoustic pulse signal, sends a second response signal to the transmitting end.

[0150] After receiving the second response signal, the transmitting end calculates the second propagation duration based on the second response signal;

[0151] The first propagation duration is adjusted based on the second propagation duration;

[0152] The transmitter is timed based on the corrected first propagation duration.

[0153] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the underwater acoustic timing method provided by the methods described above, the method comprising:

[0154] The transmitting end transmits the first acoustic pulse signal, and the receiving end sends a first response signal to the transmitting end after receiving the first acoustic pulse signal.

[0155] After receiving the first response signal, the transmitting end calculates the first propagation time based on the first response signal;

[0156] The transmitting end emits a second acoustic pulse signal, and the receiving end, upon receiving the second acoustic pulse signal, sends a second response signal to the transmitting end.

[0157] After receiving the second response signal, the transmitting end calculates the second propagation duration based on the second response signal;

[0158] The first propagation duration is adjusted based on the second propagation duration;

[0159] The transmitter is timed based on the corrected first propagation duration.

[0160] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A water acoustic timing method, characterized in that, include: The transmitting end transmits a first acoustic pulse signal, and the receiving end, upon receiving the first acoustic pulse signal, sends a first response signal to the transmitting end. After receiving the first response signal, the transmitting end calculates the first propagation time based on the first response signal; The transmitting end emits a second acoustic pulse signal, and the receiving end, upon receiving the second acoustic pulse signal, sends a second response signal to the transmitting end. After receiving the second response signal, the transmitting end calculates the second propagation duration based on the second response signal; The first propagation duration is corrected based on the second propagation duration; The transmitter is timed based on the corrected first propagation duration; The transmitting end transmits a first acoustic pulse signal, including: the transmitting end transmits two identical first pulse signals in succession; After receiving the first acoustic pulse signal, the receiving end sends a first response signal to the transmitting end, including: the receiving end sends a first response signal for each first pulse signal received by the receiving end; The calculation of the first propagation duration based on the first response signal includes: The communication duration is calculated based on the two first response signals received sequentially. The first propagation duration is calculated using the following formula (1). （1） in The first propagation duration, The communication duration is... For response delay.

2. The underwater acoustic timing method according to claim 1, characterized in that, The transmitting end transmits a second acoustic pulse signal, including: After receiving the first response signal, the transmitting end sends a second acoustic pulse signal at a first time interval, the second acoustic pulse signal including the time of transmitting the second acoustic pulse signal.

3. The underwater acoustic timing method according to claim 2, characterized in that, After receiving the second acoustic pulse signal, the receiving end sends a second response signal to the transmitting end, including: After receiving the second acoustic pulse signal, the receiving end immediately sends out a second response signal, the second response signal including the time of sending the second response signal.

4. The underwater acoustic timing method according to claim 3, characterized in that, The calculation of the second propagation duration based on the second response signal includes: The second propagation duration is calculated using the following formula (2). （2） in This is the second propagation duration. The time when the second response signal is received. The time for transmitting the second acoustic pulse signal. For response delay.

5. The underwater acoustic timing method according to claim 1, characterized in that, The step of correcting the first propagation duration based on the second propagation duration includes: Calculate the absolute value of the difference between the first propagation duration and the second propagation duration. If it is less than or equal to the time difference threshold, use the second propagation duration to correct the first propagation duration.

6. The underwater acoustic timing method according to claim 3, characterized in that, The step of providing time synchronization to the transmitter based on the modified first propagation duration includes: The transmitter is timed based on the corrected first propagation duration and the time when the second response signal is emitted.

7. An underwater acoustic timing system, employing the underwater acoustic timing method according to any one of claims 1-6, characterized in that, include: The first transmitting module is used to transmit a first acoustic pulse signal from the transmitting end, and the receiving end sends a first response signal to the transmitting end after receiving the first acoustic pulse signal. The first calculation module is used to calculate the first propagation duration based on the first response signal after the transmitting end receives the first response signal. The second transmitting module is used to transmit a second acoustic pulse signal at the transmitting end, and after receiving the second acoustic pulse signal, the receiving end sends a second response signal to the transmitting end. The second calculation module is used to calculate the second propagation duration based on the second response signal after the transmitting end receives the second response signal. The correction module is used to correct the first propagation duration based on the second propagation duration; The timing module is used to provide timing to the transmitting end based on the corrected first propagation duration.

8. An underwater acoustic timing device, employing the underwater acoustic timing system as described in claim 7, characterized in that, Includes an underwater acoustic communication module, a signal processing module, and a clock module; The underwater acoustic communication module is used to transmit and receive acoustic pulse signals; The signal processing module is used to process and analyze the pulse signals received by the underwater acoustic communication module; The clock module is used to provide a high-precision time reference.

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