An underwater position calibration device based on a retractable buoy

Abstract

The application relates to the underwater navigation field and provides an underwater position calibration device based on a retractable buoy, the retractable buoy can be deployed and recovered by a calibration unmanned underwater vehicle, the retractable buoy comprises a navigation module, an underwater communication module, a direction control module and a recovery signal receiving module which are installed on a float box, the float box is used for controlling floating and sinking, the navigation module is used for receiving navigation signals, the underwater communication module is used for communication, the recovery signal receiving module is used for receiving guide signals, and the direction control module is used for controlling direction; the calibration unmanned underwater vehicle comprises an underwater vehicle calibration module, a recovery signal emitting module, a buoy signal transceiving module and a buoy recovery cabin, the buoy recovery cabin is used for accommodating and recovering the retractable buoy, the recovery signal emitting module is used for emitting guide signals, and the buoy signal transceiving module is used for receiving buoy position information; the application can be used for calibrating the position of a to-be-calibrated unmanned underwater vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater navigation technical field, especially to a kind of underwater position calibration device based on retractable buoy. BACKGROUND

[0002] With the continuous strengthening of the development and exploration of the ocean, the demand for using submersible to detect and scan the deep sea is increasing. Unmanned submersible has the advantages of low cost, long endurance and flexible use, and is widely used for deep sea exploration. However, in the deep sea environment, the navigation and positioning of unmanned submersible is difficult. Due to the barrier of seawater, traditional satellite positioning, radio navigation station navigation and other positioning methods relying on ordinary radio waves cannot be used, and generally only rely on log, compass, inertial navigation equipment and other methods for navigation. However, due to the reasons of their own principles, the log, inertial navigation equipment and other devices will drift when used, which will cause the navigation error to gradually increase. Although the drift can be corrected by other means when floating to the water surface, when the water depth is large, the submersible will take a lot of time to float and sink, which will affect its working efficiency.

[0003] For underwater unmanned submersible, compass can also be used for navigation, but compass is more dependent on the external magnetic field. The crust in the deep sea is generally thin, and its magnetic field is more easily affected by the active geological activities of the mantle layer. In addition, there may be seabed mineral resources in the working area of the unmanned submersible, which will further interfere with the magnetic field. Although long wave communication equipment can communicate with unmanned submersible and provide positioning service by using long waves that can penetrate seawater, due to the principle limitation, the volume of long wave communication equipment is relatively large, and the cost is also high. SUMMARY

[0004] The present application aims to solve at least one of the technical problems in the related art. To this end, the present application provides an underwater position calibration device based on retractable buoy, which provides continuous high-precision positioning service for deep-sea unmanned submersible.

[0005] The present application provides an underwater position calibration device based on retractable buoy, which includes a calibration unmanned submersible and a retractable buoy. The retractable buoy is carried on the calibration unmanned submersible and is released and recovered by the calibration unmanned submersible. The retractable buoy includes a navigation module, an underwater communication module, a direction control module and a recovery signal receiving module installed on a float box. The float box is used to control the floating and sinking of the retractable buoy. The navigation module is used to receive navigation signals. The underwater communication module is used to communicate with the calibration unmanned submersible. The recovery signal receiving module is used to receive the guidance signal sent by the calibration unmanned submersible. The direction control module is used to control the direction of the retractable buoy according to the guidance signal.

[0006] The calibration unmanned underwater vehicle comprises an underwater vehicle calibration module, a recovery signal emitting module, a buoy signal receiving and transmitting module and a buoy recovery cabin, wherein the buoy recovery cabin is used for accommodating and recovering the retractable buoy, the recovery signal emitting module is used for emitting a guide signal to the recovery signal receiving module, the buoy signal receiving and transmitting module is used for communicating with the retractable buoy and receiving buoy position information, and the unmanned underwater vehicle to be calibrated calibrates its own position through the underwater vehicle calibration module.

[0007] According to the underwater position calibration device based on the retractable buoy provided by the application, the water tank and the water injection and drainage module are arranged in the buoy, the water injection and drainage module can control the floating and sinking of the retractable buoy by injecting water into the water tank, and when the water in the water tank is drained, the retractable buoy floats on the water surface.

[0008] According to the underwater position calibration device based on the retractable buoy provided by the application, the navigation module comprises a navigation signal processing terminal and a navigation signal receiving antenna, wherein the navigation signal receiving antenna is used for receiving a navigation signal, and the navigation signal processing terminal is used for obtaining buoy position information of the retractable buoy according to the navigation signal.

[0009] According to the underwater position calibration device based on the retractable buoy provided by the application, the underwater communication module is used for sending the buoy position information back to the calibration unmanned underwater vehicle and receiving a relative position measuring signal emitted by the buoy signal receiving and transmitting module.

[0010] According to the underwater position calibration device based on the retractable buoy provided by the application, the direction control module comprises a plurality of water jet thrusters, a driving motor, an energy storage battery and a wireless charging module,

[0011] The water jet thrusters are used for spraying water according to the guide signal in the sinking recovery process to control the direction of the retractable buoy, so that the retractable buoy falls into the buoy recovery cabin, the driving motor is connected with the water jet thrusters and is used for driving the water jet thrusters, the energy storage battery is connected with the driving motor and is used for providing power for the driving motor, and the wireless charging module is used for obtaining electric energy from the calibration unmanned underwater vehicle and charging the energy storage battery.

[0012] The underwater position calibration device based on the retractable buoy provided by the application comprises a buoy signal transceiver module, an underwater communication module and a submarine calibration module.

[0013] The underwater position calibration device based on the retractable buoy provided by the application comprises a relative distance threshold determining unit, wherein when the relative position shows that the relative distance between the retractable buoy and the calibration unmanned submarine is greater than the relative distance threshold, the calibration unmanned submarine approaches the position of the retractable buoy.

[0014] The underwater position calibration device based on the retractable buoy provided by the application comprises a positioning signal emitting module carried on the unmanned submarine to be calibrated, wherein after the positioning signal emitting module emits a positioning request signal, the positioning request signal is received by the submarine calibration module, then the submarine calibration module sends calibration submarine position information to the direction from which the positioning request signal is emitted, and after the unmanned submarine to be calibrated receives the calibration submarine position information, the unmanned submarine to be calibrated determines its own position according to the direction from which the calibration submarine position information comes and the time difference between the time when the positioning request signal is emitted and the time when the calibration submarine position information is received.

[0015] The underwater position calibration device based on the retractable buoy provided by the application comprises an energy storage battery power consumption obtaining unit and an initial distance difference threshold obtaining unit, wherein the distance difference threshold is calculated according to the energy storage battery power consumption and the initial distance difference threshold, when the distance difference between the retractable buoy and the calibration unmanned submarine is less than the distance difference threshold, the guide signal emitted by the recovery signal emitting module is a high-frequency guide signal, otherwise the guide signal is a low-frequency guide signal.

[0016] The underwater position calibration device based on the retractable buoy provided by the application comprises a foldable navigation signal receiving antenna, wherein when the retractable buoy floats on the water surface, the navigation signal receiving antenna is unfolded.

[0017] The above one or more technical solutions in the embodiments of the application have at least one of the following technical effects:

[0018] The underwater position calibration device based on the retractable buoy provided by the application receives a navigation signal through the retractable buoy, and communicates with the calibration unmanned underwater vehicle, so that the calibration unmanned underwater vehicle can accurately determine its own position, and then the to-be-calibrated unmanned underwater vehicle only needs to perform underwater sound communication with the calibration unmanned underwater vehicle at a relatively short distance to obtain the relative position of the calibration unmanned underwater vehicle, so as to know the accurate position of the to-be-calibrated unmanned underwater vehicle. Since the calibration unmanned underwater vehicle can be transferred together with the to-be-calibrated unmanned underwater vehicle after the retractable buoy is retrieved, the calibration unmanned underwater vehicle can cover a larger operation area and support long-time operation, the to-be-calibrated unmanned underwater vehicle does not need to frequently float up to obtain its own accurate position, the operation efficiency and operation accuracy are effectively improved, and the calibration unmanned underwater vehicle does not need to rely on a long-wave communication device which is large in size and high in cost.

[0019] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0021] Fig. 1 is a structural schematic view of the retractable buoy of the underwater position calibration device based on the retractable buoy provided by the application.

[0022] Fig. 2 is a structural schematic view of the direction control module of the retractable buoy of the underwater position calibration device based on the retractable buoy provided by the application.

[0023] Fig. 3 is a structural schematic view of the calibration unmanned underwater vehicle of the underwater position calibration device based on the retractable buoy provided by the application.

[0024] Reference signs:

[0025] 11, water tank; 12, guidance signal receiving module; 13, water injection and drainage module; 14, water jet propeller; 15, energy storage battery; 16, wireless charging module; 17, driving motor; 18, underwater communication module; 19, navigation signal receiving antenna; 21, guidance signal transmitting module; 22, buoy signal transceiver module; 23, underwater vehicle calibration module; 24, buoy retrieval cabin. DETAILED DESCRIPTION

[0026] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in a clear and complete manner. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based upon the embodiments in the present application, all the other embodiments obtained by those ordinarily skilled in the art without creative efforts on the basis of the present application shall fall within the scope of the present application. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0027] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the embodiments of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only used for description purposes, and cannot be understood as indicating or implying relative importance.

[0028] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium. For those ordinarily skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0029] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0030] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0031] The following will be described in conjunction with Figs. 1 to 3 A specific embodiment of the present application is described. The present application provides a retractable buoy-based underwater position calibration device, comprising a calibration unmanned underwater vehicle and a retractable buoy, wherein the structural diagram of the retractable buoy is as shown in Fig. 1 The retractable buoy is carried on the calibration unmanned underwater vehicle and can be released and recovered by the calibration unmanned underwater vehicle. When the calibration unmanned underwater vehicle does not need to provide position calibration for the unmanned underwater vehicle to be calibrated or is navigating to other task areas, the retractable buoy is stored inside the buoy recovery cabin 24 of the calibration unmanned underwater vehicle. When the calibration unmanned underwater vehicle reaches the task area and needs to provide position calibration for the unmanned underwater vehicle to be calibrated, the retractable buoy is released and floated to the water surface.

[0032] The retractable buoy comprises a navigation module, an underwater communication module 18, a direction control module and a guidance signal receiving module 12 installed on the float box. Among them, the float box contains a water tank 11 and a water injection and drainage module 13. When the retractable buoy needs to float up, the water injection and drainage module 13 can drain the water in the water tank 11, so that the buoyancy received by the retractable buoy is greater than its own gravity, and the retractable buoy floats up. When the calibration unmanned underwater vehicle needs to be transferred to the next task area or does not need to provide position calibration for the unmanned underwater vehicle to be calibrated, the water injection and drainage module 13 injects water into the inside of the water tank 11, so that the buoyancy received by the retractable buoy is less than its own gravity, and the retractable buoy sinks until it falls back to the inside of the buoy recovery cabin 24. Here, when the water in the water tank 11 is drained, the retractable buoy can float on the water surface.

[0033] The navigation module comprises a navigation signal processing terminal and a plurality of navigation signal receiving antennas 19 located on the top of the buoy. The navigation signal receiving antennas 19 can easily receive navigation signals from navigation satellites and radio navigation stations on the water surface. After receiving the navigation signals, the navigation signal processing terminal can calculate the position of the retrievable buoy according to the navigation signals, i.e. the buoy position information. In order to prevent the navigation signal receiving antennas 19 from being damaged during the recovery process and to reduce the volume of the cabin of the calibration UUV occupied by the buoy recovery cabin 24, the navigation signal receiving antennas 19 are foldable antennas, and when the retrievable buoy floats on the water surface, the navigation signal receiving antennas 19 are unfolded, otherwise they are in a folded state.

[0034] The underwater communication module 18 is used to send the buoy position information back to the calibration UUV and receive the relative bearing measurement signals transmitted by the buoy signal transceiver module 22. In this embodiment, the underwater communication module 18 is an underwater acoustic communication device and is provided around the lower part of the retrievable buoy. The buoy signal transceiver module 22 transmits relative bearing measurement signals to the position of the retrievable buoy. After the underwater communication module 18 receives the relative bearing measurement signals, the underwater communication module 18 sends a relative bearing response signal and the buoy position information to the direction from which the relative bearing measurement signals come. After the buoy signal transceiver module 22 receives the relative bearing response signal and the buoy position information, it can determine the relative angle between the calibration UUV and the retrievable buoy according to the direction of the main beam from which the relative bearing response signal and the buoy position information come. According to the time difference between the transmission time of the relative bearing measurement signal and the reception time of the relative bearing response signal and the speed of sound underwater, the relative distance between the calibration UUV and the retrievable buoy can be determined, so as to determine the relative bearing between the calibration UUV and the retrievable buoy. After obtaining the relative bearing, the calibration UUV position information of the calibration UUV can be calculated according to the buoy position information and the relative bearing.

[0035] In addition, in order to prevent the retrievable buoy from being too far away from the calibration UUV due to ocean currents and other reasons, so that the retrievable buoy cannot be recovered or the retrievable buoy is out of the communication range of the calibration UUV, it is also necessary to determine the relative distance threshold according to experience. When the relative distance between the two is greater than the relative distance threshold, the calibration UUV needs to approach the position of the retrievable buoy to ensure that the retrievable buoy can be recovered.

[0036] In order to ensure that the retractable buoy can be accurately dropped into the buoy recovery cabin 24 when it is recovered, the calibration unmanned underwater vehicle needs to travel below the retractable buoy when it is recovered. The retractable buoy needs to be installed with a direction control module and a guide signal receiving module 12, and the calibration unmanned underwater vehicle needs to be installed with a guide signal emitting module 21. In order to improve the guidance accuracy, multiple guide signal emitting modules 21 can be installed around the buoy recovery cabin 24, and multiple guide signal receiving modules 12 also need to be installed on the bottom of the retractable buoy. When the retractable buoy starts to be recovered, the guide signal emitting module 21 continuously emits a guide signal, and the guide signal receiving module 12 receives the guide signal and enables the direction control module to continuously correct the deviation of the retractable buoy during the sinking process according to the guide signal, so that it can finally accurately fall into the buoy recovery cabin 24.

[0037] Here, when the retractable buoy approaches the buoy recovery cabin 24, it needs to be guided with higher accuracy. Therefore, a distance difference threshold needs to be determined. After the guide signal receiving module 12 receives the guide signal, it will emit a response signal through the underwater communication module 18. The distance difference between the two can be calculated by the time difference between the response signal and the guide signal. When the distance difference between the two is greater than the distance difference threshold, the guide signal is a low-frequency guide signal. When the distance difference between the two is less than the distance difference threshold, the guide signal is a high-frequency guide signal with higher accuracy and higher frequency. Here, for the high-frequency guide signal, although its effective distance is longer, its effective distance is limited. Especially when the underwater current is strong, the attenuation of the high-frequency guide signal will be more severe, and switching to the high-frequency guide signal too early may cause the guide signal receiving module 12 to fail to receive the guide signal in time. The severity of the underwater current can be measured by the power consumption of the energy storage battery 15 in the direction control module after the recovery starts. The greater the power consumption of the energy storage battery 15, the stronger the underwater current, and the distance difference threshold should be adjusted accordingly. Here, the effective distance of the high-frequency guide signal in completely calm water, that is, the initial distance difference threshold, is Therefore, the correction coefficient a needs to be determined according to the power consumption of the energy storage battery 15 when the distance difference between the two is the initial distance difference threshold. The greater the power consumption of the energy storage battery 15, the greater the correction coefficient. In this embodiment, the percentage of the power consumption of the energy storage battery 15 can be directly used as the correction coefficient. When the percentage of the power consumption is greater than 50%, the correction coefficient is forced to be 1. In this way, the distance difference threshold R can be obtained as follows:

[0038] .

[0039] The structure of the direction control module is as follows Fig. 2As shown, the direction control module comprises a plurality of water jet thrusters 14, a driving motor 17, an energy storage battery 15 and a wireless charging module 16, wherein the water jet thrusters 14 are arranged around the periphery of the retractable buoy and connected with the driving motor 17. Under the driving of the driving motor 17, the water jet thrusters 14 can suck water from the surrounding water area and spray the water out, and the plurality of water jet thrusters 14 work cooperatively to control the pressure and time of water jetting and cooperate with the water injection and drainage module 13 to effectively adjust the sinking path of the retractable buoy. The energy storage battery 15 is connected with the driving motor 17 and can provide energy for the driving motor 17, and the wireless charging module 16 is connected with the energy storage battery 15, so that when the retractable buoy is located in the buoy recovery cabin 24, the wireless charging module 16 can obtain electric energy from the matched energy supply equipment installed in the buoy recovery cabin 24 to charge the energy storage battery 15.

[0040] The positioning signal emitting module carried on the unmanned underwater vehicle to be calibrated is a water acoustic communication device. When the unmanned boat to be calibrated needs to determine its own position, the positioning signal emitting module will emit a positioning request signal, and the unmanned underwater vehicle for calibration carried on the unmanned underwater vehicle for calibration in the operation area will receive the positioning request signal and send calibration underwater vehicle position information to the direction of emission of the positioning request signal using the water acoustic communication device. After the unmanned underwater vehicle to be calibrated receives the calibration underwater vehicle position information, it can determine the relative angle between itself and the unmanned underwater vehicle for calibration according to the direction of the main beam of the received calibration underwater vehicle position information, that is, the direction from which the calibration underwater vehicle position information comes, and calculate the relative distance between itself and the unmanned underwater vehicle for calibration using the time difference between the time of emitting the positioning request signal and the time of receiving the calibration underwater vehicle position information. After obtaining the relative distance and the relative angle, the accurate position of the unmanned underwater vehicle to be calibrated can be calculated by combining the received calibration underwater vehicle position information, thereby completing the calibration of its own position. Here, a plurality of unmanned underwater vehicles for calibration can be arranged at the edge of the operation area of the unmanned underwater vehicle to be calibrated to form a positioning array, thereby improving the accuracy of position calibration by triangulation. When the unmanned underwater vehicle to be calibrated is transferred to the next operation area, it can go to the next operation area by itself with the aid of the inertial navigation device, and the unmanned underwater vehicle for calibration goes to the next operation area together after recovering the retractable buoy and releases the retractable buoy. The structure diagram of the unmanned underwater vehicle for calibration is shown in Fig. 3

[0041] ​The underwater position calibration device based on the retractable buoy can provide high-precision position calibration for the unmanned underwater vehicle, and the unmanned underwater vehicle does not need to float up except the retractable buoy, so that the unmanned underwater vehicle can continuously and autonomously work in multiple work areas in a larger work area, thereby improving work efficiency, and the retractable buoy and the calibration unmanned underwater vehicle, and the calibration unmanned underwater vehicle and the unmanned underwater vehicle to be calibrated can keep a relatively short distance, so that communication can be performed only by using the underwater acoustic communication equipment, without using the expensive and bulky long-wave communication equipment.

[0042] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A retractable buoy-based underwater position marker device, characterized by, The unmanned underwater vehicle for calibration and the retractable buoy are provided, the retractable buoy is carried on the unmanned underwater vehicle for calibration and is released and recovered by the unmanned underwater vehicle for calibration, the retractable buoy comprises a navigation module, an underwater communication module, a direction control module and a recovery signal receiving module which are installed on a float box, the float box is used for controlling the retracting and extending of the retractable buoy, the navigation module is used for receiving a navigation signal, the underwater communication module is used for communicating with the unmanned underwater vehicle for calibration, the recovery signal receiving module is used for receiving a guide signal sent by the unmanned underwater vehicle for calibration, and the direction control module is used for controlling the direction of the retractable buoy according to the guide signal. The direction control module comprises a plurality of water jet thrusters, a driving motor, an energy storage battery and a wireless charging module, when the retractable buoy approaches the buoy recovery cabin, it needs to be guided with higher precision, therefore, a distance difference threshold needs to be determined, after the guide signal receiving module receives the guide signal, a response signal is sent through the underwater communication module, the distance difference between the retractable buoy and the unmanned underwater vehicle for calibration can be calculated through the time difference between the response signal and the guide signal, the initial distance difference threshold is the effective action distance of the high-frequency guide signal in completely calm water, the unmanned underwater vehicle for calibration comprises a vehicle calibration module, a recovery signal transmitting module, a buoy signal transceiver module and a buoy recovery cabin, the buoy recovery cabin is used for accommodating and recovering the retractable buoy, the recovery signal transmitting module is used for transmitting a guide signal to the recovery signal receiving module, the buoy signal transceiver module is used for communicating with the retractable buoy and receiving buoy position information, and the unmanned underwater vehicle to be calibrated calibrates its own position through the vehicle calibration module. The power consumption of the energy storage battery and the initial distance difference threshold are obtained, the distance difference threshold is calculated according to the power consumption of the energy storage battery and the initial distance difference threshold, when the distance difference between the retractable buoy and the unmanned underwater vehicle for calibration is less than the distance difference threshold, the guide signal transmitted by the recovery signal transmitting module is a high-frequency guide signal, otherwise, the guide signal is a low-frequency guide signal.

2. A retractable buoy-based underwater position marker device according to claim 1, wherein, The float box is provided with a water tank and a water injection and drainage module, the water injection and drainage module can control the retracting and extending of the retractable buoy by injecting water into the water tank, and when the water in the water tank is drained, the retractable buoy floats on the water surface.

3. A retractable buoy-based underwater position marker device according to claim 1, wherein, The navigation module comprises a navigation signal processing terminal and a navigation signal receiving antenna, the navigation signal receiving antenna is used for receiving a navigation signal, and the navigation signal processing terminal is used for obtaining buoy position information of the retractable buoy according to the navigation signal.

4. A retractable buoy-based underwater position marker device according to claim 1, wherein, The underwater communication module is used for sending the buoy position information back to the unmanned underwater vehicle for calibration and receiving a relative direction measurement signal transmitted by the buoy signal transceiver module.

5. A retractable buoy-based underwater position marker device according to claim 1, wherein, The direction control module comprises a plurality of water jet thrusters, a driving motor, an energy storage battery and a wireless charging module, The water jet propeller is used to spray water according to the guide signal in the process of sinking recovery, so as to control the direction of the retractable buoy, so that the retractable buoy falls into the buoy recovery cabin, the driving motor is connected with the water jet propeller and is used to drive the water jet propeller, the energy storage battery is connected with the driving motor, and is used to provide power for the driving motor, and the wireless charging module is used to obtain electric energy from the calibration unmanned underwater vehicle and charge the energy storage battery.

6. A retractable buoy-based underwater position marker device according to claim 1, wherein, The buoy signal transceiver module is used to receive the buoy position information emitted by the retractable buoy, and emit a relative position measurement signal to the retractable buoy, the underwater communication module responds to the relative position measurement signal, and sends a relative position response signal and buoy position information, the buoy signal transceiver module obtains the relative position between the calibration unmanned underwater vehicle and the retractable buoy according to the relative position response signal, and determines the calibration underwater vehicle position information of the calibration unmanned underwater vehicle according to the relative position and the buoy position information.

7. A retractable buoy-based underwater position marker device according to claim 6, wherein, A relative distance threshold is determined, and when the relative position shows that the relative distance between the retractable buoy and the calibration unmanned underwater vehicle is greater than the relative distance threshold, the calibration unmanned underwater vehicle approaches the position of the retractable buoy.

8. A retractable buoy-based underwater position marker device according to claim 1, wherein, The to-be-calibrated unmanned underwater vehicle is provided with a positioning signal emitting module, the positioning signal emitting module emits a positioning request signal, the positioning request signal is received by the underwater vehicle calibration module, then the underwater vehicle calibration module sends calibration underwater vehicle position information to the direction of emission of the positioning request signal, and after the to-be-calibrated unmanned underwater vehicle receives the calibration underwater vehicle position information, the direction of arrival of the calibration underwater vehicle position information and the time difference between the time of emitting the positioning request signal and the time of receiving the calibration underwater vehicle position information are used to determine the position of the to-be-calibrated unmanned underwater vehicle.

9. A retractable buoy-based underwater position marker device according to claim 3, wherein, The navigation signal receiving antenna is a foldable antenna, and when the retractable buoy floats on the water surface, the navigation signal receiving antenna is unfolded.

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