Near field radio transmission method, system and apparatus for deep underwater navigation and positioning

Abstract

The present application relates to underwater navigation positioning technology field, provide a kind of near-field radio emission large depth underwater navigation positioning method, system and device. Including the following steps: deploying near-field extremely low frequency electromagnetic signal transmitting device on water surface;Setting underwater receiving unit parameter and placing underwater body;Navigation positioning is carried out to underwater body, and positioning coordinate is obtained.The present application deploys multiple extremely low frequency electromagnetic signal transmitting devices on water surface, each near-field extremely low frequency electromagnetic signal transmitting device emits specific double-frequency radio electromagnetic signal by loop antenna, underwater receiving unit receives the near-field electromagnetic signal of multiple near-field extremely low frequency electromagnetic signal transmitting devices on water surface, combines the position information of near-field extremely low frequency electromagnetic signal transmitting device and the water pressure sensor information of underwater receiving unit, obtains the position information of underwater body by positioning solution, realizes the navigation positioning of large depth underwater body of thousands of meters underwater.

Description

TECHNICAL FIELD

[0001] The present application 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. BACKGROUND

[0002] Underwater navigation and positioning technologies mainly include acoustics, inertial, matching (terrain, gravity, magnetic force, etc.), radio navigation, etc. Although underwater sound has less attenuation, the channel has space-time variation characteristics, and the sound signal transmitted through the underwater sound channel will have Doppler effect and multipath effect. The complexity of the marine environment makes it difficult for underwater sound navigation, and it is difficult to position in the sound shadow area. Inertial navigation has drift and needs to be calibrated periodically. Matching navigation requires background field and characteristic environmental characteristics, and is less available and has large matching errors in areas where characteristics are not obvious. The shore-based very low frequency radio navigation signal has a certain water entry capability, but the water entry depth is about tens of meters underwater, and can only provide navigation and positioning services for underwater shallow layer carriers.

[0003] The existing shore-based high-power very low frequency and extremely low frequency emission station signal has a large electromagnetic energy attenuation when passing through a long transmission distance and crossing the air-sea interface. The shore-based very low frequency radio signal (3k-30kHz) has a water entry depth of about tens of meters, and the shore-based extremely low frequency (30-300Hz) has a water entry depth of about hundreds of meters. The construction cost of the shore-based very low frequency or extremely low frequency emission station is high, and the water entry depth is limited, making it difficult to achieve a water entry depth of more than 1000 meters.

[0004] The existing underwater sound navigation and positioning device must be in seawater, and sound signals are difficult to penetrate the sea ice surface to navigate and position underwater carriers under the sea ice. SUMMARY

[0005] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a near-field radio emission large-depth underwater navigation and positioning method, system and device, which realizes navigation and positioning at a depth of 3000 meters underwater, has low cost, convenient deployment and recovery, and has a high cost-effectiveness.

[0006] The present application provides a near-field radio emission large-depth underwater navigation and positioning method, comprising:

[0007] S1: deploying a near-field extremely low frequency electromagnetic signal emission device on the water surface;

[0008] The near-field extremely low frequency electromagnetic signal emission device comprises the following modules: a signal source and emission control device, a super capacitor group, a superconducting energy storage coil and a loop antenna;

[0009] The signal source and emission control device are connected to the super capacitor group,

[0010] The super capacitor group is connected with the superconducting energy storage coil.

[0011] The superconducting energy storage coil is connected with the loop antenna.

[0012] The signal source and launch control device are used for controlling signal emission of the near-field extremely low frequency electromagnetic signal emission device.

[0013] S2: setting parameters of the underwater receiving unit and launching the underwater body;

[0014] S3: using the near-field extremely low frequency electromagnetic signal emission device to navigate and position the underwater body, and obtaining positioning coordinates.

[0015] According to the near-field radio emission large-depth underwater navigation positioning method provided by the application, the signal source and launch control device comprises the following modules: a satellite navigation timing receiver, a time reference unit, a central control unit and a power amplifier unit.

[0016] The satellite navigation timing receiver is connected with the time reference unit.

[0017] The satellite navigation timing receiver is connected with the central control unit.

[0018] The satellite navigation timing receiver is used for receiving clock signals and latitude and longitude positions, and sending the clock signals to the time reference unit and sending the latitude and longitude positions to the central control unit.

[0019] The time reference unit is connected with the central control unit, and the time reference unit is used for providing clock signals for the central control unit.

[0020] The central control unit is connected with the power amplifier unit.

[0021] The central control unit is connected with the super capacitor switch assembly.

[0022] The central control unit is used for controlling the power amplifier unit and the super capacitor switch assembly.

[0023] The power amplifier unit is used for amplifying signals.

[0024] The super capacitor switch assembly is used for controlling access of the super capacitor group.

[0025] According to the near-field radio emission large-depth underwater navigation positioning method provided by the application, step S1 comprises:

[0026] S11: installing a plurality of near-field extremely low frequency electromagnetic signal emission devices on the water surface, and the distance between two near-field extremely low frequency electromagnetic signal emission devices is greater than 1.5 kilometers.

[0027] S12: the adjacent near-field extremely low frequency electromagnetic signal transmitting devices are connected by ropes.

[0028] According to the present application, a near-field radio transmission large-depth underwater navigation positioning method is provided, and step S11 comprises:

[0029] When the installed near-field extremely low frequency electromagnetic signal transmitting devices are N, the near-field extremely low frequency electromagnetic signal transmitting devices are arranged in a regular N-polygon.

[0030] According to the present application, a near-field radio transmission large-depth underwater navigation positioning method is provided, and the loop antenna is composed of more than 1000 magnetizing wires wound more than 10 turns, the radius of the loop antenna is more than 50 meters, the loop antenna is wrapped with insulation material outside the coil, and more than 8 floating body materials are arranged on the coil.

[0031] According to the present application, a near-field radio transmission large-depth underwater navigation positioning method is provided, and the superconducting energy storage coil is composed of more than 8 groups of coil cakes wound by superconducting materials, and the superconducting energy storage coil is soaked in a liquid below -196.15℃ for heat preservation.

[0032] The capacitance of the super capacitor is greater than 1F.

[0033] According to the present application, a near-field radio transmission large-depth underwater navigation positioning method is provided, and step S2 comprises:

[0034] S21: obtaining the longitude and latitude position data of the center of the near-field extremely low frequency electromagnetic signal transmitting device loop antenna arranged on the water surface through a satellite navigation time service receiver;

[0035] S22: setting the position data of the three near-field extremely low frequency electromagnetic signal transmitting devices arranged on the water surface, the extremely low frequency electromagnetic signal transmitting frequency data, and the signal timing into the underwater receiving unit of the underwater body through a binding method, calibrating the water pressure sensor of the underwater receiving unit, when the water depth measurement accuracy is less than 0.2 meters, deploying the underwater body and executing step S3, and if the water depth measurement accuracy is not less than 0.2 meters, suspending the measurement.

[0036] According to the present application, a near-field radio transmission large-depth underwater navigation positioning method is provided, and step S3 comprises:

[0037] S31: all near-field extremely low frequency electromagnetic signal transmitting devices transmit signals in a timing sequence, wherein the nth near-field extremely low frequency electromagnetic signal transmitting device transmits electromagnetic pulse signals at a frequency of F 2n-1 for a first length of time, the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting signals for a second length of time, and the nth near-field extremely low frequency electromagnetic signal transmitting device transmits electromagnetic pulse signals at a frequency of F 2nThe frequency electromagnetic pulse signal is transmitted 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, wherein n is the serial number of the near-field extremely low-frequency electromagnetic signal transmitting device;

[0038] S32: The water-loaded body receives the electromagnetic pulse signal and calculates the difference between the two signals, and the signal phase measurement is solved to obtain the distance of the water-loaded body from the extremely low-frequency navigation signal transmitting device ;

[0039] S33: The position of the water-loaded body is calculated by using the least square method to solve the equation:

[0040]

[0041] wherein, is the horizontal coordinate of the position of the water-loaded body, is the horizontal coordinate of the position of the extremely low-frequency navigation signal transmitting device; is the vertical coordinate of the position of the water-loaded body, is the vertical coordinate of the position of the extremely low-frequency navigation signal transmitting device; is the depth of the water-loaded body;

[0042] S34: The clock signal of the extremely low-frequency navigation signal transmitting device is synchronized according to the clock difference between the water-loaded body and the extremely low-frequency navigation signal transmitting device.

[0043] The application also provides a near-field radio transmission large-depth underwater navigation positioning system, comprising:

[0044] A near-field extremely low-frequency electromagnetic signal transmitting device deployment module is used for deploying the near-field extremely low-frequency electromagnetic signal transmitting device on the water surface;

[0045] The near-field extremely low-frequency electromagnetic signal transmitting device comprises the following modules: a signal source and a broadcast control device, a super capacitor group, a superconducting energy storage coil and a loop antenna;

[0046] The signal source and the broadcast control device are connected with the super capacitor group,

[0047] The super capacitor group is connected with the superconducting energy storage coil;

[0048] The superconducting energy storage coil is connected with the loop antenna;

[0049] The signal source and the broadcast control device are used for controlling the signal transmission of the near-field extremely low-frequency electromagnetic signal transmitting device;

[0050] A water-loaded body transmitting module is used for setting the parameters of the underwater receiving unit and deploying the water-loaded body;

[0051] Positioning coordinate acquisition module: used for navigating and positioning the waterborne object to obtain the positioning coordinate.

[0052] The application further provides an electronic device comprising a memory, a communication interface, a processor and a communication bus, wherein the processor realizes the steps of the near-field radio transmission large-depth underwater navigation positioning method according to any one of the above when executing a computer program.

[0053] The one or more technical solutions in the embodiments of the application have at least one of the following technical effects:

[0054] The application provides a near-field radio transmission large-depth underwater navigation positioning method, system and device, three extremely low frequency (ELF) electromagnetic signal transmitting devices are deployed on the water surface, each extremely low frequency electromagnetic signal transmitting device transmits specific double-frequency radio electromagnetic signals through a loop antenna, a superconducting quantum interference magnetometer is used as an underwater receiving unit to receive the near-field electromagnetic signals of the three extremely low frequency electromagnetic signal transmitting devices on the water surface, the position information of the extremely low frequency electromagnetic signal transmitting devices on the water surface and the information of the water pressure sensor of the underwater receiving unit are combined, and the position information of the waterborne object is obtained through positioning calculation, so that the navigation positioning of the waterborne object with a large depth of thousands of meters underwater is realized.

[0055] The method and device provided by the application can be deployed on the sea ice surface in addition to the water surface, and can provide navigation positioning for the waterborne object with a large depth under the sea ice.

[0056] The application transmits strong electromagnetic pulses in a local area, can realize the navigation positioning of the waterborne object with a depth of 3000 meters underwater, has low cost, is convenient to deploy and recover, and has a high cost-effectiveness.

[0057] Additional aspects and advantages of the application will be made apparent by the following description. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0059] Figure 1 is a flowchart of the near-field radio transmission large-depth underwater navigation positioning method provided by the application.

[0060] Figure 2 is a working schematic diagram of the near-field radio transmission and receiving system.

[0061] Figure 3 is a schematic diagram of a near-field extremely low frequency electromagnetic signal transmitting device group.

[0062] Figure 4 is a schematic diagram of a super capacitor group and switch.

[0063] Figure 5 is a schematic diagram of a signal source and broadcast control.

[0064] Figure 6 is a schematic diagram of an underwater receiving unit.

[0065] Figure 7 is a structural block diagram of a near-field radio transmitting large-depth underwater navigation positioning system provided by the present application.

[0066] Figure 8 is a structural schematic diagram of an electronic device provided by the present application.

[0067] Reference signs:

[0068] 31, loop antenna; 32, superconducting energy storage coil; 33, super capacitor group; 34, signal source and broadcast control device; 41, first switch; 42, first capacitor; 43, second switch; 44, second capacitor; 51, satellite navigation time service receiver; 52, time reference unit; 53, central control unit; 54, power amplification unit; 55, super capacitor switch assembly; 61, superconducting quantum interference magnetometer; 62, water pressure sensor; 63, navigation positioning processing unit; 101, near-field extremely low frequency electromagnetic signal transmitting device deployment module; 102, underwater body transmitting module; 103, positioning coordinate acquisition module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0069] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection 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.

[0070] In the description of the 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 specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate 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 specification and the features of the different embodiments or examples without contradiction.

[0071] The application is described below in conjunction with Figures 1 to 8 The application is described below in conjunction with

[0072] As Figure 1 shown, Figure 1 The flowchart of the method for near-field radio transmission and deep underwater navigation and positioning provided by the present application is shown, which comprises:

[0073] S1: deploying a near-field very low frequency electromagnetic signal transmitting device on the water surface;

[0074] S2: setting the parameters of the underwater receiving unit and deploying the underwater body;

[0075] S3: using the near-field very low frequency electromagnetic signal transmitting device to navigate and position the underwater body, and obtaining the positioning coordinates.

[0076] As Figure 2 shown, Figure 2 The working schematic diagram of the near-field radio transmission and receiving system is given. The underwater body receives the very low frequency electromagnetic signals of the near-field very low frequency electromagnetic signal transmitting device 1, near-field very low frequency electromagnetic signal transmitting device 2, and near-field very low frequency electromagnetic signal transmitting device 3 deployed on the water surface. By measuring the time difference of the frequency signal, the distance between the underwater receiving unit and the three near-field radio transmitting devices is determined.

[0077] As an example, assume that each near-field extremely low-frequency electromagnetic signal transmitting device adopts two sets of transmitting frequencies, the frequency of the near-field extremely low-frequency electromagnetic signal transmitting device 1 is F1, F2, the frequency of the near-field extremely low-frequency electromagnetic signal transmitting device 2 is F3, F4, and the frequency of the near-field extremely low-frequency electromagnetic signal transmitting device 3 is F5, F6, a total of 6 transmitting frequencies, and the range of the 6 transmitting frequencies is 5Hz-10Hz. Each set of transmitting frequencies corresponds to a fixed allocation of each near-field transmitting device, and the receiving end can be used to distinguish which near-field transmitting device transmits the signal according to the received signal frequency. A typical example of frequency setting is (5Hz, 6Hz), (7Hz, 8Hz), (9Hz, 10Hz). The time difference of arrival of signals with different frequencies is measured to obtain the range value. For example, in seawater with a conductivity of 4S / m, the speed difference of (5Hz, 6Hz) is 337m / s, the speed difference of (7Hz, 8Hz) is 290m / s, and the speed difference of (9Hz, 10Hz) is 256m / s. Since the signal transmission time of each extremely low-frequency electromagnetic frequency is aligned with the world system coordinated time second, by measuring the time difference of arrival of each set of electric field signal frequencies, and according to the linear relationship between the speed difference and the arrival time difference and the propagation distance, the range value is calculated. Combined with the water depth value obtained by the water pressure sensor 62 of the receiving unit in the water, and the position data transmitted by the near-field radio transmitting device, through least square method, the position of the underwater load can be determined.

[0078] Specifically, as shown in Figure 3 The near-field extremely low-frequency electromagnetic signal transmitting device includes the following modules: a signal source and transmission control device 34, a super capacitor group 33, a superconducting energy storage coil 32, and a loop antenna 31.

[0079] The signal source and transmission control device 34 is connected with the super capacitor group 33,

[0080] The super capacitor group 33 is connected with the superconducting energy storage coil 32;

[0081] The superconducting energy storage coil 32 is connected with the loop antenna 31;

[0082] The signal source and transmission control device 34 is used to control the signal transmission of the near-field extremely low-frequency electromagnetic signal transmitting device.

[0083] The loop antenna 31 is wound with more than 1000 magnet wires for more than 10 turns, the radius of the loop antenna 31 is greater than 50 meters, the loop antenna 31 is wrapped with insulation material outside the coil, and more than 8 floating body materials are deployed on the coil. The superconducting energy storage coil 32 is wound with superconducting material to form more than 8 coil cakes, and the superconducting energy storage coil 32 is soaked in -196.15℃ liquid nitrogen for heat preservation; the capacitance of the super capacitor is greater than 1F.

[0084] Specifically, step S1 includes:

[0085] S11: Install several near-field ultra-low frequency electromagnetic signal transmitters on the water surface, with the distance between two near-field ultra-low frequency electromagnetic signal transmitters being greater than 1.5 kilometers;

[0086] S12: Connect adjacent near-field ultra-low frequency electromagnetic signal transmitters using ropes.

[0087] According to the near-field radio transmission deep-sea navigation and positioning method provided by the present invention, step S11 includes:

[0088] When N near-field ultra-low frequency electromagnetic signal transmitters are installed, the near-field ultra-low frequency electromagnetic signal transmitters are arranged in a regular N-gon.

[0089] like Figure 4 As shown, Figure 4 This diagram illustrates the supercapacitor bank 33 and its switch. Different supercapacitor capacities are selected based on the switch, forming an LC oscillation circuit with the inductance of the superconducting energy storage coil 32 and the transmitting ring antenna 31 to generate the operating frequency of the transmitted electromagnetic signal. The supercapacitor capacity is generally greater than 1F, enabling rapid high-current charging and discharging, with currents reaching up to 1000A. The signal source and transmission control switch open and close, replenishing the energy of the LC oscillation circuit formed by the inductance of the energy storage coil and transmitting ring antenna 31, ensure long-term operation.

[0090] 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 ultra-low frequency electromagnetic signal transmitter can transmit signals of two frequencies.

[0091] like Figure 5 As shown, the signal source and broadcast control device 34 includes the following modules: satellite navigation timing receiver 51, time reference unit 52, central control unit 53, and power amplifier unit 54;

[0092] The satellite navigation timing receiver 51 and the time reference unit 52 are connected;

[0093] The satellite navigation timing receiver 51 and the central control unit 53;

[0094] The satellite navigation timing receiver 51 is used to receive clock signals and latitude and longitude positions, and sends the clock signals to the time reference unit 52 and the latitude and longitude positions to the central control unit 53.

[0095] 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.

[0096] The central control unit 53 is connected with the power amplification unit 54;

[0097] The central control unit 53 is connected with the super capacitor switch assembly 55;

[0098] The central control unit 53 is used to control the power amplification unit 54 and the super capacitor switch assembly 55;

[0099] The power amplification unit 54 is used to amplify signals,

[0100] The super capacitor switch assembly 55 is used to control the access of the super capacitor group 33.

[0101] The satellite navigation and timing receiver 51 receives satellite navigation signals, obtains latitude and longitude position data and time information, and sends a time coordinated universal time (UTC) 1PPS second signal to the time reference unit 52 (including a rubidium clock). The central control unit 53 controls the super capacitor switch assembly 55 to switch different low-frequency electromagnetic signals at the whole second moment of UTC time according to the set frequency group and signal transmission sequence, amplifies the low-frequency electromagnetic signal of the set frequency through the power amplification unit 54, and then transmits it through the loop antenna 31. Frequency division signal transmission is adopted to ensure that mutual interference does not occur at the receiving end. The stability and accuracy of the time reference are better than 1E-11, which ensures the time accurate synchronization of the transmission time. The power amplification unit 54 adopts pulse power amplification to compensate for the energy loss of the superconducting energy storage coil 32 and the super capacitor during oscillation, so that the peak strength of the magnetic field emitted by the loop antenna 31 is greater than 1T. The central control unit 53 works according to the following steps: first, complete system startup self-checking to ensure that the satellite navigation and timing receiver 51 can normally receive satellite navigation signals and realize normal output of position data and timing signals. Second, adjust the time reference of the time reference unit 52 (including a rubidium clock) so that the second pulse of the time reference unit 52 is synchronized with the satellite navigation UTC time 1PPS. Third, according to the set working frequency and time sequence, control the super capacitor switch assembly 55 to switch at the whole second moment of UTC time, so as to realize periodic low-frequency navigation signal transmission.

[0102] Specifically, step S2 includes:

[0103] S21: Obtain the latitude and longitude position data of the center of the loop antenna 31 of the near-field low-frequency electromagnetic signal transmitting device deployed on the water surface through the satellite navigation and timing receiver 51;

[0104] S22: The water surface deployed three near-field extremely low frequency electromagnetic signal transmitting device position data, extremely low frequency electromagnetic signal transmitting frequency data, transmitting signal timing and other parameters are set into the underwater receiving unit of the underwater body 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 body is laid and step S3 is executed. If the water depth measurement accuracy is not less than 0.2 meters, the measurement is suspended.

[0105] Specifically, step S3 includes:

[0106] 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 electromagnetic pulse signals at F 2n-1 frequency for a first time length, the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting signals for a second time length, the nth near-field extremely low frequency electromagnetic signal transmitting device transmits electromagnetic pulse signals at F 2n frequency for a third time length, and the nth near-field extremely low frequency electromagnetic signal transmitting device stops transmitting signals for a fourth time length, wherein n is the ordinal number of the near-field extremely low frequency electromagnetic signal transmitting device.

[0107] S32: The underwater body receives electromagnetic pulse signals and calculates the difference between two signals, and the signal phase measurement is solved to obtain the distance of the underwater body from the extremely low frequency navigation signal transmitting device .

[0108] S33: The least square method is used to solve the equation to calculate the position of the underwater body:

[0109]

[0110] wherein, is the horizontal coordinate of the underwater body position, is the horizontal coordinate of the position of the extremely low frequency navigation signal transmitting device; is the vertical coordinate of the underwater body position, is the vertical coordinate of the position of the extremely low frequency navigation signal transmitting device; is the depth of the underwater body;

[0111] S34: The clock signal of the extremely low frequency navigation signal transmitting device is synchronized according to the clock difference between the underwater body and the extremely low frequency navigation signal transmitting device.

[0112] As Figure 6 shown, Figure 6The equipment composition of the underwater receiving unit. The superconducting quantum interference magnetometer 61 receives different frequency extremely low frequency electromagnetic signals emitted by the surface near-field radio transmitting device, and sends the signals to the navigation positioning processing unit 63 for time difference of arrival measurement. The water pressure sensor 62 sends the measured water depth data to the navigation positioning processing unit 63.

[0113] The double-frequency electromagnetic pulse time difference measurement adopts the pulse signal matched correlation method, and the measurement accuracy of the time difference of arrival is better than 0.1 ms, the ranging error is between 0.25-0.33 meters, and the ranging accuracy is high. The navigation positioning processing unit 63 obtains the ranging value, the water depth value and the position data of the surface near-field radio transmitting device according to the ranging value obtained by the time difference of arrival measurement, and obtains the position data of the underwater load through least square solution. When the geometric factor (DOP) of the underwater load receiving three surface electromagnetic pulse signals is less than 10, the positioning accuracy is better than 3.3 meters.

[0114] The frequency range of the received signal of the superconducting quantum interference magnetometer 61 is 4-11 Hz, and the sensitivity is better than 0.01 nT. For 5-10 Hz extremely low frequency signals, when the peak value of the magnetic field signal strength at the transmitting end is greater than 10 T, after 3000 meters of near-field attenuation of seawater (estimated according to the third power of distance), the received signal magnetic field strength at the receiving end is greater than 0.37 nT, which is much higher than the receiving sensitivity of the superconducting quantum interference magnetometer 61, and has good electromagnetic signal receiving and measuring capability.

[0115] In the marine resource exploration area, three near-field radio transmitting devices are deployed on the sea surface to provide real-time positioning services for underwater remotely operated vehicles (ROVs). In deep-sea scientific research, multiple carriers are used in the hydrothermal vent area (water depth 3800m) to provide high-precision navigation and positioning services for underwater AUVs. When providing navigation and positioning services in the hydrothermal area, the underwater receiving unit in the underwater load needs to be heat-insulated and protected to ensure normal operation in high-temperature hydrothermal environment.

[0116] In the area where underwater navigation services are needed on the Arctic ice surface, three near-field radio transmitting devices are deployed on the sea ice to provide high-precision navigation and positioning services for large-depth underwater loads under the sea ice. When providing navigation and positioning services under the Arctic sea ice, the near-field radio transmitting devices on the ice surface need to be protected at low temperature to ensure normal operation in the low-temperature environment of the Arctic.

[0117] As shown in Figure 7 , a near-field radio transmitting large-depth underwater navigation and positioning system provided by the present application is described below. The near-field radio transmitting large-depth underwater navigation and positioning system described below can be mutually corresponding and referred to the near-field radio transmitting large-depth underwater navigation and positioning method described above. It includes:

[0118] The near-field extremely low frequency electromagnetic signal transmitting device deployment module 101 is used for deploying the near-field extremely low frequency electromagnetic signal transmitting device on the water surface;

[0119] The near-field extremely low frequency electromagnetic signal transmitting device comprises the following modules: a signal source and a launch control device 34, a super capacitor group 33, a superconducting energy storage coil 32 and a loop antenna 31.

[0120] The signal source and the launch control device 34 are connected with the super capacitor group 33,

[0121] The super capacitor group 33 is connected with the superconducting energy storage coil 32.

[0122] The superconducting energy storage coil 32 is connected with the loop antenna 31.

[0123] The signal source and the launch control device 34 are used for controlling the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device.

[0124] The underwater receiver launching module 102 is used for setting parameters of the underwater receiver and launching the underwater receiver.

[0125] The positioning coordinate acquisition module 103 is used for navigating and positioning the underwater receiver to obtain the positioning coordinate.

[0126] The application further provides an electronic device comprising a memory, a processor 810 and a computer program stored in the memory and capable of running on the processor 810, wherein the processor 810 implements the steps of the near-field radio transmission large-depth underwater navigation positioning method according to any one of the above embodiments when executing the program.

[0127] Figure 8 An example of an entity structure diagram of an electronic device is shown in the figure, Figure 8 The electronic device can comprise 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 complete mutual communication through the communication bus 840. The processor 810 can invoke the logical instructions in the memory 830 to execute a near-field radio transmission large-depth underwater navigation positioning method, which comprises the following steps:

[0128] S1: deploying a near-field extremely low frequency electromagnetic signal transmitting device on the water surface;

[0129] The near-field extremely low frequency electromagnetic signal transmitting device comprises the following modules: a signal source and a launch control device 34, a super capacitor group 33, a superconducting energy storage coil 32 and a loop antenna 31.

[0130] The signal source and the launch control device 34 are connected with the super capacitor group 33,

[0131] The super capacitor group 33 is connected with the superconducting energy storage coil 32;

[0132] The superconducting energy storage coil 32 is connected with the loop antenna 31;

[0133] The signal source and broadcast control device 34 is used for controlling signal emission of the near-field extremely low frequency electromagnetic signal emission device;

[0134] S2: setting parameters of the underwater receiving unit and deploying the underwater body;

[0135] S3: using the near-field extremely low frequency electromagnetic signal emission device to navigate and position the underwater body, and obtaining positioning coordinates.

[0136] In addition, the logic instructions in the memory 830 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0137] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; 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.

[0138] It should be noted that the embodiments of the present disclosure can be realized by hardware, software or a combination of software and hardware. The hardware part can be realized by special logic; the software part can be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or a special designed hardware. Those skilled in the art can understand that the above devices and methods can be realized by computer executable instructions and / or included 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.

[0139] Further, although operations of the methods of the present disclosure are described in a particular order in the figures, this is not required or implied in any way as to the order of the operations being performed, or that all operations be performed, to achieve desirable results. Rather, the order of steps depicted in the flowcharts can be changed, and / or certain steps can be omitted, combined with another step, and / or divided into multiple steps. It should also be noted that features and functions of two or more devices according to the present disclosure can be embodied in a single device. Conversely, features and functions of one device described above can be further divided into multiple devices.

[0140] While the present disclosure has been described with reference to several particular embodiments, it is to be understood that the disclosure is not limited to the particular embodiments disclosed. Rather, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method for near field radio transmission for deep underwater navigation and positioning, characterized in that, The method comprises the following steps: S1: deploying near-field extremely low frequency electromagnetic signal transmitting devices on the water surface; The near-field extremely low frequency electromagnetic signal transmitting device comprises the following modules: a signal source and a broadcast control device, a super capacitor group, a superconducting energy storage coil and a loop antenna; The signal source and the broadcast control device are connected with the super capacitor group, The super capacitor group is connected with the superconducting energy storage coil; The superconducting energy storage coil is connected with the loop antenna; The signal source and the broadcast control device are used for controlling the signal transmission of the near-field extremely low frequency electromagnetic signal transmitting device; The signal source and the broadcast control device comprise the following modules: a satellite navigation timing receiver, a time reference unit, a central control unit, a power amplifier unit and a super capacitor switch assembly; The satellite navigation timing receiver is connected with the time reference unit; The satellite navigation timing receiver is connected with the central control unit; The satellite navigation timing receiver is used for receiving clock signals and latitude and longitude positions, and sending the clock signals to the time reference unit and sending the latitude and longitude positions to the central control unit; The time reference unit is connected with the central control unit, and the time reference unit is used for providing clock signals for the central control unit; The central control unit is connected with the power amplifier unit; The central control unit is connected with the super capacitor switch assembly; The central control unit is used for controlling the power amplifier unit and the super capacitor switch assembly; The power amplifier unit is used for amplifying signals, The super capacitor switch assembly is used for controlling the access of the super capacitor group; S2: setting parameters of underwater receiving units and deploying underwater bodies, and step S2 comprises: S21: obtaining latitude and longitude position data of the center of the loop antenna of the near-field extremely low frequency electromagnetic signal transmitting device deployed on the water surface through the satellite navigation timing receiver; S22: setting 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 transmission frequency data and the transmission signal time sequence into the underwater receiving units of the underwater bodies by means of binding, calibrating the water pressure sensors of the underwater receiving units, deploying the underwater bodies and performing step S3 when the water depth measurement accuracy is less than 0.2 meters, and pausing the measurement if the water depth measurement accuracy is not less than 0.2 meters; S3: using the near-field extremely low frequency electromagnetic signal transmitting device to navigate and position the underwater body to obtain positioning coordinates, and step S3 comprises: S31: all near-field extremely low-frequency electromagnetic signal transmitting devices transmit signals according to a time sequence, wherein the nth near-field extremely low-frequency electromagnetic signal transmitting device transmits electromagnetic pulse signals at a frequency of F 2n-1 for a first length of time, the nth near-field extremely low-frequency electromagnetic signal transmitting device stops transmitting signals for a second length of time, the nth near-field extremely low-frequency electromagnetic signal transmitting device transmits electromagnetic pulse signals at a frequency of F 2n for a third length of time, and the nth near-field extremely low-frequency electromagnetic signal transmitting device stops transmitting signals for a fourth length of time, wherein n is the ordinal number of the near-field extremely low-frequency electromagnetic signal transmitting device; S32: The water-loaded body receives the electromagnetic pulse signal and calculates the difference between the two signals, and the signal phase measurement is solved to obtain the distance of the water-loaded body from the ultra-low frequency navigation signal transmitting device ; S33: using the least square method to solve equations to calculate the position of the underwater body: wherein, is the horizontal coordinate of the position of the waterborne vehicle, is the horizontal coordinate of the position of the ELF navigation signal transmitting device; is the vertical coordinate of the position of the waterborne vehicle, is the vertical coordinate of the position of the ELF navigation signal transmitting device; is the depth of the waterborne vehicle; S34: synchronizing the clock signals of the extremely low frequency navigation signal transmitting device according to the clock difference between the underwater body and the extremely low frequency navigation signal transmitting device.

2. A method for near field radio transmission for long range underwater navigation and positioning according to claim 1, characterized in that, Step S1 comprises: S11: installing a plurality of near-field extremely low frequency electromagnetic signal transmitting devices on the water surface, and the distance between two near-field extremely low frequency electromagnetic signal transmitting devices is greater than 1.5 kilometers; S12: connecting adjacent near-field extremely low frequency electromagnetic signal transmitting devices by using a rope.

3. A method for near field radio transmission for long range underwater navigation and positioning according to claim 2, characterized in that, Step S11 comprises: When the installed near-field extremely low frequency electromagnetic signal transmitting devices are N, the near-field extremely low frequency electromagnetic signal transmitting devices are arranged in the position of a regular N-polygon.

4. The method of claim 1, wherein, The ring antenna is composed of more than 1000 excitation wires wound more than 10 turns, the radius of the ring antenna is more than 50 meters, the outside of the ring antenna coil is wrapped with insulation material, and more than 8 floating body materials are arranged on the coil.

5. A method for near field radio transmission for long range underwater navigation and positioning according to claim 1, characterized in that, The superconducting energy storage coil is composed of more than 8 groups of coil cakes wound by superconducting material, and the superconducting energy storage coil is soaked in a liquid below -196.15 DEG C for heat preservation. The super capacitor has a capacitance of more than 1 F.

6. A near field radio transmission deep underwater navigation positioning system for carrying out the near field radio transmission deep underwater navigation positioning method according to any one of claims 1 to 5, characterized in that, It comprises: A near-field extremely low-frequency electromagnetic signal transmitting device deployment module for deploying a near-field extremely low-frequency electromagnetic signal transmitting device on the water surface; The near-field extremely low-frequency electromagnetic signal transmitting device comprises the following modules: a signal source and broadcast control device, a super capacitor group, a superconducting energy storage coil and a ring antenna; The signal source and broadcast control device is connected with the super capacitor group, The super capacitor group is connected with the superconducting energy storage coil; The superconducting energy storage coil is connected with the ring antenna; The signal source and broadcast control device is used for controlling the signal emission of the near-field extremely low-frequency electromagnetic signal transmitting device; An underwater body launching module for setting the parameters of the underwater receiving unit and launching the underwater body; A positioning coordinate acquisition module for navigating and positioning the underwater body to obtain the positioning coordinates. 7.An electronic device comprising a memory, a communication interface, a processor, and a communication bus, wherein, The processor executes the computer program to realize the steps of the near-field radio transmission deep underwater navigation positioning method according to any one of claims 1 to 5.

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