An underwater positioning method and device, electronic equipment and storage medium

Abstract

The application provides an underwater positioning method and device, electronic equipment and storage medium, and relates to the technical field of underwater acoustic communication positioning. After a launch end sends a positioning start signal to a response end, the launch end sends a first positioning signal to the response end after a first preset time delay. The launch end receives a positioning early warning signal and a second positioning signal that are fed back by the response end in turn according to a preset delay feedback time based on the first positioning signal. The launch end calculates positioning information according to the delay feedback time, the sending time of the first positioning signal and the receiving time of the second positioning signal. In the embodiment of the application, the positioning start signal and the positioning early warning signal are set, the positioning start signal is sent before the launch end sends the first positioning signal, and the positioning early warning signal is sent before the response end sends the second positioning signal. The anti-interference capability during positioning between the launch end and the response end is improved based on the positioning start signal and the positioning early warning signal. The anti-interference capability during underwater positioning is improved.

Description

Technical Field

[0001] This application relates to the field of underwater acoustic communication technology, and in particular to an underwater positioning method, device, electronic device and storage medium. Background Technology

[0002] Currently, underwater positioning generally employs underwater acoustic positioning methods, which primarily utilize the propagation characteristics of sound waves in water for distance measurement. Specifically, positioning is achieved by measuring the distance from one sonar to multiple sonars at a base station. Distance equals flight time multiplied by the speed of sound; by measuring the flight time, the distance can be calculated. A common method for measuring flight time is as follows: the initiating end sends a positioning signal at time T1, and the responding end immediately sends its own positioning signal upon receiving it. T2 is the time when the initiating end receives the responding end's positioning signal, and V is the speed of sound. The distance between the initiating and responding ends, calculated by measuring the flight time, is L = (T2 - T1) * V / 2.

[0003] However, the above method has poor anti-interference ability. If an interference signal appears before T2, the initiating end may mistake it for a positioning signal from the responding end, resulting in incorrect distance calculation and inaccurate positioning.

[0004] Therefore, how to improve the anti-interference capability during underwater positioning is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, embodiments of this application provide an underwater positioning method, device, electronic device, and storage medium to solve the problem of poor anti-interference capability of existing underwater positioning methods.

[0006] To address the above problems, this application provides the following technical solutions:

[0007] The first aspect of this application discloses an underwater positioning method applied at the initiating end, the method comprising:

[0008] Send a positioning start signal to the responding end;

[0009] A first positioning signal is sent to the response terminal after a first preset time delay;

[0010] The response terminal receives a positioning warning signal and a second positioning signal that are sequentially fed back by the response terminal based on the first positioning signal and according to a preset delay feedback time.

[0011] The positioning information is calculated based on the delayed feedback time, the transmission time of the first positioning signal, and the reception time of the second positioning signal. The positioning information includes the distance between the initiating end and the responding end, or the flight time of the underwater acoustic signal between the initiating end and the responding end.

[0012] Optionally, it also includes:

[0013] After a first preset time delay, N first positioning signals are sent to the response terminal sequentially at preset time intervals, where N is greater than or equal to 1, and the N first positioning signals are the same or different; the preset time intervals are the same or different.

[0014] The system sequentially receives N second positioning signals fed back from the response end, where N is greater than or equal to 1, and the N second positioning signals may be the same or different.

[0015] Optionally, receiving a second positioning signal fed back from the response end includes:

[0016] The second positioning signal is received within the first detection window; the start time of the first detection window is between T2 and T2+△Tc, the end time of the first detection window is greater than T2+△Tc, and the first detection window includes the time point T2+△Tc.

[0017] Wherein, T2 is the moment when the initiating end receives the location warning signal sent by the responding end; △Tc is the third preset time, which is the time interval between the responding end sending the location warning signal and sending the second location signal, and is a time agreed upon in advance between the initiating end and the responding end.

[0018] Optionally, the positioning start signal, the first positioning signal, the positioning warning signal, and the second positioning signal may be the same, different, or partially the same, and may be any one of a frame of data, a combination of multiple symbols, a modulated signal, or a single-frequency pulse signal.

[0019] Optionally, it also includes:

[0020] After sending the second positioning signal, the receiving end sends a first return data signal to the responding end after a fourth preset time delay. The first return data signal does not include a synchronization zone and includes a first data signal composed of multiple code elements. If the initiating end includes multiple sensors, the first data signal includes the time difference or corresponding distance difference between the multiple sensors of the initiating end receiving the second positioning signal, or the flight time or corresponding distance of the underwater acoustic signal.

[0021] Alternatively, receive a second return data signal sent by the response end, wherein the second return data signal does not include a synchronization zone and includes a second data signal composed of multiple symbols.

[0022] Optionally, the initiating end has two or more sonars, including one master sonar and the others as slave sonars, and the sonars are connected based on a synchronization line; the method includes:

[0023] The main sonar and the slave sonar respectively receive positioning signals;

[0024] When there is only one slave sonar, after receiving the positioning signal, the slave sonar sends an end detection signal to the master sonar via the synchronization line after a fifth preset time delay; the fifth preset time includes 0 or a positive number greater than 0.

[0025] When there are two or more slave sonars, after each slave sonar receives the positioning signal, it delays for a different preset time and sends an end detection signal to the main sonar through the synchronization line.

[0026] Optionally, it also includes:

[0027] When the number of slave sonars is 1, the master sonar determines the time difference between the master sonar and the slave sonar receiving the positioning signal, or the moment when the slave sonar receives the positioning signal, based on the end detection signal received by the slave sonar.

[0028] Alternatively, when there are two or more slave sonars, the master sonar determines the slave sonar to which the end detection signal belongs based on the order of the received end detection signals, and determines the time difference between the master sonar and the slave sonar to which the end detection signal belongs when receiving the positioning signal, or the time when the slave sonar to which the end detection signal belongs receives the positioning signal.

[0029] The location of the device sending the positioning signal is determined by calculating the time difference between the time the main sonar receives the positioning signal and the time difference between the time the main sonar receives the positioning signal and the time the secondary sonar receives the positioning signal.

[0030] Optionally, before the main sonar receives the positioning signal, it also includes:

[0031] The main sonar receives positioning and early warning signals;

[0032] The main sonar is delayed by a sixth preset time and sends a start detection signal to the slave sonar via a synchronization line; the sixth preset time includes 0 or a positive number greater than 0.

[0033] The start detection signal is received from the sonar.

[0034] Optionally, the start detection signal includes a pulse signal, a level signal, or communication data; the end detection signal includes a pulse signal, a level signal, or communication data; the start detection signal and the end detection signal may be the same or different.

[0035] Optionally, it also includes:

[0036] The main sonar receives and demodulates the data signal to obtain underwater communication data, which does not include a synchronization zone.

[0037] A second aspect of this application discloses an underwater positioning method applied to a response end, the method comprising:

[0038] Receive the positioning start signal and the first positioning signal sent by the initiating end;

[0039] After receiving the first positioning signal, a positioning warning signal is sent to the initiating end after a second preset time delay;

[0040] A second positioning signal is sent to the initiating end after a third preset time delay. The initiating end calculates positioning information based on the second preset time, the third preset time, the sending time of the first positioning signal, and the receiving time of the second positioning signal. The positioning information includes the distance between the initiating end and the responding end, or the flight time of the underwater acoustic signal between the initiating end and the responding end.

[0041] Optionally, it also includes:

[0042] The system sequentially receives N first positioning signals sent by the initiating end, where N is greater than or equal to 1, and the N first positioning signals may be the same or different.

[0043] After a third preset time delay, N second positioning signals are sent to the initiating end sequentially at preset time intervals, where N is greater than or equal to 1, and the N second positioning signals are the same or different; the preset time intervals are the same or different.

[0044] Optionally, receiving a first positioning signal sent by the initiating end includes:

[0045] The first positioning signal is received within the second detection window; the start time of the second detection window is between T0' and T0'+△Ta, the end time of the second detection window is greater than T0'+△Ta, and the second detection window includes the time point T0'+△Ta.

[0046] Where T0' is the moment when the responding end receives the positioning start signal, and △Ta is the interval between the initiating end sending the positioning start signal and sending the first positioning signal.

[0047] Optionally, the positioning start signal, the first positioning signal, the positioning warning signal, and the second positioning signal may be the same, different, or partially the same, and may be any one of a frame of data, a combination of multiple symbols, a modulated signal, or a single-frequency pulse signal.

[0048] Optionally, after sending the second positioning signal, the method further includes:

[0049] After a fourth preset time delay, a second return data signal is sent to the initiating end. The second return data signal includes a second data signal composed of multiple code elements and does not include a synchronization zone. If the responding end includes multiple sensors, the second data signal includes the time difference or the corresponding distance difference between the multiple sensors of the responding end receiving the first positioning signal.

[0050] Alternatively, receive a first return data signal sent by the initiating end, the first return data signal including a first data signal composed of multiple symbols, the first data signal not including a synchronization zone.

[0051] Optionally, if the response terminal has two or more sonars, the sonars include one master sonar and the others are slave sonars, and the sonars are connected based on a synchronization line; the method includes:

[0052] The main sonar and the slave sonar respectively receive positioning signals;

[0053] When there is only one slave sonar, after receiving the positioning signal, the slave sonar sends an end detection signal to the master sonar via the synchronization line after a fifth preset time delay; the fifth preset time includes 0 or a positive number greater than 0.

[0054] When there are two or more slave sonars, after each slave sonar receives the positioning signal, it delays for a different preset time and sends an end detection signal to the main sonar through the synchronization line.

[0055] Optionally, it also includes:

[0056] When the number of slave sonars is 1, the master sonar determines the time difference between the master sonar and the slave sonar receiving the positioning signal, or the moment when the slave sonar receives the positioning signal, based on the end detection signal received by the slave sonar.

[0057] Alternatively, when there are two or more slave sonars, the master sonar determines the slave sonar to which the end detection signal belongs based on the order of the received end detection signals, and determines the time difference between the master sonar and the slave sonar to which the end detection signal belongs when receiving the positioning signal, or the time when the slave sonar to which the end detection signal belongs receives the positioning signal.

[0058] The location of the device sending the positioning signal is determined by calculating the time difference between the time the main sonar receives the positioning signal and the time difference between the time the main sonar receives the positioning signal and the time the secondary sonar receives the positioning signal.

[0059] Optionally, before receiving the positioning signal, the method further includes:

[0060] The main sonar receives the positioning start signal;

[0061] The main sonar is delayed by a sixth preset time and sends a start detection signal to the slave sonar via a synchronization line; the sixth preset time includes 0 or a positive number greater than 0.

[0062] The start detection signal is received from the sonar.

[0063] Optionally, the start detection signal includes a pulse signal, a level signal, or communication data; the end detection signal includes a pulse signal, a level signal, or communication data; the start detection signal and the end detection signal may be the same or different.

[0064] Optionally, it also includes:

[0065] The main sonar receives data signals, demodulates the data signals, and obtains underwater communication data; the data signals do not include a synchronization zone.

[0066] A third aspect of this application discloses an underwater positioning device applied at the initiation end, the device comprising:

[0067] The first sending module is used to send a positioning start signal to the response terminal; and to send a first positioning signal to the response terminal after a first preset time.

[0068] The first receiving module is used to receive the positioning warning signal and the second positioning signal that are sequentially fed back by the response end based on the first positioning signal according to a preset delay feedback time.

[0069] The positioning module is used to calculate positioning information based on the delay feedback time, the transmission time of the first positioning signal, and the reception time of the second positioning signal. The positioning information includes the distance between the initiating end and the responding end, or the flight time of the underwater acoustic signal between the initiating end and the responding end.

[0070] Optionally, if the initiating end has two or more sonars, the sonars include one master sonar and the others are slave sonars, the sonars are connected based on a synchronization line, and the sonars perform the sonar method described in this application.

[0071] A fourth aspect of this application discloses an underwater positioning device applied to a response end, the device comprising:

[0072] The second receiving module is used to receive the positioning start signal and the first positioning signal sent by the initiating end;

[0073] The second sending module is used to send a positioning warning signal to the initiating end after receiving the first positioning signal, with a second preset time delay; and to send a second positioning signal to the initiating end after a third preset time delay, so that the initiating end can calculate the distance between the initiating end and the responding end based on the second preset time, the third preset time, the time of sending the first positioning signal, the time of receiving the second positioning signal by the initiating end, and the speed of sound in water.

[0074] Optionally, if the response end has two or more sonars, the sonars include one master sonar and the others are slave sonars, and the sonars are connected to each other based on a synchronization line; the sonars perform the sonar method involved in the aforementioned application.

[0075] The fifth aspect of this application discloses an electronic device, which includes at least one processor and at least one memory and bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; the processor is used to call program instructions in the memory to execute the underwater positioning method disclosed in the first or second aspect of this application.

[0076] The sixth aspect of this application discloses a storage medium having a program stored thereon, which, when executed by a processor, implements the underwater positioning method disclosed in the first or second aspect of this application.

[0077] Based on the underwater positioning method, apparatus, electronic device, and storage medium provided in the embodiments of this application, after the initiating end sends a positioning start signal to the responding end, it sends a first positioning signal to the responding end after a first preset time delay; and receives a positioning warning signal and a second positioning signal sequentially fed back by the responding end based on the first positioning signal according to a preset delay feedback time; the initiating end calculates the positioning information based on the delay feedback time, the sending time of the first positioning signal, and the receiving time of the second positioning signal. In the embodiments of this application, a positioning start signal and a positioning warning signal are set, and the positioning start signal is sent before the initiating end sends the first positioning signal, and the positioning warning signal is sent before the responding end sends the second positioning signal. The anti-interference capability during positioning between the initiating end and the responding end is improved based on the positioning start signal and the positioning warning signal. This improves the anti-interference capability during underwater positioning. Attached Figure Description

[0078] To more clearly illustrate the technical solutions in the embodiments of this application 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 only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0079] Figure 1 A flowchart illustrating an underwater positioning method provided in this application embodiment;

[0080] Figure 2 This is a schematic diagram of the positioning start signal and the first positioning signal at the initiating end, and the positioning warning signal and the second positioning signal at the responding end, provided in an embodiment of this application for underwater positioning.

[0081] Figure 3 This is a schematic diagram of interference signals and detection windows on the initiating and responding ends during underwater positioning, provided as an embodiment of this application.

[0082] Figure 4 A flowchart illustrating another underwater positioning method provided in this application embodiment;

[0083] Figure 5 A schematic diagram of underwater positioning with a second feedback data signal on the response end side, provided in an embodiment of this application;

[0084] Figure 6 This is a schematic diagram of the architecture between the positioning base station and the positioning device provided in the embodiments of this application;

[0085] Figure 7 A schematic diagram showing the connection between the master sonar and the slave sonar via a synchronization line, provided for an embodiment of this application;

[0086] Figure 8 This is a timing diagram of signal transmission between the master sonar and the slave sonar in another underwater positioning method disclosed in this application embodiment;

[0087] Figure 9 A schematic diagram illustrating two-dimensional positioning using two sonars at the initiating end, provided for an embodiment of this application;

[0088] Figure 10 A schematic diagram illustrating the start and end detection signals between master and slave sonars provided in an embodiment of this application;

[0089] Figure 11 This is a timing diagram of signal transmission between the master sonar and the slave sonar in another underwater positioning method disclosed in this application embodiment;

[0090] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0091] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0092] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0093] As can be seen from the background technology, the existing underwater acoustic positioning methods have poor anti-interference capabilities. During the underwater positioning process, the initiating end may mistake the interference signal for the positioning signal sent by the responding end, thus causing the inaccurate calculation of the distance between the initiating end and the responding end, resulting in the failure of positioning the initiating end and / or the responding end.

[0094] Therefore, this application discloses an underwater positioning method that reduces the probability of the initiating or responding end receiving interference signals by sending a positioning start signal or a positioning warning signal before sending the positioning signal, thereby improving the anti-interference capability between the initiating and responding ends when performing underwater positioning.

[0095] In underwater positioning, the device initiating the positioning is called the initiating end, and the device responding to the positioning is called the responding end. In practical applications, both the initiating and responding positioning devices are sonar. When both the initiating and responding ends have one sonar, one-dimensional positioning can be achieved, that is, measuring the distance between two points; when at least one of the initiating or responding ends has two sonars, two-dimensional positioning can be achieved; when at least one of the initiating or responding ends has three or more sonars, three-dimensional positioning can be achieved. Positioning is mainly achieved by measuring the distance and distance difference between the initiating and responding ends.

[0096] When the underwater positioning method disclosed in this application is executed at the initiating end:

[0097] The initiating end sends a positioning start signal to the responding end.

[0098] The initiating end sends the first positioning signal to the responding end after a first preset time delay.

[0099] The initiating end receives the positioning warning signal and the second positioning signal, which are fed back sequentially by the responding end based on the first positioning signal and according to the preset delay feedback time.

[0100] The initiating end calculates the location information based on the delayed feedback time, the time when the first location signal was sent, and the time when the second location signal was received.

[0101] When the underwater positioning method is executed at the response end:

[0102] The responding end receives the positioning start signal and the first positioning signal sent by the initiating end.

[0103] After receiving the first positioning signal, the responding end sends a positioning warning signal to the initiating end after a second preset time delay.

[0104] The responding end sends a second positioning signal to the initiating end after a third preset time delay, so that the initiating end can calculate and obtain positioning information based on the second preset time, the third preset time, the sending time of the first positioning signal, and the receiving time of the second positioning signal.

[0105] like Figure 1 The diagram shown is a flowchart of an underwater positioning method disclosed in an embodiment of this application. The specific execution process of this underwater positioning method includes:

[0106] S101: The initiating end sends a positioning start signal to the responding end.

[0107] In S101, the initiating end records the sending time T0 of the positioning start signal when sending it to the responding end. That is, T0 is the time when the initiating end sends the positioning start signal.

[0108] The positioning activation signal can be a data frame, such as a positioning frame. The positioning activation signal carries the positioning activation data from the initiating end. After receiving the positioning activation signal, the responding end verifies the positioning activation data. The positioning activation signal can enhance the anti-interference capability of underwater positioning communication.

[0109] S102: After a first preset time △Ta, the initiating end sends a first positioning signal to the responding end.

[0110] In S102, after sending the positioning start signal, the initiating end delays for a first preset time ΔTa and continues to send the first positioning signal to the responding end, while recording the sending time T1 of the first positioning signal. That is, T1 is the time when the initiating end sends the first positioning signal.

[0111] The first preset time △Ta is the interval between the initiator sending the positioning start signal and sending the first positioning signal, specifically: △Ta = T1 - T0.

[0112] S103: The responding end sequentially receives the positioning start signal and the first positioning signal sent by the initiating end, and after completing the reception of the first positioning signal, it sends a positioning warning signal to the initiating end after a second preset time △Tb.

[0113] In S103, the responding end sequentially receives the positioning start signal and the first positioning signal sent by the initiating end, and after receiving the first positioning signal, it sends a positioning warning signal to the initiating end after a second preset time △Tb.

[0114] It should be noted that the responding end performs data verification upon receiving the positioning initiation signal from the initiating end. If the verification determines that the positioning initiation signal is a positioning frame or carries positioning initiation data, then subsequent operations will continue.

[0115] In S103, the positioning warning signal can be a combination of multiple code elements, and its transmission time is shorter than that of a single frame of data, and it has a strong anti-interference capability.

[0116] S104: The responding end sends a second positioning signal to the initiating end after a third preset time △Tc.

[0117] In S104, after sending the location warning signal, the responding end sends the second location signal to the initiating end after a third preset time △Tc.

[0118] The third preset time △Tc is the interval between the sending of the location warning signal and the sending of the second location signal by the responding end, which is a time agreed upon in advance between the initiating end and the responding end.

[0119] During the process of the responding end sending the location warning signal and the second location signal to the initiating end, after receiving the first location signal sent by the initiating end, the responding end sends the location warning signal and the second location signal to the initiating end in sequence according to the preset delay feedback time, namely the second preset time △Tb and the third preset time △Tc.

[0120] S105: The initiator receives the location warning signal.

[0121] In step S105, the initiating end receives the location warning signal and records the reception time T2. That is, T2 is the time when the initiating end receives the location warning signal sent by the responding end.

[0122] It should be noted that there is no specific order between S105 and S104; the responding end and the initiating end each execute their respective commands.

[0123] S106: The initiator receives the second positioning signal.

[0124] In S106, the initiating end receives the second positioning signal and records the reception time T3. That is, T3 is the time when the initiating end receives the second positioning signal sent by the responding end.

[0125] It should be noted that the first preset time △Ta, the second preset time △Tb, and the third preset time △Tc are pre-agreed upon between the initiating and responding ends. That is, after the initiating end sends the positioning start signal, the time T1 for sending the first positioning signal can be determined according to the agreed first preset time △Ta. After sending the positioning warning signal, the responding end can send the second positioning signal after the agreed third preset time △Tc.

[0126] S107: The initiating end calculates the positioning information based on the second preset time △Tb, the third preset time △Tc, the transmission time T1 of the first positioning signal, and the reception time T3 of the second positioning signal received by the initiating end.

[0127] In S107, the positioning signal can be the distance between the initiating end and the responding end, or the flight time of the underwater acoustic signal between the initiating end and the responding end. The underwater acoustic signal refers to the signal transmitted between the initiating end and the responding end during underwater positioning, and the flight time is the time it takes for the transmitted signal to be transmitted between the initiating end and the responding end during underwater positioning.

[0128] In one embodiment of this application, the initiating end calculates the time difference between the second preset time △Tb, the third preset time △Tc, the transmission time T1 of the first positioning signal, and the reception time T3 of the second positioning signal received by the initiating end to determine the flight time of the underwater acoustic signal. The flight time is T3-T1-△Tb-△Tc.

[0129] In one embodiment of this application, the initiating end calculates the distance L between the initiating end and the responding end based on the second preset time △Tb, the third preset time △Tc, the transmission time T1 of the first positioning signal, the reception time T3 of the second positioning signal received by the initiating end, and the speed of sound in water V. Specifically, L = (T3-T1-△Tb-△Tc)*V / 2.

[0130] It should be noted that the aforementioned positioning start signal, first positioning signal, positioning warning signal, and second positioning signal may be the same, different, or partially the same. Optionally, each of the positioning start signal, first positioning signal, positioning warning signal, and second positioning signal can be any one of the following: a frame of data, a combination of multiple code elements, a modulated signal, or a single-frequency pulse signal.

[0131] The underwater positioning method disclosed in this application sets a positioning initiation signal and a positioning warning signal. The positioning initiation signal is sent before the initiating end sends the first positioning signal, and the positioning warning signal is sent before the responding end sends the second positioning signal. Based on the positioning initiation signal and the positioning warning signal, the anti-interference capability during positioning between the initiating end and the responding end is improved. This enhances the anti-interference capability during underwater positioning.

[0132] Based on the underwater positioning method disclosed in the above embodiments of this application, the responding end executes S103 to receive a first positioning signal sent by the initiating end, specifically receiving the first positioning signal within a detection window after receiving the positioning start signal; the initiating end executes S106 to receive a second positioning signal fed back by the responding end, specifically receiving the second positioning signal within a detection window after receiving the positioning warning signal. To avoid the influence of interference signals outside the window, the survival time of the detection window is set within a certain range.

[0133] like Figure 2 The diagram shows the positioning start signal and the first positioning signal from the initiating end, as well as the positioning warning signal and the second positioning signal from the responding end during underwater positioning.

[0134] like Figure 3 The diagram shows the interference signals and detection window on the initiating and responding ends during underwater positioning.

[0135] In one embodiment of this application, the process by which the initiating end receives the second positioning signal fed back by the responding end is as follows:

[0136] The initiating end receives the second positioning signal within a first detection window. The start time of the first detection window is between T2 and T2+ΔTc, and the end time is greater than T2+ΔTc. The detection window includes the time point T2+ΔTc. Appropriately reducing the size of the detection window can improve anti-interference capability. For example, the first detection window can be set to a detection window centered at T2+ΔTc with a range of ±2ms. If the initiating end receives a signal outside the first detection window, it determines that the signal is an interference signal.

[0137] In one embodiment of this application, the process by which the responding end receives the first positioning signal sent by the initiating end is as follows:

[0138] The responding end receives the first positioning signal within the second detection window. The start time of the second detection window is between T0' and T0'+ΔTa, and the end time is greater than T0'+ΔTa. The detection window includes the time point T0'+ΔTa. Appropriately reducing the size of the detection window can improve anti-interference capability. For example, the second detection window can be set to a detection window centered at T0'+ΔTa with a range of ±2ms. If the initiating end receives a signal outside the second detection window, it is determined that the signal is an interference signal. Here, T0' is the moment the responding end receives the positioning start signal.

[0139] In the underwater positioning method disclosed in this application embodiment, a detection window is set. The initiating end receives the second positioning signal within the first detection window, ensuring that the responding end receives the first positioning signal within the second detection window. If the initiating end and / or the responding end receives a signal outside the detection window, the signal is determined to be an interference signal. In this application embodiment, the detection window is set to ensure that interference signals outside the detection window do not affect the responding end's detection of the first positioning signal, nor do they affect the initiating end's detection of the second positioning signal, thereby further improving the anti-interference capability of underwater positioning.

[0140] Based on the underwater positioning method disclosed in the above embodiments of this application, this application also discloses another underwater positioning method, such as... Figure 4 As shown, the main steps include the following:

[0141] S401: The initiating end sends a positioning start signal to the responding end.

[0142] The specific execution process of S401 is the same as that of S101 above.

[0143] S402: The response end receives the positioning start signal.

[0144] S403: After a first preset time △Ta, the initiating end sends N first positioning signals to the responding end in sequence at preset time intervals △Ta2~△TaN.

[0145] In S403, N is greater than or equal to 1, and the N first positioning signals are the same or different; the preset time intervals between the N first positioning signals are the same or different; when N equals 1, it is the same as S102.

[0146] S404: The responding end sequentially receives N first positioning signals sent by the initiating end.

[0147] In S404, the responding end sequentially receives N first positioning signals sent by the initiating end and records the times Td1~TdN of the received N first positioning signals.

[0148] When N is greater than or equal to 2, the response end normalizes the time of each received first positioning signal and shifts it to the position of the last first positioning signal, based on: Tgn=Tdn+.

[0149] For example, after normalization, Td1 becomes Tg1 = Td1 + ΔTa2 + ... + ΔTaN;

[0150] After normalization, Td2 becomes Tg2 = Td2 + ΔTa3 + ... + ΔTaN;

[0151] After normalization, TdN becomes TgN=TdN.

[0152] The response end filters the N normalized values ​​Tg1~TgN to obtain the optimal value TGN. For example, the median or average value is taken as the best estimate of the received last first positioning signal.

[0153] S405: Based on the best estimate TGN of the last first positioning signal received, send a positioning warning signal to the initiator after a second preset time △Tb.

[0154] S406: The responding end delays for a third preset time △Tc, and sequentially sends N second positioning signals to the initiating end at preset time intervals △Tc2~△TcN.

[0155] In S405, N is greater than or equal to 1, and the N second positioning signals are the same or different; the preset time intervals between the N second positioning signals are the same or different; when N equals 1, it is the same as S104.

[0156] S407: The initiator receives the location warning signal.

[0157] The specific execution process of S407 is the same as that of S105 above.

[0158] S408: The initiating end sequentially receives N second positioning signals fed back by the responding end.

[0159] In S408, the initiating end sequentially receives N second positioning signals fed back by the responding end and records the times Te1~TeN of the N received second positioning signals; when N is greater than or equal to 2, the times of each received second positioning signal are normalized and shifted to the position of the first second positioning signal, specifically based on: Tfn=Ten-.

[0160] For example, after normalization, Te1 becomes Tf1=Te1, and after normalization, Te2 becomes Tf2=Te2-△Tc2;

[0161] After normalization, TeN becomes TfN = TeN - (△Tc2 + △Tc3 + ... + △TcN).

[0162] The initiator filters the N normalized values ​​Tf1~TfN to obtain the optimal value TF1, such as taking the median or average value, as the best estimate of the received first second positioning signal.

[0163] S409: The initiating end calculates the positioning information based on the second preset time △Tb, the third preset time △Tc, the time TN when the last first positioning signal is sent, and the best estimate TF1 when the first second positioning signal is received.

[0164] In one embodiment of this application, the initiating end determines the flight time of the underwater acoustic signal by using a second preset time △Tb, a third preset time △Tc, the time TN at which the last first positioning signal is sent, and the best estimate TF1 at which the first second positioning signal is received. The flight time is TF1-TN-△Tb-△Tc.

[0165] In one embodiment of this application, the initiating end calculates the distance L between the initiating end and the responding end based on the second preset time △Tb, the third preset time △Tc, the time TN when the last first positioning signal is sent, the best estimated value TF1 when the first second positioning signal is received, and the speed of sound in water V. Specifically, L = (TF1 - TN - △Tb - △Tc) * V / 2.

[0166] It should be noted that the aforementioned positioning start signal, first positioning signal, positioning warning signal, and second positioning signal may be the same, different, or partially the same. Optionally, each of the positioning start signal, first positioning signal, positioning warning signal, and second positioning signal can be any one of the following: a frame of data, a combination of multiple code elements, a modulated signal, or a single-frequency pulse signal.

[0167] The underwater positioning method disclosed in this application involves sending multiple first positioning signals from the initiating end and / or sending multiple second positioning signals from the responding end. Even if some of the first positioning signals and / or second positioning signals are interfered with, filtering can be performed after normalizing multiple first positioning signals and / or second positioning signals, such as taking the median or average value. In underwater positioning involving corresponding ranging calculations, this can improve ranging accuracy and enhance anti-interference capability.

[0168] Based on the above embodiments of this application Figure 1 and Figure 4In publicly available underwater positioning methods, after sending a positioning signal, either the initiating end or the responding end can send a data return signal to the other. In one embodiment of this application, after the responding end sends a second positioning signal, the initiating end sends a first data return signal to the responding end after a fourth preset time ΔTd. This first data return signal does not include a synchronization region and comprises a first data signal consisting of multiple code elements.

[0169] If the initiator includes multiple sensors, the first data signal includes the time difference or corresponding distance difference between the multiple sensors at the initiator receiving the second positioning signal, or the flight time or corresponding distance of the underwater acoustic signal.

[0170] The responding end receives the first data transmission signal sent by the initiating end.

[0171] like Figure 5 The diagram illustrates underwater positioning with a second return data signal on the responding end. In one embodiment of this application, after sending the second positioning signal, the responding end delays for a fourth preset time △Td before sending the second return data signal to the initiating end. This second return data signal includes a second data signal composed of multiple code elements and does not include a synchronization region.

[0172] If the response end includes multiple sensors, the second data signal includes the time difference or the corresponding distance difference between the multiple sensors receiving the first positioning signal.

[0173] The initiating end receives the second return data signal sent by the responding end.

[0174] It should be noted that the fourth preset time △Td is a fixed value, or it changes immediately following the positioning start signal or positioning warning signal. After the initiating end receives the second positioning signal from the responding end, the received second return data signal can be demodulated after a specific delay, without the need to detect the synchronization signal. Furthermore, the fact that the second return data signal does not contain a synchronization zone can effectively shorten the data transmission time.

[0175] It should be noted that the first and second return data signals may contain the communication data to be sent, or they may contain positioning-related information, such as the flight time, time difference, distance, and distance difference of the underwater acoustic signal.

[0176] In one embodiment of this application, during each positioning operation, the responding end can send a second data return signal to the initiating end, and timing and communication can be performed simultaneously. By using a data frame as the positioning start signal of the initiating end, the initiating end can also transmit data to the responding end, and the transmitted data can be transmitted through the positioning start signal; after the responding end sends the second positioning signal, it sends the second data return signal to the initiating end. In this way, bidirectional data transmission can be achieved during positioning, avoiding switching back and forth between positioning and communication, and improving the efficiency of positioning and communication.

[0177] In multi-dimensional positioning, such as two-dimensional positioning, at least one of the initiating or responding ends must have two or more sonars; in three-dimensional positioning, at least one of the initiating or responding ends must have three or more sonars. It should be noted that the end with multiple sonars can also be called the positioning base station, and the other end can be called the positioning device. Figure 6 The diagram shows the architecture between the positioning base station and the positioning device. The positioning device includes sonar A, and the positioning base station includes n sonars (sonar 1, sonar 2, ..., sonar n), where n is a positive integer greater than 2.

[0178] If the initiating unit has two or more sonars, one of which is a master sonar and the others are slave sonars, connected by a synchronization line; for example Figure 7 The diagram shows the connection between the main sonar and the slave sonar via a synchronization line. Multiple synchronization lines can be used, or only one. Preferably, only one synchronization line is used to save on cabling.

[0179] If the initiating end has one master sonar and one slave sonar, when executing... Figure 1 or Figure 4 The method shown also includes: Figure 8 The diagram shown is a timing diagram of signal transmission between the master sonar and the slave sonar in another underwater positioning method disclosed in this application embodiment; the underwater positioning method mainly includes the following steps:

[0180] S801: Main sonar receives positioning signals.

[0181] In S801, the main sonar receives the positioning signal sent by the response end and records the time T01 when the positioning signal is received, that is, the time when the main sonar receives the positioning signal. The positioning signal can be the aforementioned second positioning signal.

[0182] S802: Receives positioning signals from sonar.

[0183] In S802, a positioning signal transmitted from the response end is also received from the sonar. This positioning signal can be the aforementioned second positioning signal.

[0184] S803: After receiving the positioning signal from the sonar, after a fifth preset time △Tb1, send the end detection signal to the main sonar through the synchronization line.

[0185] In S803, the fifth preset time △Tb1 includes a positive number that is 0 or greater than 0. The fifth preset time △Tb1 is a preset time agreed upon between the sonar and the main sonar.

[0186] The termination detection signal can be a pulse signal, a level signal, or communication data.

[0187] S804: The main sonar receives the end detection signal to determine the time when the positioning signal is received from the sonar, as well as the time difference between the main sonar and the sonar receiving the positioning signal.

[0188] In S804, the main sonar receives the end detection signal emitted from the sonar and records the time T20 when the end detection signal is received. Based on the time T20 when the end detection signal is received and the fifth preset time ΔTb1, the main sonar calculates and determines the time T11 when the positioning signal is received from the sonar. Specifically: T11 = T20 - ΔTb1.

[0189] The main sonar calculates the time difference (T11-T01) between the main sonar and the sonar receiving the positioning signal based on the time T20 when the end detection signal is received and the fifth preset time △Tb1.

[0190] It should be noted that the time difference (T11-T01) between the main sonar and the sonar receiving the positioning signal may be positive, negative, or zero.

[0191] S805: The main sonar determines the location of the sonar that sent the positioning signal based on the time difference (T11-T01) and the time T01 when the main sonar receives the positioning signal.

[0192] In S805, the main sonar determines the distance difference ΔL between the device transmitting the positioning signal, such as the response end, to the main sonar and the slave sonar based on the speed of sound in water V and the time difference (T11-T01), where ΔL = V*(T11-T01).

[0193] Using the main sonar as the initiating end, the distance L' to the responding end can be calculated based on the method described in S107 or S409.

[0194] Based on the obtained distance difference ΔL and distance L', the main sonar can calculate the coordinates of the device that sent the positioning signal, such as the response end.

[0195] like Figure 9As shown, the example of two-dimensional positioning using two sonars at the initiating end is explained below. A1 and A2 constitute the initiating end (positioning base station), with A2 being the primary sonar and A1 being the secondary sonar.

[0196] When performing underwater positioning, determine the distance L' from the positioning device or responding end (hereinafter referred to as the positioning device) transmitting the positioning signal to the main sonar A2, and the distance difference ΔL between the positioning device and the main and slave sonars A2 and A1. In determining the coordinates of the positioning device, based on the distance L' from the positioning device to the main sonar, the possible location of the positioning device is on a circle centered at the main sonar A2. Based on the distance difference ΔL from the positioning device to the main and slave sonars A2 and A1, the possible location of the positioning device is on a hyperbola. Whether the distance difference ΔL is positive or negative indicates whether the positioning device is on the left or right half of the hyperbola. The intersection of the hyperbola and the circle is the location of the positioning device. Figure 8 As shown, the positioning device is located at position P1 or P2. By presetting the positioning device's activity range, such as limiting its movement to above the initiating end, the device's position can be uniquely determined as P1. Similarly, when the initiating end has multiple sonars, two-dimensional and three-dimensional positioning can also be performed.

[0197] In one embodiment of this application, the primary sonar and the secondary sonar receive a positioning warning signal before receiving the positioning signal. However, in some cases, the failure of the secondary sonar to receive the positioning warning signal may result in the inability to successfully receive the positioning signal. For example... Figure 10 The diagram shown illustrates the start and end detection signals between the master and slave sonars.

[0198] After receiving the positioning warning signal at time T00, the main sonar delays for a sixth preset time △Ta1 and sends a start detection signal to the slave sonar via the synchronization line; this sixth preset time △Ta1 includes 0 or a positive number greater than 0. The slave sonar receives the start detection signal at time T11 and begins detecting the positioning signal after receiving it. The main sonar receives the positioning signal at time T21, and the slave sonar receives the positioning signal at time T31, delaying for a fifth preset time △Tb1 before sending an end detection signal. The main sonar receives this end detection signal at time T41.

[0199] It should be noted that the start detection signal includes a pulse signal, a level signal, or communication data. The end detection signal includes a pulse signal, a level signal, or communication data; the start detection signal and the end detection signal may be the same or different.

[0200] It should be noted that the start and stop detection signals are transmitted via a synchronization line, which can be the same line or different lines. Preferably, the same line is used to reduce cabling and save costs.

[0201] If the initiating end has 1 master sonar and n slave sonars, such as Figure 11 The diagram shown is a timing diagram of signal transmission between the master sonar and the slave sonar in another underwater positioning method disclosed in this application embodiment; the underwater positioning method mainly includes the following steps:

[0202] S110: Main sonar receives positioning signals.

[0203] In S110, the main sonar receives the positioning signal sent by the response end or positioning device, and simultaneously records the time T21 at which the positioning signal is received, i.e., T21 is the time when the main sonar receives the positioning signal. The positioning signal can be the aforementioned first positioning signal.

[0204] In one embodiment of this application, before the main sonar receives the positioning signal at T21, the main sonar receives the positioning warning signal at time T00, and after a sixth preset time △Ta1, i.e. time T11, sends a start detection signal to n slave sonars through the synchronization line.

[0205] S111: n slave sonars each receive a positioning signal. After receiving the positioning signal, each slave sonar delays for a different preset time and sends an end detection signal to the master sonar via a synchronization line.

[0206] In S111, such as Figure 11 As shown, sonar 1 receives the positioning signal at time Ts1 and sends the end detection signal to the main sonar via the synchronization line after a delay of ΔTs1; sonar 2 receives the positioning signal at time Ts2 and sends the end detection signal to the main sonar via the synchronization line after a delay of ΔTs2; in turn, sonar n receives the positioning signal at time Tsn and sends the end detection signal to the main sonar via the synchronization line after a delay of ΔTsn.

[0207] S112: The main sonar receives n end detection signals sent by n slave sonars, and determines the slave sonar corresponding to each end detection signal according to the time sequence of the received end detection signals, and determines the time difference between the main sonar and the slave sonar corresponding to each end detection signal receiving the positioning signal, as well as the time when each slave sonar receives the positioning signal.

[0208] In S112, such as Figure 11As shown, the main sonar receives the end detection signal sent by the slave sonar at times Ta1, Ta2, ..., Tan. Ta1 corresponds to slave sonar 1, Ta2 to slave sonar 2, ..., Tan to slave sonar n. The main sonar calculates the time when each slave sonar receives its positioning signal by subtracting its corresponding preset delay from the time corresponding to each slave sonar. Based on this, the time difference between the main sonar and each slave sonar receiving the positioning signal can also be calculated. The calculation method is similar to that for one main sonar and one slave sonar.

[0209] S113: The main sonar calculates the location of the device that sent the positioning signal based on the time and time difference when the positioning signal is received by the main sonar, or based on the time when the positioning signal is received by the main sonar and the time when the positioning signal is received from the sonar, to determine the location of the device that sent the positioning signal.

[0210] The execution principle of S113 is the same as that of S805 above.

[0211] In one embodiment of this application, during each positioning operation, the main sonar receives a data signal sent by the responding end and demodulates the data signal to obtain underwater communication data. This data signal does not include a synchronization zone. Similarly, the main sonar at the initiating end can also send a data signal to the responding end. This data signal may contain the communication data to be sent, or it may contain positioning-related information, such as the flight time of the underwater acoustic signal, time difference of flight, distance, distance difference, etc., as well as the aforementioned positioning-related information.

[0212] The underwater positioning method disclosed in this application, when there are two or more sonars at the initiating end, connects all sonars through a synchronization line, and determines the position of the device sending the positioning signal based on the time when the main sonar receives the positioning signal and the time difference between the main sonar and each slave sonar receiving the positioning signal, or based on the time when the main sonar receives the positioning signal and the time when the slave sonar receives the positioning signal, thereby shortening the positioning time while improving anti-interference capability.

[0213] If the response unit has two or more sonars, one of which is a master sonar and the others are slave sonars, and the sonars are connected via a synchronization line; specifically as follows: Figure 8 As shown. If the response unit has one master sonar and one slave sonar, the specific underwater positioning process is as follows:

[0214] The main sonar and the slave sonar each receive positioning signals. After receiving the positioning signal from the slave sonar, the slave sonar sends an end detection signal to the main sonar via a synchronization line after a fifth preset time delay. The fifth preset time includes 0 or a positive number greater than 0. Based on receiving the end detection signal from the slave sonar, the main sonar determines the time difference between the main sonar and the slave sonar receiving the positioning signal, or the moment when the slave sonar receives the positioning signal. The location of the device that sent the positioning signal is determined by calculation based on the moment when the main sonar receives the positioning signal and the time difference, or by calculation based on the moment when the main sonar receives the positioning signal and the moment when the slave sonar receives the positioning signal.

[0215] If the response unit has 1 master sonar and n slave sonars, the specific underwater positioning process is as follows:

[0216] The main sonar and slave sonars receive positioning signals respectively. After each slave sonar receives a positioning signal, it delays for a different preset time and sends an end detection signal to the main sonar via a synchronization line. The main sonar determines the slave sonar corresponding to each end detection signal based on the order of the received signals, and determines the time difference between the main sonar and the corresponding slave sonar in receiving the positioning signal, or the exact time when each slave sonar receives the positioning signal. The main sonar determines the location of the device that sent the positioning signal based on the time of receipt of the positioning signal and the time difference, or based on the time of receipt of the positioning signal by both the main sonar and the slave sonar.

[0217] In one embodiment of this application, the main sonar and the slave sonar receive a positioning start signal before receiving the positioning signal respectively. Specifically, the main sonar receives the positioning start signal; the main sonar delays for a sixth preset time and sends a start detection signal to the slave sonar via a synchronization line; the sixth preset time includes a positive number greater than 0; the slave sonar receives the start detection signal and begins detecting the positioning signal after receiving the start detection signal. The main sonar receives the positioning signal; the slave sonar receives the positioning signal and delays for a fifth preset time before sending an end detection signal, which the main sonar receives.

[0218] It should be noted that the start detection signal includes a pulse signal, a level signal, or communication data. The end detection signal includes a pulse signal, a level signal, or communication data; the start detection signal and the end detection signal may be the same or different.

[0219] It should be noted that when the responding end has two or more sonars, the specific execution principle is similar to that when the initiating end has two or more sonars, and can be referred to accordingly.

[0220] The underwater positioning method disclosed in this application, when there are two or more sonars at the response end, connects all sonars through a synchronization line and determines the position of the device sending the positioning signal based on the time difference of the positioning signals received by multiple sonars, thereby shortening the positioning time while improving anti-interference capability.

[0221] Based on the underwater positioning method disclosed in the above embodiments of this application, this application also discloses a corresponding underwater positioning device.

[0222] At the initiation end, the underwater positioning device includes:

[0223] The first sending module is used to send a positioning start signal to the responding end; and to send a first positioning signal to the responding end after a first preset time.

[0224] The first receiving module is used to receive the positioning warning signal and the second positioning signal that are sequentially fed back by the responding end based on the first positioning signal and according to a preset delay feedback time.

[0225] The positioning module is used to calculate positioning information based on the delay feedback time, the transmission time of the first positioning signal, and the reception time of the second positioning signal. The positioning information includes the distance between the initiating end and the responding end, or the flight time of the underwater acoustic signal between the initiating end and the responding end.

[0226] The first receiving module is also used to receive a return data signal sent by the responding end after a fourth preset time delay following the sending of the second positioning time. The return data signal does not include a synchronization zone and includes a data signal composed of multiple code elements.

[0227] The demodulation module is used to demodulate data signals to obtain underwater communication data.

[0228] If the initiating end has two or more sonars, including one master sonar and the others as slave sonars, and the sonars are connected by a synchronization line, the sonars perform the underwater communication method described above when the initiating end has two or more sonars.

[0229] At the response end, the underwater positioning device includes:

[0230] The second receiving module is used to receive the positioning start signal and the first positioning signal sent by the initiating end.

[0231] The second transmitting module is used to send a positioning warning signal to the initiating end after receiving the first positioning signal, with a second preset time delay; and to send a second positioning signal to the initiating end with a third preset time delay, so that the initiating end can calculate the distance between the initiating end and the responding end based on the second preset time, the third preset time, the time of transmission of the first positioning signal, the time of reception of the second positioning signal by the initiating end, and the speed of sound in water.

[0232] The second transmitting module is further configured to, after sending the second positioning signal to the initiating end, delay for a fourth preset time and then send a return data signal to the receiving end. The return data signal includes a data signal composed of multiple code elements and does not contain a synchronization zone.

[0233] The demodulation module is used to demodulate data signals to obtain underwater communication data.

[0234] If the responding end has two or more sonars, including one master sonar and the others as slave sonars, and the sonars are connected by a synchronization line, the sonars perform the underwater communication method described above when the responding end has two or more sonars.

[0235] Based on the underwater positioning method and underwater positioning device disclosed in the above embodiments of this application, this application also discloses an electronic device, such as... Figure 12 As shown, the electronic device includes at least one processor 120, and at least one memory 121 and bus 122 connected to the processor 120; wherein the processor 120 and the memory 121 communicate with each other through the bus 122; the processor 120 is used to call program instructions in the memory 121 to execute the underwater positioning method disclosed in the aforementioned embodiments of this application.

[0236] This application also discloses a storage medium storing a program that, when executed by a processor, implements the underwater positioning method disclosed in the foregoing embodiments of this application.

[0237] In the embodiments of this application, the storage medium may specifically be a computer storage medium. Computer storage media includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated data signals and carrier waves.

[0238] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for apparatus or apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The apparatus and apparatus embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. 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 creative effort.

[0239] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An underwater positioning method, characterized in that, Applied to the initiating end, the method includes: Send a positioning start signal to the responding end; A first positioning signal is sent to the response terminal after a first preset time delay; The response terminal receives a positioning warning signal and a second positioning signal that are sequentially fed back by the response terminal based on the first positioning signal and according to a preset delay feedback time. The positioning information is calculated based on the delayed feedback time, the transmission time of the first positioning signal, and the reception time of the second positioning signal. The positioning information includes the distance between the initiating end and the responding end, or the flight time of the underwater acoustic signal between the initiating end and the responding end.

2. The method according to claim 1, characterized in that, Also includes: After a first preset time delay, N first positioning signals are sent to the response terminal sequentially at preset time intervals, where N is greater than or equal to 1, and the N first positioning signals are the same or different; the preset time intervals are the same or different. The system sequentially receives N second positioning signals fed back from the response end, where N is greater than or equal to 1, and the N second positioning signals may be the same or different.

3. The method according to claim 1, characterized in that, Receive the second positioning signal fed back from the response end, including: The second positioning signal is received within the first detection window; the start time of the first detection window is between T2 and T2+△Tc, the end time of the first detection window is greater than T2+△Tc, and the first detection window includes the time point T2+△Tc. Wherein, T2 is the moment when the initiating end receives the location warning signal sent by the responding end; △Tc is the third preset time, which is the time interval between the responding end sending the location warning signal and sending the second location signal, and is a time agreed upon in advance between the initiating end and the responding end.

4. The method according to claim 1, characterized in that, The positioning start signal, the first positioning signal, the positioning warning signal, and the second positioning signal are all the same, all different, or partially the same, and are any one of a frame of data, a combination of multiple code elements, a modulated signal, or a single-frequency pulse signal.

5. The method according to any one of claims 1 to 4, characterized in that, Also includes: After sending the second positioning signal, the receiving end sends a first return data signal to the responding end after a fourth preset time delay. The first return data signal does not include a synchronization zone and includes a first data signal composed of multiple code elements. If the initiating end includes multiple sensors, the first data signal includes the time difference or corresponding distance difference between the multiple sensors of the initiating end receiving the second positioning signal, or the flight time or corresponding distance of the underwater acoustic signal. Alternatively, receive a second return data signal sent by the response end, wherein the second return data signal does not include a synchronization zone and includes a second data signal composed of multiple symbols.

6. The method according to claim 1, characterized in that, The initiating end has two or more sonars, including one master sonar and the others as slave sonars, and the sonars are connected based on a synchronization line; the method includes: The main sonar and the slave sonar respectively receive positioning signals; When there is only one slave sonar, after receiving the positioning signal, the slave sonar sends an end detection signal to the master sonar via the synchronization line after a fifth preset time delay; the fifth preset time includes 0 or a positive number greater than 0. When there are two or more slave sonars, after each slave sonar receives the positioning signal, it delays for a different preset time and sends an end detection signal to the main sonar through the synchronization line.

7. The method according to claim 6, characterized in that, Also includes: When the number of slave sonars is 1, the master sonar determines the time difference between the master sonar and the slave sonar receiving the positioning signal, or the moment when the slave sonar receives the positioning signal, based on the end detection signal received by the slave sonar. Alternatively, when there are two or more slave sonars, the master sonar determines the slave sonar to which the end detection signal belongs based on the order of the received end detection signals, and determines the time difference between the master sonar and the slave sonar to which the end detection signal belongs when receiving the positioning signal, or the time when the slave sonar to which the end detection signal belongs receives the positioning signal. The location of the device sending the positioning signal is determined by calculating the time difference between the time the main sonar receives the positioning signal and the time difference between the time the main sonar receives the positioning signal and the time the secondary sonar receives the positioning signal.

8. The method according to claim 6, characterized in that, Before the main sonar receives the positioning signal, it also includes: The main sonar receives positioning and early warning signals; The main sonar is delayed by a sixth preset time and sends a start detection signal to the slave sonar via a synchronization line; the sixth preset time includes 0 or a positive number greater than 0. The start detection signal is received from the sonar.

9. The method according to any one of claims 6 to 8, characterized in that, The start detection signal includes a pulse signal, a level signal, or communication data; the end detection signal includes a pulse signal, a level signal, or communication data; the start detection signal and the end detection signal may be the same or different.

10. The method according to any one of claims 6 to 8, characterized in that, Also includes: The main sonar receives and demodulates the data signal to obtain underwater communication data, which does not include a synchronization zone.

11. An underwater positioning method, characterized in that, Applied to the response end, the method includes: Receive the positioning start signal and the first positioning signal sent by the initiating end; After receiving the first positioning signal, a positioning warning signal is sent to the initiating end after a second preset time delay; A second positioning signal is sent to the initiating end after a third preset time delay. The initiating end calculates positioning information based on the second preset time, the third preset time, the sending time of the first positioning signal, and the receiving time of the second positioning signal. The positioning information includes the distance between the initiating end and the responding end, or the flight time of the underwater acoustic signal between the initiating end and the responding end.

12. The method according to claim 11, characterized in that, Also includes: The system sequentially receives N first positioning signals sent by the initiating end, where N is greater than or equal to 1, and the N first positioning signals may be the same or different. After a third preset time delay, N second positioning signals are sent to the initiating end sequentially at preset time intervals, where N is greater than or equal to 1, and the N second positioning signals are the same or different; the preset time intervals are the same or different.

13. The method according to claim 11, characterized in that, Receive the first positioning signal sent by the initiator, including: The first positioning signal is received within the second detection window; the start time of the second detection window is between T0' and T0'+△Ta, the end time of the second detection window is greater than T0'+△Ta, and the second detection window includes the time point T0'+△Ta. Where T0' is the moment when the responding end receives the positioning start signal, and △Ta is the interval between the initiating end sending the positioning start signal and sending the first positioning signal.

14. The method according to claim 11, characterized in that, The positioning start signal, the first positioning signal, the positioning warning signal, and the second positioning signal are all the same, all different, or partially the same, and are any one of the following: a frame of data, a combination of multiple code elements, a modulated signal, or a single-frequency pulse signal.

15. The method according to any one of claims 11 to 14, characterized in that, After sending the second positioning signal, it also includes: After a fourth preset time delay, a second return data signal is sent to the initiating end. The second return data signal includes a second data signal composed of multiple code elements and does not include a synchronization zone. If the responding end includes multiple sensors, the second data signal includes the time difference or the corresponding distance difference between the multiple sensors of the responding end receiving the first positioning signal. Alternatively, receive a first return data signal sent by the initiating end, the first return data signal including a first data signal composed of multiple symbols, the first data signal not including a synchronization zone.

16. The method according to claim 11, characterized in that, If the response terminal has two or more sonars, including one master sonar and the others as slave sonars, and the sonars are connected based on a synchronization line; the method includes: The main sonar and the slave sonar respectively receive positioning signals; When there is only one slave sonar, after receiving the positioning signal, the slave sonar sends an end detection signal to the master sonar via the synchronization line after a fifth preset time delay; the fifth preset time includes 0 or a positive number greater than 0. When there are two or more slave sonars, after each slave sonar receives the positioning signal, it delays for a different preset time and sends an end detection signal to the main sonar through the synchronization line.

17. The method based on claim 16, characterized in that, Also includes: When the number of slave sonars is 1, the master sonar determines the time difference between the master sonar and the slave sonar receiving the positioning signal, or the moment when the slave sonar receives the positioning signal, based on the end detection signal received by the slave sonar. Alternatively, when there are two or more slave sonars, the master sonar determines the slave sonar to which the end detection signal belongs based on the order of the received end detection signals, and determines the time difference between the master sonar and the slave sonar to which the end detection signal belongs when receiving the positioning signal, or the time when the slave sonar to which the end detection signal belongs receives the positioning signal. The location of the device sending the positioning signal is determined by calculating the time difference between the time the main sonar receives the positioning signal and the time difference between the time the main sonar receives the positioning signal and the time the secondary sonar receives the positioning signal.

18. The method according to claim 16, characterized in that, Before receiving the positioning signal, it also includes: The main sonar receives the positioning start signal; The main sonar is delayed by a sixth preset time and sends a start detection signal to the slave sonar via a synchronization line; the sixth preset time includes 0 or a positive number greater than 0. The start detection signal is received from the sonar.

19. The method according to any one of claims 16 to 18, characterized in that, The start detection signal includes a pulse signal, a level signal, or communication data; the end detection signal includes a pulse signal, a level signal, or communication data; the start detection signal and the end detection signal may be the same or different.

20. The method according to any one of claims 16 to 18, characterized in that, Also includes: The main sonar receives data signals, demodulates the data signals, and obtains underwater communication data; the data signals do not include a synchronization zone.

21. An underwater positioning device, characterized in that, Applied to the initiating end, the device includes: The first sending module is used to send a positioning start signal to the response terminal; and to send a first positioning signal to the response terminal after a first preset time. The first receiving module is used to receive the positioning warning signal and the second positioning signal that are sequentially fed back by the response end based on the first positioning signal according to a preset delay feedback time. The positioning module is used to calculate positioning information based on the delay feedback time, the transmission time of the first positioning signal, and the reception time of the second positioning signal. The positioning information includes the distance between the initiating end and the responding end, or the flight time of the underwater acoustic signal between the initiating end and the responding end.

22. The apparatus according to claim 21, characterized in that, If the initiating end has two or more sonars, the sonars include one master sonar and the others are slave sonars, the sonars are connected based on a synchronization line, and the sonars perform the method of any one of claims 6 to 10.

23. An underwater positioning device, characterized in that, Applied to the response end, the device includes: The second receiving module is used to receive the positioning start signal and the first positioning signal sent by the initiating end; The second sending module is used to send a positioning warning signal to the initiating end after receiving the first positioning signal, with a second preset time delay; and to send a second positioning signal to the initiating end after a third preset time delay, so that the initiating end can calculate the distance between the initiating end and the responding end based on the second preset time, the third preset time, the time of sending the first positioning signal, the time of receiving the second positioning signal by the initiating end, and the speed of sound in water.

24. The apparatus according to claim 23, characterized in that, If the response terminal has two or more sonars, the sonars include one master sonar and the others are slave sonars, and the sonars are connected to each other based on a synchronization line; the sonars perform the method of any one of claims 16 to 20.

25. An electronic device, characterized in that, The electronic device includes at least one processor, and at least one memory and bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; the processor is used to call program instructions in the memory to execute the underwater positioning method as described in any one of claims 1 to 20.

26. A storage medium, characterized in that, It stores a program that, when executed by a processor, implements the underwater positioning method as described in any one of claims 1 to 20.

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