32 results about "Shore station" patented technology

The invention relates to the technical field of bridge pier scour monitoring, discloses an air-water-shore cooperative overwater float type bridge pier scour monitoring system, and belongs to the technical field of bridge safety monitoring. According to the system, an integrated framework is formed by a buoy platform, a shore-based cooperative monitoring station and a cloud monitoring platform. The buoy platform is fixed to a pier through a mooring lead, the underwater sonar module of the buoy platform can scan the terrain of a riverbed at multiple angles, and the overwater module integrates high-precision positioning and video monitoring. The shore-based station is provided with a laser scanner and a high-definition camera to monitor the overwater structure and the macroscopic environment of the pier. The cloud platform serves as a control center, converges the multi-source data of the buoys and the shore stations through a communication network, carries out time sequence correlation and fusion analysis, and dynamically evaluates the scour pit development and the bridge pier structure state. According to the invention, the limitation of a single monitoring mode is broken through, collaborative acquisition and intelligent fusion of air, water and shore data are realized, the comprehensiveness, accuracy and early warning capability of monitoring are remarkably improved, and reliable guarantee is provided for safe operation of bridges.

The invention discloses an offshore floating type low-altitude waveguide all-weather detection method and system, and relates to the technical field of marine environment monitoring and electronic information engineering.The method comprises the steps that the current weather condition is judged according to a rain intensity sensor, a miniature weather station, a visibility sensor and an infrared cloud measurement sensor; obtaining a temperature and humidity value range according to the current weather condition, and adding liquid water for correction according to the weather condition; a simulated brightness temperature is obtained according to a MonoRTM model by combining an air pressure profile constructed by sea surface air pressure and a pressure height formula; designing a multi-objective genetic inversion algorithm, constructing an objective function, and when the objective function obtains a minimum value, obtaining an inverted atmospheric parameter profile group; and according to the atmospheric parameter profile group, calculating an atmospheric refractive index profile, judging whether a low-altitude waveguide occurs or not, and uploading a result to a shore station data management center. According to the invention, the atmospheric absorption coefficient is corrected according to different weathers, and all-weather and high-precision monitoring of the low-altitude waveguide on the offshore floating platform is realized.

The invention discloses a shore-based control system and method for an offshore unmanned autonomous system, and relates to the technical field of shore-based control. The shore-based control system comprises a shore-based control center integrating a core processor and a selectable enhancement processor; a plurality of built-in communication interface modules; at least one standardized universal expansion interface; and shore station core software. Wherein the shore station software is integrated with an intelligent decision engine, and can automatically optimize, select and dynamically and seamlessly switch a communication link based on multi-dimensional factors such as real-time link quality, MUAS state, task demand, cost and the like; the shore-based control center has an edge computing capability, and performs localized preprocessing, feature extraction and lightweight intelligent analysis on data received from the MUAS through an edge processing module group of shore station software so as to reduce bandwidth requirements and accelerate information acquisition; and on-demand and rapid reconstruction of shore-based system functions is realized through the design of a universal expansion interface so as to efficiently adapt to diversified offshore operation tasks.

The invention provides a submarine optical cable bidirectional loopback detection device and method based on wavelength division multiplexing, and belongs to the technical field of optical fiber communication precision detection and intelligent analysis. Through the first detection shore station A module, the pulse control processor generates a downlink detection pulse to respectively drive an uplink detection pulse optical signal and a downlink detection pulse optical signal to a main optical fiber; the pulse control processor analyzes the first transmitting and receiving time delay and the first signal attenuation; a second detection shore station B module, wherein the pulse control processor generates an uplink detection pulse; analyzing the second transmitting and receiving time delay and the second signal attenuation, and comparing the first transmitting and receiving time delay and the first signal attenuation; the double-loop module is used for separating, converting and coupling the uplink detection pulse optical signal and the downlink detection pulse optical signal to a main optical fiber for returning; and the intelligent master control processing module is used for measuring the phase of the bidirectional loopback signal and the amplitude change of the loopback signal, detecting and judging whether the uplink signal and the downlink signal are normally received or not, and performing accurate fault positioning and intelligent fault cause analysis and detection by combining with signal time delay.

1. The name of the design product: personal life-saving marker. 2. The use of the design product: the design product is used to automatically broadcast the accurate position, state and safety information of the person in distress in the case of falling into the water, so as to be received and positioned by the nearby sailing ships, search and rescue helicopters or AIS shore stations, etc., and play the role of emergency alarm or emergency help. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The application belongs to the technical field of marine environment monitoring and early warning, and specifically relates to a multi-channel internal wave flow early warning system and an early warning measurement method, which comprises the following steps: a buoy body is fixedly arranged through a fixed anchor, and a marine profile comprehensive detection module synchronously collects multi-dimensional profile data such as flow velocity, temperature and salinity. A main control unit is embedded with a mixed driving early warning model, a phase velocity of an internal wave is solved based on a physical model, a nonlinear correction is performed through a machine learning residual correction module, a high-precision internal wave phase velocity is obtained, and then early warning time, shear flow and displacement amplitude are calculated and an alarm level is determined. Alarm information is redundantly sent to a shore station receiving system through a ground mobile communication link and a satellite communication link of a multi-channel communication module, and the shore station receiving system regularly updates the machine learning model by taking measured data as incremental samples. The application realizes high-precision and low-delay early warning of internal wave flow, has high communication reliability, and is suitable for marine engineering, underwater vehicles and safety guarantee of offshore operations.

The present invention discloses an integrated structure of offshore wind power and data center, including a tower, a wind power generation mechanism, a power supply system, a data center and a heat exchange mechanism. The data center is arranged inside the tower, and the power supply of the data center is provided by the wind power generation mechanism and / or the power supply system. The heat exchange mechanism is connected to the seawater, and the heat exchange mechanism is used to exchange heat between the seawater and the data center. The present invention integrates the data center into the tower of the offshore wind power. The data center can directly use the wind power generation mechanism to generate electricity and / or be connected to the power supply system of the offshore wind power. The offshore wind power has been connected to the onshore electricity and communication through submarine cables. The data center does not need to establish a separate shore station. The data center draws electricity nearby, and the cable loss is very small, which can effectively improve the efficiency of power use; the data center can directly exchange heat with the seawater outside the tower, and the seawater provides a continuous cold source, which can effectively save energy consumption.

A system for charging electric vehicles on or near water includes a charging station and a shore station. The charging station comprises an aquatic structure which can be attached and / or moored to a shore and / or the ground / bed of the body of water, and receptacles that are assembled around the aquatic structure and connected to it. The receptacles are preferably all water-proof, and collectively house various components for allowing the recharging of an electric vehicle. The shore station is remote and mechanically disconnected from the charging station. The shore station is at least partially, if not entirely, above water and attached to the shore of the body of water, for example to a quayside. The shore station includes communication means that complement the communication means of the charging station.

The invention discloses a nonlinear dynamic scheduling communication method for a maritime distress and safety system, and the method comprises the following steps: S1, maintaining the state of a shore-based station of a whole network, and constructing and updating an interference graph based on a physical propagation model; s2, a dynamic scheduler based on a heuristic algorithm calculates nonlinear dynamic priorities for communication requests of various message types; and S3, allocating resources in real time according to the calculated nonlinear dynamic priority, converting a resource allocation problem into solving a maximum weighted independent set, and generating a TDMA time slot allocation scheme of each frame based on an approximate MWIS algorithm. According to the method, the core problems of low spectrum resource utilization efficiency, high service response delay, difficulty in considering high-reliability safe communication and dynamic service load adaptability and the like caused by the adoption of a static time division multiple access scheduling mechanism in an existing maritime communication system can be solved.

The application belongs to the technical field of marine environment monitoring, and specifically relates to an intelligent marine light intensity observation buoy and a use method thereof, which comprises a three-anchor fixing system, a light intensity observation system and a shore station terminal system; the three-anchor fixing system is used for providing anti-rotation stable fixing at a fixed position; the light intensity observation system is fixed on the three-anchor fixing system, is used for collecting light intensity data of a water surface and a water bottom, analyzing dynamic changes of the light intensity data of the water surface and the water bottom, dynamically adjusting a collection frequency according to a change result, and wirelessly transmitting the data to the shore station terminal system for processing; the shore station terminal system is used for receiving, storing and analyzing real-time observation data transmitted from the light intensity observation system; wherein the three-anchor fixing system ensures that the observation system only vertically moves and does not rotate under the action of tides and ocean currents. The application can realize long-time measurement of light intensity of the water surface and the water bottom in the sea, and has high time resolution and spatial resolution.

The invention discloses a method based on AISAMP; a VHF communication equipment message delivery method relates to the technical field of message delivery, and comprises the following steps: acquiring basic information of a target ship in real time based on AIS equipment, and generating an AIS message from the basic information; a management plate is arranged on the AIS equipment, and a target AIS message is periodically and repeatedly sent through the AIS equipment through a radio signal of a VHF frequency band; and the AIS equipment of the other ships and / or the shore station receives and analyzes the AIS signal from the target ship to obtain a target AIS message, and processes the target AIS message based on the AIS equipment of the other ships and / or the shore station to obtain an AIS message. According to the method and the system, whether transmitted data change exists in the data can be effectively judged through the management module in the data analysis processing process, the management end of a receiver can be terminated or prompted in time, the data is difficult to simulate and analyze, and the method and the system have the functions of data protection and integrity analysis.

A dynamic surface buoy assembly, for maintaining an umbilical of an ROV (Fig 4) in a vertical orientation extending vertically from the ROV to the surface of a body of water within which the ROV is carrying out inspection operations, including a buoy body 1, a floating ball 7 and a self-unhooking device 9. The buoy body has a U-shaped opening, a clamping groove, the shape of which matches the shape of the floating ball, formed in the underside of the U-shaped opening, and a limiting portion arranged on an upper part of the clamping groove for preventing the floating ball from moving upwards or downwards in relation to the buoy body while allowing the floating ball to move back and forth inside the buoy body. The buoy body is connected to the floating ball through a cable, with a centre of the floating ball having a through-hole structure configured to allow the umbilical cable to pass from the ROV to a shore station (Fig 4).

The present application relates to the technical field of offshore wind power, discloses an offshore wind power system and an operation method thereof, and the system comprises: an offshore wind turbine, an offshore data center, an offshore ranch, an offshore platform, submarine cables and a shore station; wherein the offshore wind turbine and the offshore platform are arranged above a sea level, the offshore ranch is arranged in seawater, and the offshore data center is arranged on a seabed; the offshore wind turbine, the offshore data center and the offshore ranch are interconnected by cables in a wind turbine sleeve; the offshore platform, the shore station and the wind turbine sleeve are interconnected by the submarine cables; wherein, the offshore wind turbine is configured to supply power to the offshore data center and the offshore ranch, and transmit surplus power to the shore station through the offshore platform; the surplus heat of equipment of the offshore data center is configured to supply heat for the offshore ranch. The present application improves the energy utilization efficiency of the offshore wind power, the utilization efficiency of sea area, and the high-efficiency environmental control for the offshore ranch.

The invention belongs to the technical field of marine environment monitoring, and particularly relates to an intelligent marine illuminance observation buoy and a using method thereof, and the intelligent marine illuminance observation buoy comprises a three-anchor fixing system, an illuminance observation system and a shore station terminal system; the three-anchor fixing system is used for providing anti-rotation stable fixation at a fixed point position; the illuminance observation system is fixed on the three-anchor fixing system and is used for acquiring illuminance data of the water surface and the water bottom, analyzing dynamic changes of the illuminance data of the water surface and the water bottom, dynamically adjusting acquisition frequency according to change results and wirelessly transmitting the data to a shore station terminal system for processing; the shore station terminal system is used for receiving, storing and analyzing the real-time observation data transmitted by the illuminance observation system; wherein the three-anchor fixing system ensures that the observation system only moves vertically and does not rotate under the action of tides and ocean currents. According to the invention, the illuminance of the water surface and the water bottom in the ocean can be measured for a long time, and the time resolution and the space resolution are very high.

The invention discloses a water area environment operation monitoring unmanned ship patrol system and an abnormal activity identification method thereof, the system is composed of a ship-mounted end, a shore station control center and a selectable cloud, and a closed loop is formed through multi-link communication such as 5G / private network / VHF / Ethernet. A long-wave infrared thermal imaging camera, a visible light pan-tilt camera, a millimeter-wave radar, an AIS receiver, a GNSS / IMU and an edge computing unit are integrated at the boat-mounted end. Multi-source time synchronization and preprocessing are completed under PTP / NTP time service, a detection network oriented to minimum target optimization and multi-target continuous tracking are operated, feature-level attention fusion and decision-level mahalanobis distance gating are combined, and AIS consistency filtering is superposed. Robust identification and track maintenance of important concerned objects such as near small boats / night underwater activity personnel / unknown floaters are realized. According to the method, comprehensive coverage, stable identification, controllable report time delay and traceable data are realized at night and under complex sea conditions, and the method has engineering-level reliability and low operation and maintenance cost.

The invention provides a long-distance and near-distance communication method and system for a UUV (Unmanned Underwater Vehicle), and the method comprises the steps: obtaining the position information through a satellite position indicating device when the UUV floats up to the water surface through integrating a Beidou third-generation satellite communication mode and a Bluetooth communication mode, and remotely transmitting the position information to a shore station through a Beidou satellite; a shore station can issue a control instruction through a satellite, and the satellite position indicating device forwards the control instruction to the UUV navigation control center through an RS422 interface, so that remote state monitoring and navigation control are realized. In a close range, the shore station directly communicates with the satellite position indicating device through Bluetooth to complete parameter configuration, instruction issuing and state reading. The problem that traditional underwater acoustic communication is limited by distance is solved, full-time-domain and full-space-domain controllable communication of the UUV is achieved, the reliability, safety and operation and maintenance convenience of UUV operation are improved, and the method is suitable for the fields of ocean exploration, resource investigation, military application and the like.

The invention relates to the technical field of ship-shore control systems, and discloses a self-adaptive ship-shore cooperative control system based on health index feedback. The invention aims to solve the problems of poor communication reliability and insufficient multi-link coordination of a traditional system. The system comprises a data sensing module, a state evaluation module, a control module and an optimization module. The data sensing module collects and preprocesses multi-source data through a five-core socket box, a wireless socket box and the like. The state evaluation module calculates a dimensionless health degree index based on the data, and quantifies the robustness and risk of the system; the control module switches between a safety priority mode and an efficiency priority mode through hysteresis logic according to the health degree index value and the change trend, and dynamically coordinates the multi-link priority; and the optimization module issues an instruction to an execution mechanism, monitors a response, compares a health degree index value evaluation effect and triggers parameter adaptive optimization, multi-link deep collaboration is realized, the ship-shore connection safety and efficiency are improved, and the method is suitable for loading and unloading operation of a liquid cargo ship and a shore station.

The invention provides a liquid cargo lightering system for a medium-pressure storage and transportation liquid carbon dioxide ship and a transferring method. The liquid cargo lightering system comprises a medium-pressure storage tank, a conveying pump, an external conveying system, a self-evaporation pressure maintaining system, an injection system, a volatile gas conveying and processing system, a liquid phase collecting pipe, a gas phase collecting pipe, a gas collecting pipe, a liquid cabin inlet pipe and a liquid cabin outlet pipe. Wherein the output system is used for conveying liquid carbon dioxide to storage shore stations with different storage pressures; the self-evaporation pressure maintaining system is used for controlling the pressure in the medium-pressure storage tank; the injection system is used for injecting liquid carbon dioxide of different storage pressure shore stations into the medium-pressure storage tank; the volatile gas conveying and processing system is used for conveying and processing volatile gas and controlling the pressure in the medium-pressure storage tank in the process of outwards conveying or injecting the carbon dioxide. The medium-pressure liquid carbon dioxide storage and transportation ship can be effectively compatible with high / low-pressure storage shore stations, and the compatibility and operation flexibility of the ship are effectively improved.

The present application relates to the technical field of ocean engineering, and discloses a construction method and a construction system of a submarine data center, the submarine data center comprising a data center shore station, a main submarine cable, a submarine substation, a sub-submarine cable and a submarine data cabin, and comprising the following steps: constructing the data center shore station; transporting the submarine substation to an installation site, connecting the data center shore station and the submarine substation through the main submarine cable; laying the main submarine cable below the sea surface, and hoisting and lowering the submarine substation to a first preset position; transporting the submarine data cabin to the installation site, connecting the submarine substation and the submarine data cabin through the sub-submarine cable; laying the sub-submarine cable below the sea surface, and hoisting and lowering the submarine data cabin to a second preset position. Through the above steps, the looping, twisting and excessive bending of the submarine cable during hoisting are effectively avoided, the optical and electrical transmission performance is ensured, the waiting time of the ship is reduced, and the utilization rate of the window period is improved.

The present application belongs to the field of robot technology, and relates to an underwater lightweight butterfly-shaped bionic operation robot and a working method thereof. The underwater lightweight butterfly-shaped bionic operation robot comprises a butterfly-shaped full-attitude motion body, a simulated elephant trunk mechanical arm installed below the butterfly-shaped full-attitude motion body, and a self-adaptive negative pressure adsorption system arranged at the bottom end of the simulated elephant trunk mechanical arm. An operation orientation conversion assembly is arranged between the butterfly-shaped full-attitude motion body and the simulated elephant trunk mechanical arm, so as to realize rotation between the self-adaptive negative pressure adsorption system and the simulated elephant trunk mechanical arm relative to the butterfly-shaped full-attitude motion body. A shore station console is arranged on the shore or a mother ship, and the shore station console is electrically connected with the butterfly-shaped full-attitude motion body. The overall water resistance is smaller, and the motion performance is stronger. Six groups of propeller structures realize omnidirectional and full-attitude flexible motion of the robot body. Two-side double-wing nozzle pipelines make vertical and horizontal motions nearly zero-coupled, and the motion is more flexible. The simulated elephant trunk mechanical arm makes the self-adaptive negative pressure adsorption system have more degrees of freedom, and the application range and adsorption force are stronger.

The application belongs to the technical field of marine instruments, and particularly relates to a near-shore real-time internal wave observation system and method based on three anchors, which comprises a three-anchor fixing frame system, a real-time internal wave observation system and a shore station terminal system; the real-time internal wave observation system is fixed in the three-anchor fixing frame system in a sliding connection mode, moves up and down along the three-anchor fixing frame system at different sea surface heights, cannot rotate in the horizontal direction, and thus the stability of the observation environment is ensured; the real-time internal wave observation system is used for collecting real-time observation data and sending the real-time observation data to the shore station terminal system for processing; and the shore station terminal system is used for analyzing the received real-time observation data, detecting whether internal waves exist, and thus judging whether to provide early warning. The application can realize long-time complete measurement of internal solitary waves in the sea, has high time resolution and spatial resolution, and provides good data for the research on internal waves.

A system comprises a positively buoyant remote operated vehicle (ROV) 1 for detecting surface defects of an underwater structure, the ROV comprises a shell 12 having side edges that fit into and conform with a frame 11. The system further comprises a buoy 101 comprising an upper anti-swing device which cooperates with an anti-swing base 16 arranged on the robot. The ROV further comprises a self-unhooking device 2 comprising a buoyancy feature, which is unlocked when the ROV is submerged. The self-unhooking device comprises a fixed part fixedly attached to a steel cable attached at a shore station, and a movable part that is fixedly attached to the robot. After deployment, the fixed part of the self-unhooking device is retracted to shore via the steel cable and for recovery the fixed part is fed to a buoy along an umbilical 100 to dock with the movable part.

The invention belongs to the technical field of liquid CO2 storage and transportation, and relates to a device and a process for cooling a liquid CO2 cargo hold by using supercooled liquid CO2. The system comprises a liquid CO2 pressure pump, a standby pump, an outlet pressure and temperature sensor, a bypass valve, branch valves respectively connected to top and middle cold cabin pipelines with nozzles, a cargo cabin pressure sensor and a pressure control valve, and a plurality of temperature sensors distributed on the upper half part and the lower half part of the cabin wall. And the liquid CO2 is maintained in a supercooled state through a pressure pump and is conveyed to a double-layer spraying structure in the cargo hold from a shore station. The pressure of the cargo hold, the average temperature difference between the upper portion and the lower portion of the cargo hold and the cooling rate are controlled by monitoring and adjusting the pump speed, the valve opening degree and the exhaust rate in real time till the average temperature is reduced to-25 DEG C or below. The problems that traditional saturated liquid CO2 or nitrogen is low in cooling efficiency, uneven, prone to vaporization and the like are effectively solved, the cooling efficiency and safety are remarkably improved, and the method is particularly suitable for cooling operation of a large C-type liquid CO2 cargo hold.

This invention discloses a shore-to-ship communication early warning system based on multimodal communication technology, comprising: a speech recognition and command generation module for receiving voice content from shore stations and VHF radio stations; a communication strategy learning module for strategy learning using Q-learning; a multimodal graph construction module for extracting verification command text; a spatiotemporal graph neural network processing module for generating spatiotemporal embedding features; an improved TranAD prediction module for inputting the spatiotemporal embedding features into an improved TranAD model; a cooperative adversarial training module for constructing temporal and spatial branches; a cross-feedback constraint module for generator backpropagation; an anomaly scoring and early warning output module for generating anomaly scores; and a model update and deployment module for updating and deploying the improved TranAD model. This invention can achieve communication assurance and safety early warning in maritime scenarios.

An offshore wind power system and an operation method thereof. The system comprises offshore wind turbines (101), marine data centers (102), marine ranches (103), an offshore platform (104), submarine cables (105), and an onshore substation (106); the offshore wind turbines (101) and the offshore platform (104) are arranged above the sea level, the marine ranches (103) are arranged in the sea, and the marine data centers (102) are arranged on the seabed; the offshore wind turbines (101), the marine data centers (102) and the marine ranches (103) are connected by means of cables in wind turbine sleeves; the offshore platform (104), the onshore substation (106) and the wind turbine sleeves are connected by means of the submarine cables (105); the offshore wind turbines (101) are used for supplying power to the marine data centers (102) and the marine ranches (103) and transmitting surplus power to the onshore substation (106) by means of the offshore platform (104); and the device waste heat of the marine data centers (102) is used for providing heat for the marine ranches (103).

The present invention discloses an ocean relay buoy, which relates to the technical field of ocean monitoring. It includes a main housing, a control system, a cable pay-out device, a buoyancy device, a position detection component and a data transmission device. An optical cable is wound around the cable pay-out device, and the cable pay-out device can realize the pay-out of the optical cable. The control system can be connected to a submersible buoy observation platform through the optical cable; the buoyancy device is arranged at the top of the main housing, and the buoyancy device is signal-connected to the control system; the position detection component is used to detect the position of the ocean relay buoy in seawater, and the position detection component is signal-connected to the control system. The control system can control the buoyancy device to turn on according to the signal detected by the position detection component; the data transmission device is signal-connected to the control system and can transmit the collected data back to the shore station. The present invention can realize the real-time transmission of data of the underwater submersible buoy observation platform, does not require the submersible buoy observation platform to float, improves the problem of low transmission rate of the underwater communication machine, and is not affected by the underwater environment.

This invention provides a control system and method for a modular centralized DC power consumption system. The system includes: a module voltage control module for receiving command and measured values ​​of the average voltage of the modules in the modular centralized DC power consumption system, and outputting a first number of modules; a DC voltage control module for receiving command and measured values ​​of the voltage between the positive and negative terminals of the DC power in the modular centralized DC power consumption system, and outputting a second number of modules; a summation module for summing the first and second number of modules to obtain the total number of modules to be activated; and a sorting and equalizing module for sorting the voltage of all modules and, based on the total number of modules to be activated, determining the modules that need to be activated. This invention can effectively control the DC voltage of the modular centralized DC power consumption system to prevent severe overvoltage problems during AC faults at the shore station, and can also effectively control the average voltage of the modular centralized DC power consumption system.

The present invention discloses an all-weather detection method and system for offshore floating low-altitude waveguides, which relates to the fields of marine environmental monitoring and electronic information engineering technology. The method comprises determining the current weather conditions based on a rainfall intensity sensor, a micro-meteorological station, a visibility sensor, and an infrared cloud sensor, and deriving a temperature and humidity range based on the current weather conditions, and adding a liquid water correction according to the weather conditions; combining the pressure profile constructed by the sea surface pressure and pressure height formula to obtain a simulated brightness temperature based on the MonoRTM model; designing a multi-objective genetic inversion algorithm to construct an objective function, and obtaining an inverted atmospheric parameter profile group when the objective function reaches a minimum value; calculating the atmospheric refractive index profile based on the atmospheric parameter profile group to determine whether a low-altitude waveguide has occurred, and uploading the result to a shore station data management center. The present invention corrects the atmospheric absorption coefficient for different weather conditions, achieving all-weather, high-precision monitoring of low-altitude waveguides on offshore floating platforms.

The present invention discloses an ocean three-dimensional joint observation system and a trajectory tracking method, belonging to the field of ocean observation. The observation system includes a surface mobile device and an underwater robot, and the surface mobile device is connected to the underwater robot through a cable. The trajectory tracking method receives GPS signals and shore station control instructions through the surface mobile device, performs trajectory tracking according to a preset reference trajectory, and then transmits the position information and control instructions to the underwater robot in real time through the cable, so that the underwater robot tracks the surface mobile device, achieving trajectory tracking control of the ocean three-dimensional joint observation system. The observation system provided by the present invention can realize synchronous real-time three-dimensional observation of the ocean above and below the water surface. The trajectory tracking method provided by the present invention can not only perform prediction and constraint processing on the model of the above-water and underwater joint observation system, but also ensure the accuracy and real-time performance of tracking when the reference trajectory changes greatly.

The present invention belongs to the field of underwater detection technology and relates to a method for improving the anti-detection ability of underwater equipment by using a hydrophone, which includes: the underwater equipment enters the water and is first powered on to work, and then the hydrophone is powered on to work; the hydrophone enables an active sonar system to actively detect surrounding targets. When the hydrophone detects an opponent's signal, it stops the active sonar detection and enables a passive sonar system to passively receive the opponent's signal; the hydrophone analyzes the frequency of the opponent's signal; the motor in the underwater equipment is turned on to make the underwater equipment float to the water surface, and the detected opponent information is reported to the ground receiving shore station. During the floating process of the underwater equipment, the working frequency of the motor is intermittently adjusted to switch between the single frequency and multiple frequencies of the opponent's signal. The present invention solves the problem that the underwater equipment is easily captured by the opponent when it emergently floats up after the hydrophone carried by the underwater equipment detects the opponent's signal, and improves the anti-detection ability of our underwater equipment.