242 results about "Underwater navigation" patented technology

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention discloses an AUV (Autonomous Underwater Vehicle) path planning and control integrated method for a complex marine environment, and provides an intelligent path control scheme integrating reinforcement learning and local obstacle avoidance mainly aiming at underwater navigation problems such as submarine topography fluctuation, frequent ocean current disturbance and uncertain dynamic obstacle distribution. According to the method, a realistic three-dimensional ocean grid environment is constructed, an improved Q-learning algorithm is utilized to complete global path planning, a group of optimal path point sequences are generated, and it is ensured that the AUV has the macroscopic navigation capability. Local obstacle avoidance is performed in combination with a three-dimensional dynamic window method (3D DWA), and sudden obstacles are dynamically avoided through speed sampling and trajectory prediction. A DDPG control strategy based on deep reinforcement learning is further introduced, end-to-end training of path planning and control execution is realized, and the system can directly output a control instruction according to a real-time sensing state. A cosine attenuation learning rate, a self-adaptive exploration mechanism, an energy consumption penalty function and a dynamic obstacle prediction and control action filtering technology are fused in the method, so that the intelligence of path planning, the stability of control output and the robustness of obstacle avoidance response are effectively improved. According to the invention, the autonomous navigation capability, the environmental adaptability and the safety task completion efficiency of the AUV in a complex marine environment can be obviously enhanced, and reliable intelligent control technical support is provided for underwater operation.

The invention provides an anti-interference sound signal data extraction method based on energy data perception, and belongs to the technical field of underwater sound signal processing, and the method comprises the steps: carrying out the A / D sampling and digital orthogonal demodulation of a received sound signal, and obtaining a baseband signal; performing low-pass filtering and downsampling on the baseband signal to obtain a preprocessed signal; performing matched filtering on the pre-processed signal by using a reference signal; the key improvement lies in that a local energy estimation function of a preprocessed signal is calculated, and normalization processing is carried out on a matched filtering result and the energy estimation function to obtain a normalized detection signal. The method effectively suppresses the shielding effect of a strong interference signal on a weak target signal under a non-orthogonal reference signal and a strong near-end and weak far-end scene, remarkably reduces the misrecognition probability, and improves the accuracy and reliability of the extraction of a long-distance and low-signal-to-noise-ratio target beacon signal in a complex underwater acoustic environment. The method is suitable for underwater navigation, positioning and communication systems.

The invention relates to the technical field of underwater navigation and positioning, and particularly discloses a wide-area very-low-frequency radio navigation and underwater sound combined underwater navigation and positioning method, which comprises the following steps that: a very-low-frequency navigation transmitting station transmits a very-low-frequency radio navigation time service signal; the semi-submersible acoustic beacon receives a very-low-frequency radio navigation time service signal; performing position calibration and time synchronization; the semi-submersible acoustic beacon emits an underwater acoustic navigation signal, and the underwater carrier calculates the three-dimensional coordinates of the underwater carrier according to the received underwater acoustic navigation signal. According to the invention, a shore-based very-low-frequency radio navigation and underwater sound combined navigation mode is adopted, and a very-low-frequency radio navigation time service signal has a certain underwater entry depth, so that the problem of time synchronization between semi-submersible acoustic beacons is solved, and auxiliary calibration of the positions of the semi-submersible acoustic beacons is provided; the semi-submersible acoustic beacon emits an underwater navigation signal to realize navigation and positioning of a deepwater underwater carrier, and reliable navigation service with wide area coverage, high precision and low power consumption is provided for the underwater carrier.

The invention discloses a portable underwater vehicle throwing device which comprises a control device and further comprises a hoisting assembly (1), and the upper portion of the hoisting assembly (1) is used for being connected with a marine crane (9) for use; the lifting assembly (2) is detachably installed in the middle of the lower portion of the hoisting assembly (1), and the lower portion of the lifting assembly (2) is connected with an underwater navigation body (7) for use; the supporting assemblies (3) are symmetrically connected to the two sides of the lower portion of the hoisting assembly (1); the two ends of the upper portion of the supporting frame (4) are detachably connected with the lower portions of the corresponding supporting assemblies (3) through adapters (5) respectively; wherein the hoisting assembly (1) is wirelessly connected with the control equipment. The system is easy to operate, stable and reliable, pre-tightening constraint of the underwater vehicle can be stable and controllable in the using and releasing process, and the releasing function of the underwater vehicle can be conveniently and rapidly completed by controlling the middle remote control cordless detacher.

The invention discloses a self-adaptive integrated navigation method based on geometric accuracy factors, which belongs to the technical field of underwater navigation and positioning, is used for underwater navigation and positioning, and comprises the following steps: initializing an inertial navigation system and an integrated navigation filter, and setting a state vector and a noise covariance matrix; predicted navigation parameters of the recursive carrier are mechanically arranged through inertial navigation, and the state transition matrix is used for state prediction; and dynamically adjusting an observation noise covariance matrix according to the geometric precision factor value, further calculating a Kalman gain, performing optimal estimation and correction on a prediction state by fusing acoustic observation information, and finally outputting a high-precision carrier position, speed and attitude. According to the method, the statistical characteristics of observation noise are dynamically remodeled by calculating and feeding back geometric precision factor values in real time, so that the Kalman filter has the capabilities of knowing the own geometric situation and adjusting the trust degree of each information source, and the global optimal navigation precision and reliability are realized under any motion track.

The invention provides an underwater integrated navigation method and system based on speed prediction, and relates to the technical field of underwater navigation.The underwater integrated navigation method comprises the steps that observation data of an inertial navigation system (INS), a Doppler log (DVL) and a pressure sensor (PS) are obtained, and when the observation speed of the Doppler log (DVL) fails or meets the gross error condition, the pressure sensor (PS) is determined; predicting the observation speed based on the corrected rotating speed of the propeller; based on the observation data, calculating an IMU pre-integration factor, a DVL factor and a PS factor, constructing a factor graph, and fusing the observation data through a factor graph optimization method to obtain a final underwater vehicle state, including position coordinates, speed, attitude, accelerometer and gyroscope zero offset errors; according to the method, the pseudo DVL factor constructed by the speed predicted value replaces the DVL factor to participate in the navigation framework, so that the navigation precision divergence is effectively inhibited in the DVL failure state.

The invention discloses a submersible integrated navigation adaptive calibration method based on multi-source confidence evaluation, belongs to the technical field of underwater navigation and data processing, is used for submersible integrated navigation, and comprises the following steps: establishing a confidence evaluation model of a multi-dimensional ultra-short baseline positioning system; a comprehensive confidence index is dynamically calculated through signal quality, geometric accuracy factor quality, environmental parameters and data sequence stability, Kalman filtering observation weight is adaptively adjusted based on the comprehensive confidence index, and a three-level decision mechanism is designed to replace manual judgment. The intelligent fusion of the positioning data of the ultra-short baseline positioning system is realized, the human participation degree is reduced, the navigation and positioning autonomy of the submersible is improved, and the underwater operation efficiency of the submersible is further improved.

The invention belongs to the technical field of underwater navigation, and particularly relates to a multi-AUV (Autonomous Underwater Vehicle) collaborative SLAM (Simultaneous Localization and Mapping) method based on multi-beam water depth measurement data, which comprises the following steps: a plurality of AUVs synchronously run in a task area, and a multi-beam depth sounding sonar is respectively used for acquiring local water depth data and generating an internal water depth sub-graph set; each AUV performs sparse processing on the internal water depth sub-graph; the AUV receiving the sub-graph performs interpolation reconstruction on the sparse sub-graph by using a GPR algorithm; each AUV constructs a collaborative SLAM factor graph containing a pushing factor, an internal water depth closed-loop factor, an external water depth closed-loop factor and an inter-AUV distance observation factor based on self navigation data, the internal water depth sub-graph and the external water depth sub-graph; and solving the factor graph through a distributed optimization algorithm, and outputting an optimized pose and a global map of each AUV. According to the method, the positioning precision and reliability of the underwater SLAM are remarkably improved.

The invention provides a butt joint device based on electromagnetic connection and an underwater navigation device, and relates to the technical field of underwater vehicles, the butt joint device comprises a first butt joint assembly and a second butt joint assembly, the first butt joint assembly comprises a first nut and a magnetic driving part arranged on the first nut in a sleeving mode, the second butt joint assembly comprises a telescopic rod, a connecting rod, a second nut and a magnetic response part, one end of the connecting rod is connected with the telescopic end of the telescopic rod, the other end is in threaded connection with the second nut, and the magnetic response part sleeves the periphery of the second nut. The magnetic driving part is used for attracting the magnetic response part to preliminarily butt the first butt joint assembly and the second butt joint assembly, the fixed end of the telescopic rod is driven to rotate to drive the connecting rod to rotate, and the connecting rod rotates and moves in the axial direction of the second nut to be in threaded connection with the inner wall of the first nut so as to secondarily butt the first butt joint assembly and the second butt joint assembly. Radial and axial wandering is eliminated, the stability and anti-disturbance capability after butt joint are enhanced, and the overall operation quality and efficiency are improved.

The invention discloses an underwater navigation positioning method and system based on supercontinuum laser intensity correlation. The system comprises a master control system, a transmitting end underwater base station and a receiving end underwater carrier. The method comprises the following steps: firstly, a main control system generates a super-continuum laser signal with pseudo-random code information, the super-continuum laser signal is separated into optical signals of different wavelength channels through a light splitting module, and the optical signals are respectively sent to underwater base stations uniquely corresponding to the wavelength channels and are emitted; then the underwater carrier receives optical signals from a plurality of base stations, identifies a signal source base station according to wavelength identification, performs correlation operation with a locally copied pseudo-random code sequence, determines signal arrival time TOA and calculates a pseudo-range; and finally, resolving the three-dimensional coordinate and local clock error result of the underwater carrier by combining the pseudo-ranges, absolute positions and transmission delays of the underwater carrier and the at least four base stations. According to the invention, high-precision and high-robustness absolute positioning of the underwater environment is realized, and the reliability of long-time positioning and navigation of the underwater robot is enhanced.

The invention belongs to the technical field of artificial intelligence, and relates to an underwater navigation method and system based on panoramic visual perception and language model reasoning. The method comprises the following steps: acquiring a 360-degree panoramic video sequence when an underwater robot runs, pre-processing the 360-degree panoramic video sequence, dividing the 360-degree panoramic video sequence into sub-views, extracting visual features, combining position and action embedding information, and aggregating the sub-views into a space-time trajectory feature flow through a Transform network. An adaptive module is embedded in a language model, and visual track features are injected into a language hidden space by using a cross attention mechanism, so that visual-language information fusion and content reasoning are realized. Meanwhile, semantic scene representation is constructed through three-dimensional scene modeling, illusion landmarks are inhibited by means of a landmark uncertainty evaluation module, and finally reasoning output of a language model is mapped into a structured control instruction. According to the method, autonomous semantic navigation based on content understanding in an underwater environment is realized.

The present invention belongs to the field of marine underwater positioning, navigation and timing. Disclosed are an underwater navigation and communication integrated position service system and method. The system comprises a buoy base station, a submerged buoy base station, a seabed base station and a shore-based operation and control unit, and the system utilizes a three-dimensional base station network observation mode combining the buoy base station, the submerged buoy base station and the seabed base station. The position service system and method in the present invention have the capabilities of underwater acoustic navigation and communication, satellite positioning and communication, atomic clock timekeeping, hydrological measurement and responding to instructions of a shore-based operation and control unit, have the functions of autonomous, real-time and online base station position and clock calibration and sound velocity field correction, have the functions of base station position and clock calibration, and sound velocity field correction and control based on the shore-based operation and control unit, and can expand the range and functions of underwater position services, and provide accurate positioning, navigation and timing services for water-surface / underwater users.

A split type AUV system comprises an autonomous underwater robot system and a buoy system, the autonomous underwater robot system comprises an electric control sealed cabin, a multi-beam imaging sonar module, a magnetic attraction fixing device, a visual positioning module, an ultra-short baseline USBL transponder beacon, a single-beam sonar module, a depth module, an underwater laser range finder, a battery sealed cabin and a driving unit; the buoy system comprises an ultra-short base line USBL beacon, a floating platform, a cable reel motor, a cable reel, a satellite positioning module, a buoy system electric control cabin, a side scan sonar, an Aruco two-dimensional code plate, a driving unit, a permanent magnet block and a battery cabin; the invention aims to provide an underwater navigation positioning system of a split type AUV (Autonomous Underwater Vehicle), which assists in acquiring the accurate position of an underwater robot.

The invention belongs to the technical field of water-air amphibious inspection, and discloses a water-air amphibious inspection robot for offshore wind power, the water-air amphibious inspection robot comprises variable force propellers and bionic empennages, the variable force propellers are mounted around the robot, each variable force propeller is driven to rotate by an independent motor, the maneuverability and flexibility of the robot are improved, and the robot can be driven by the bionic empennages to rotate. The variable force propeller is composed of four blades, the four blades are installed on a central bevel gear, the inclination angles of the blades are adjusted through rotation of the central bevel gear, and the problems of thrust difference and unstable navigation caused by switching of the aerial working environment and the underwater working environment of the robot can be solved. The bionic empennages are mounted at the tail of the robot, and the two bionic empennages can synchronously swing along with the action of ocean current in the underwater navigation process of the inspection robot, so that the navigation stability of the robot is improved.

The invention provides a trigger type folding-stretching linkage wing structure for a seaplane. The trigger type folding-stretching linkage wing structure comprises a wing assembly, a driving assembly, a linkage assembly and a limiting assembly. The wing assembly comprises a wing seat, two wing groups and two guide units, the wing groups can stretch out and draw back, the two ends of each wing group are connected with an inner connecting plate and an outer connecting plate correspondingly, and the inner connecting plates are rotationally installed on the wing seat; the guide unit comprises a telescopic rod and a reset spring, the two ends of the telescopic rod are connected with the inner connecting plate and the outer connecting plate correspondingly, and the telescopic rod is sleeved with the reset spring. The driving assembly comprises a first sliding block and a connecting rod; two ends of the connecting rod are respectively hinged with the first slide block and one end of the wing group close to the wing seat; the linkage assembly comprises a traction rope and a pulley block; the limiting assembly comprises a first limiting unit and a second limiting unit. The first sliding block moves in the direction away from the wing base, sweepback and contraction of the wing set are synchronously achieved, the cross sectional area and the wetted area of the wing can be reduced at the same time during underwater navigation, and fluid resistance is remarkably reduced.

The invention discloses an inertial navigation system periodic oscillation suppression method based on time-frequency transformation, and relates to the technical field of underwater navigation, and the method comprises the following steps: S1, modeling an error propagation model of an INS, and defining coordinate systems required by INS navigation, including an inertial coordinate system, a navigation coordinate system and a body coordinate system; based on the INS navigation equation, obtaining an INS error model, and carrying out time domain analysis to obtain an analytical solution of time domain error divergence; s2, designing a time-frequency transformation NTFT, proposing a normal phase time-frequency transformation method, and constructing a complete observation equation; s3, substituting a null method into a calculated longitude and latitude result, and accurately extracting frequency, phase and instantaneous amplitude in inertial navigation longitude and latitude; and S4, establishing a resolving framework of the inertial navigation system periodic oscillation suppression method based on time-frequency transformation, and constructing a negative feedback loop through input gyroscope and acceleration information to suppress periodic errors.

The invention discloses a water-air cross-medium unmanned aerial vehicle and a flight method, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a sealed cabin body composed of an upper cabin body and a lower cabin body, symmetrical vehicle arms, a tail steering engine, a rudder, a left steering engine, a right steering engine, an elevator, an underwater propeller and various types of sensors (a binocular camera, a sonar, a water quality sensor and the like). Air flight is achieved in a four-rotor mode, and underwater sneaking is driven in a fixed-wing mode. The control method comprises the stages of takeoff, air flight, air-water transition (a water surface hovering automatic switching mode), underwater navigation, water-air transition and landing, and complete-process autonomous cross-medium conversion is achieved by combining layered rate descent and multi-sensor fusion judgment states. The device has the advantages of being compact in structure, reliable in sealing and accurate in cross-domain control, and is suitable for ocean exploration, environment monitoring, underwater reconnaissance and other scenes.

The invention discloses a satellite underwater acoustic inertial optical tight combination underwater robot positioning method, and belongs to the technical field of underwater navigation. According to the method, optical positioning data are innovatively and effectively fused into an underwater tight combination positioning system, the positioning precision is further optimized through joint calculation of overwater and underwater tight combination, and data provided by an optical sensor are added, so that the method not only expands multi-source data which can be used for calculation, but also improves the positioning precision of the underwater tight combination positioning system. The positioning capability of the underwater robot in a complex environment is also remarkably enhanced, especially for the error accumulation problem existing in an inertial navigation system, real-time compensation of optical data can effectively improve the positioning accuracy and reliability, and further, through combination of overwater and underwater tight combination calculation, the method has the advantages that the calculation resources are optimized, and meanwhile the positioning accuracy and reliability of the underwater robot are improved. The consistency and the stability of a positioning result in different working environments are guaranteed, and particularly, high-precision navigation positioning can still be guaranteed in deepwater or other complex water area environments with weak signals.

The invention provides a deep sea underwater sound long baseline navigation method and system, relates to the technical field of underwater navigation, predicts the position and speed at the current moment on the basis of the position and speed predicted value of an underwater vehicle at the previous moment, and comprises the following steps: predicting the position and speed of the underwater vehicle at the previous moment through an improved sound ray tracking method on the basis of the position and speed predicted value of the underwater vehicle at the previous moment; calculating a distance observation value between the underwater vehicle and the seabed base station at the current moment; calculating the geodetic height observation value of the underwater vehicle by using the real-time depth observation value of the underwater vehicle; the distance observation value and the geodetic height observation value are substituted into a constructed observation model, and prediction of the position and the speed at the current moment is obtained through Kalman filtering solution; according to the method, the sound ray tracking stability and the earth curvature are considered, distance measurement errors caused by sound ray bending and vertical coordinate deviation and length deformation caused by the earth curvature are corrected, the sound ray tracking stability is improved, and the navigation precision is improved.

The invention provides a gas-liquid two-phase pump jet propulsion device for an underwater navigation body, and belongs to the technical field of underwater propellers, the gas-liquid two-phase pump jet propulsion device for the underwater navigation body comprises a pump jet assembly, the pump jet assembly is installed in a propeller guide pipe, and the propeller guide pipe is fixedly installed at the rear end of a navigation body shell; the pump jet assembly comprises a paddle shaft, a front stator, a rotor and a rear stator which are sequentially installed in the fluid direction. The gas supply unit comprises a high-pressure gas storage container, the high-pressure gas storage container is communicated with a gas adjusting device through a gas filtering unit, the gas adjusting device is communicated with a gas conveying pipe, the gas conveying pipe is communicated with an annular nozzle, the annular nozzle is connected with an inner cavity of an annular mixing cavity, and the annular mixing cavity is installed in the inner cavity of the annular mixing cavity. The annular mixing cavity is located at the rear end of the pump jet assembly. By fusing the pump spraying momentum transfer principle and the gas-liquid two-phase flow control technology, the thrust can be remarkably improved, and the technical breakthrough of reducing the working noise and improving the cavitation critical speed is synchronously realized.

An underwater tightly-coupled navigation method for SINS / DVL / USBL based on centralized filtering, the method comprising the following steps: (1) Select the state variables of the SINS / DVL / USBL navigation algorithm and construct the state equation of centralized filtering; (2) Convert and calculate the original beam frequency shift information in the DVL coordinate system according to the carrier velocity information output by the SINS, and convert and calculate the angle measurement information and slant range information in the USBL acoustic array coordinate system according to the carrier position information and the position information of the transponder; (3) Construct the SINS / DVL tightly-coupled measurement equation based on frequency shift measurement and the SINS / USBL tightly-coupled measurement equation based on relative measurement information; (4) Design the DVL and USBL fault detection and processing mechanisms, and design to isolate the DVL and USBL fault data. The present invention provides an underwater navigation algorithm for SINS / DVL / USBL based on centralized filtering, which can effectively solve the accuracy loss caused by the failure of DVL or USBL data during the navigation and positioning process, and improve the underwater positioning accuracy.

The invention discloses a variable-structure unmanned ship and a simulation verification method, belongs to the field of water surface robots, and aims to solve the problem that an existing unmanned ship cannot realize cross-medium sailing to cope with complex sea conditions. Two foldable wings are arranged on the two sides of a main boat body respectively, each foldable wing can be turned over up and down, an underwater propeller is arranged on each foldable wing, and the underwater propellers are close to wing tips of the foldable wings and used for water surface and underwater sailing of the variable-structure unmanned boat; the air propeller is arranged at the stern of the main boat body, can turn over up and down and is used for sailing the variable-structure unmanned boat in the air or on the water surface; the number of the sliding wheels is three, and the three sliding wheels are arranged below the main boat body, can be retracted into the main boat body and are used for sliding, taking off and landing of the variable-structure unmanned boat on the land. The variable-structure unmanned ship can be transformed into a ground-effect wing ship mode, a small-waterplane-area triple-hulled ship mode or an underwater glider mode under the overturning of the foldable wings and the air propellers. The method is mainly used for task execution under complex sea conditions.

The invention relates to the technical field of ship navigation operation, and particularly discloses an obstacle avoidance method and system for an underwater vehicle, a medium and a product, and the method comprises the steps: obtaining navigation positioning information, static obstacle information and dynamic obstacle information of the underwater vehicle in real time; calculating a three-dimensional positive transverse distance between each static obstacle and the underwater vehicle; judging whether potential safety hazards exist or not; calculating evasion parameters; calculating a horizontal DCPA and a vertical DCPA between the dynamic obstacle and the underwater vehicle; judging whether potential safety hazards exist or not; calculating evasion parameters; and calculating a reference avoidance parameter according to the avoidance parameter of the static obstacle and the avoidance parameter of the dynamic obstacle. According to the method, danger prompts of static obstacles and dynamic obstacles can be given through comprehensive and real-time calculation, motion scheme selection for eliminating dangers is provided, the operation difficulty of navigation personnel can be effectively reduced, the error rate is reduced, and therefore the safety of underwater navigation is improved.

The invention belongs to but not limited to the technical field of underwater navigation, and particularly relates to a multi-stage separable autonomous underwater vehicle and a control method thereof.The multi-stage separable autonomous underwater vehicle comprises propellers, a vehicle power module is composed of longitudinal propellers at the bottoms of all sections of power cabins, after all the sections of power cabins are separated, the next section of power cabin continues to run, and the propellers are started; when the aircraft body moves forwards, the continuous movement of the aircraft is ensured by the propellers; the power cabin is wrapped by a peripheral transparent fiber shell, and a power module, a battery pack and a control unit are arranged in the power cabin; a control core of the aircraft is arranged in a first section power cabin and comprises a lithium battery, a power supply module, a control board, a driving board and a communication board; in order to prevent seawater erosion, waterproof motors are adopted for executing mechanisms of the steering engines and the propellers, and control and driving signals are transmitted through watertight cables.

The invention discloses an ocean current monitoring method based on submarine mooring subsurface buoy tracking and positioning, belongs to the technical field of underwater navigation and positioning, is used for ocean current monitoring, and comprises the following steps: implementing attitude correction of a GNSS (Global Navigation Satellite System) antenna, and obtaining a sound signal emission position of a sea surface transducer; establishing a sea surface-seabed sonar observation equation based on acoustic time measurement data and sound velocity profile data between sea surface and seabed anchor system subsurface buoys, establishing a seabed anchor system subsurface buoy motion constraint equation based on a random walk model, and forming a positioning model considering seabed anchor system subsurface buoy motion characteristics; and carrying out adjustment calculation on the positioning model considering the motion characteristics of the submarine anchor system subsurface buoy to obtain a coordinate sequence of the submarine anchor system subsurface buoy, and carrying out smoothing processing on the coordinate sequence to obtain an ocean current motion trail. According to the invention, the motion sequence of the subsurface buoy is tracked and positioned, so that the motion trail of the ocean current is monitored, and the physical ocean environment of km scale magnitude based on the ocean geodetic survey technology is monitored.

The invention belongs to but not limited to the technical field, and discloses a single-point training missile traction interception net launching device and method, the device comprises a base, a power device is arranged on the base, and a launcher is arranged at the front end of the power device; and the intercepting net is connected with the emitter through a traction rope. The folding mode of the intercepting net comprises four-corner star folding and parallel folding. And the intercepting net is provided with a mass block and a non-uniform buoy. The working environment of the underwater navigation body touch net associated body motion model is in seawater; a plurality of counterweights are suspended in sea water by the two buoys through the net body, the net body is vertically unfolded by tensile force between the buoys and the counterweights, and the net body is basically not affected by stress in the horizontal direction and moves along with sea waves; when the navigation body vertically touches the net body at a certain navigation speed, the net body drives the buoy and the counter weight to do associated motion.

The application discloses a compact variable buoyancy system device and relates to the technical field of underwater navigation equipment. Specifically, the device comprises a gas circulation control cabin, at least four linked piston cylinders which are symmetrically arranged on opposite sides of the gas circulation control cabin and can change the displacement volume by moving the pistons, a positive pressure gas tank which is connected to the gas circulation control cabin, is used for storing compressed gas and provides the power for the outward movement of the pistons in the piston cylinders, and a negative pressure gas tank which is connected to the gas circulation control cabin and has a negative pressure environment in the negative pressure gas tank and is used for providing the adsorption force for the inward movement of the pistons in the piston cylinders. The device aims to adjust the buoyancy of the underwater vehicle in a more efficient and simple way without increasing excessive mass and cost.

The present invention provides a navigation control device, a navigation control system, a navigation control method, and a computer program for controlling the navigation of an underwater vehicle toward an area where an aerial vehicle is thought to be flying. [Solution] The navigation control device 10 detects the arrival of sound waves from an object 60 suspended in the water from the flying body 50, inputs direction information indicating the direction of the sound wave's arrival and distance information indicating the distance between the underwater navigating body 30 on which the device is mounted and the object 60, and uses the direction information and distance information to control the navigation of the underwater navigating body 30 toward a target position set below the flying body 50.

This invention relates to the field of underwater navigation equipment technology and provides a polar icebreaking vehicle. The vehicle includes a main body, a water jet cutting device disposed on the main body, the water jet cutting device including a high-pressure pump and a cutting nozzle, the input end of the high-pressure pump being used to draw water from the outside of the main body, and the output end of the high-pressure pump being connected to the cutting nozzle through a first conduit, the high-pressure pump providing high-pressure power to the water flow, and the cutting nozzle ejecting a water jet to cut the ice layer on the water surface. Water is drawn into the water area through the high-pressure pump and pressurized; the pressurized water flows through the first conduit to the cutting nozzle and is ejected from the nozzle, forming a water jet to cut the ice layer on the water surface. Thus, by drawing water from the water area through which the vehicle travels and using it to cut the ice layer, sufficient water flow is available for cutting, allowing the vehicle to operate for extended periods to achieve continuous icebreaking.