TWI774305B - An underwater acoustic positioning and communication system, positioning, communication, team formation and geofencing methods - Google Patents

Abstract

The invention provides an underwater acoustic positioning and communication system, and positioning, communication, team formation and geofencing methods. The underwater acoustic positioning and communication system includes a server, floating positioning stations and underwater terminals. The server can communicate with the floating positioning stations through wireless networks. The floating positioning stations can communicate with the underwater terminals through underwater acoustics. The instant communication between the underwater terminals, the positioning and navigation of the underwater terminals are implementing. Therefore, the problem of poor communication during diving or underwater operations is solved, so that the communication between divers, underwater operators, or staffs above water is smooth. The system installed above the water can monitor and protect the underwater staffs, monitor the environment of beneath water, dispatch the underwater staffs, and adapt to various demands.

Description

An underwater acoustic positioning and communication system, positioning, communication, teaming and geo-fencing methods

The invention relates to the technical field of diving communication, in particular to an underwater acoustic positioning and communication system, and methods for positioning, communication, team formation and geo-fencing.

When people are diving or working underwater, they cannot communicate using words, only gestures. However, there are limitations in the communication of information through gestures: firstly, the distance between the two parties in the communication cannot be too far, otherwise the gestures of the other party cannot be clearly seen; secondly, the gestures of underwater communication must be mastered after special training, otherwise the communication cannot be carried out; Third, in the event of an emergency, there are obstacles to gesture communication, resulting in the inability to communicate effectively. The electromagnetic wave wireless communication widely used on land has great attenuation in water, which makes it difficult to communicate in water, which makes it difficult for underwater radio communication or optical communication to be used for underwater communication.

Taking CN109743097A as an example, this patent discloses a portable underwater telephone communication system and method based on a buoy base. A fixed device is arranged on the host of the terminal, which can realize the effective integration of the portable underwater telephone terminal and the diver's equipment. This solution integrates equipment such as headphones into the mask. The carrier of this patent must be a mask, and its type is single. In addition, it can only transmit Input voice, so that the type of transmission data is single. Taking CN109756277A as an example, this patent discloses a pre-stored voice-type diver command communication system and communication method, which adopts the input and output method of pre-stored voice commands. The patent can only send preset information and cannot locate people diving or working underwater. In addition, the above-mentioned two patents have a single function and cannot meet various needs under water.

The purpose of the present invention is to provide an underwater acoustic positioning and communication system, positioning, communication, team formation and geo-fencing methods, which can solve the problems of poor communication during diving or underwater operations, inability to locate personnel, and single function.

In order to solve the above problems, the present invention provides an underwater acoustic positioning and communication system, including a water server, a plurality of water surface positioning base stations and a plurality of underwater terminals. The water server and the plurality of water surface positioning base stations communicate through a wireless network. The surface positioning base station and the underwater terminal communicate by means of underwater acoustic communication, so as to realize instant communication between the underwater terminals, and to locate and navigate the underwater terminals.

Optionally, the underwater terminal is used to input and output digital signals, receive and send ultrasonic signals; it is also used to perform conversion between digital signals and ultrasonic signals; the surface positioning base station is used to The terminal performs ranging and positioning, and sends the results of the ranging and positioning to the water server; it is also used for converting between ultrasonic signals and wireless network signals; the water server is used to send The surface positioning base station sends a request for ranging and/or positioning of the underwater terminal, and calculates the position of the underwater terminal according to the distance reported by the surface positioning base station; and, the underwater The terminal and the water server transmit data through the water surface positioning base station.

Further, the water surface positioning base station includes a main control module, an ultrasonic signal modulation and demodulation module, an ultrasonic signal generation and receiving module, a wireless network and a GPS positioning module; the water surface positioning base station When the data of the lower terminal is forwarded to the underwater server: the ultrasonic signal generating and receiving module is used to receive the ultrasonic signal sent by the underwater terminal, and the ultrasonic signal modulation and demodulation module is used to The ultrasonic signal is converted into a wireless network signal, and the wireless network signal is sent to the water server through the wireless network; the water surface positioning base station forwards the data of the water server to In the case of the underwater terminal: the surface positioning base station receives the data of the water server through the wireless network, and the ultrasonic signal modulation and demodulation module is used to modulate the data into an ultrasonic signal , the ultrasonic signal generating and receiving module receives and sends the ultrasonic signal to the underwater terminal; and when the water server sends a positioning and/or ranging request to the water surface positioning base station, the water surface The positioning base station receives the positioning request through the wireless network, and sends the positioning request to the main control module, and the GPS positioning module is used for positioning the water surface positioning base station, and the main control module The group is used to measure the ranging between the underwater terminal and the surface positioning base station according to the positioning and/or ranging request, and time stamp the distance and/or the received positioning of the underwater terminal Report to the water server.

Optionally, the underwater terminal includes an underwater acoustic transmitter, an underwater acoustic receiver, and an input/output device, and the underwater acoustic transmitter and the underwater acoustic receiver are respectively electrically connected to the input/output device; The device is used to convert the digital signal into an ultrasonic signal, and send the ultrasonic signal to the water surface positioning base station; the underwater acoustic receiver is used to receive the ultrasonic signal from the water surface positioning base station, and send the ultrasonic signal to the water surface positioning base station. The ultrasonic signal is converted into a digital signal; and the input and output device is used for inputting or outputting a digital signal, and sending the digital signal to the underwater sound a transmitter, and receive the digital signal converted by the underwater acoustic receiver.

Further, the input and output device includes any one or more of an information display device, an audio module and a keyboard input device.

Optionally, a water terminal is also included, the water terminal is in communication connection with a water server, and the data sent by the underwater terminal is obtained through the water server.

Optionally, the digital signal is image, text or voice.

On the other hand, the present invention also provides an underwater acoustic communication method, using the above-mentioned underwater acoustic positioning and communication system, comprising the following steps: providing at least one underwater terminal; The first digital signal is an ultrasonic signal; and a plurality of the underwater terminals or water servers receive the first digital signal and respond to the second digital signal, and the underwater terminal receives the second digital signal, Thereby, the mutual communication between the underwater terminals or between the underwater terminals and the water server is realized.

Optionally, the direct communication between the two underwater terminals includes: one of the underwater terminals sends a connection request to the other underwater terminal through a public broadcast channel; the other underwater terminal sends a connection request to one of the underwater terminals. The underwater terminal allocates a communication channel; one of the underwater terminals sends out a first digital signal; the other underwater terminal receives the first digital signal and responds with a second digital signal; and one of the underwater terminals The second digital signal is received, so as to realize direct communication between the two underwater terminals.

Optionally, the indirect communication between two underwater terminals includes: one of the underwater terminals sends a connection request to one of the water surface positioning base stations through a public broadcast channel; one of the water surface positioning base stations sends a connection request to one of the underwater terminals. Allocating communication channels; one of the underwater terminals converts the first digital signal to be sent into the first ultrasonic signal; one of the surface positioning base stations receives The first ultrasonic signal converts the first ultrasonic signal into a first wireless network signal, and sends the first wireless network signal to a water server, and the water server converts the first wireless network signal to the water server. A wireless network signal is sent to the other said water surface positioning base station, and the other said water surface positioning base station restores the first wireless network signal to a first ultrasonic signal, and sends the first ultrasonic signal to The other underwater terminal, the other underwater terminal restores the first ultrasonic signal to a first digital signal, and responds with a second digital signal, and the other underwater terminal converts the second The digital signal is converted into a second ultrasonic signal; the other said surface positioning base station receives the second ultrasonic signal, converts the second ultrasonic signal into a second wireless network signal, and converts the second ultrasonic signal to the second ultrasonic signal. The wireless network signal is sent to the water server, the water server sends the second wireless network signal to one of the water surface positioning base stations, and one of the water surface positioning base stations restores the second wireless network signal to A second ultrasonic signal is sent to one of the underwater terminals; and one of the underwater terminals converts the received second ultrasonic signal into a second digital signal.

Optionally, the communication between an underwater terminal and an underwater terminal includes: the underwater terminal sends a connection request to a surface positioning base station through a public broadcast channel; the surface positioning base station allocates a communication channel to the underwater terminal; The underwater terminal converts the first digital signal to be sent into a first ultrasonic signal; the surface positioning base station receives the first ultrasonic signal and converts the first ultrasonic signal into a first wireless network signal, and send the first wireless network signal to the water server, the water server sends the first wireless network signal to the water terminal; the water terminal responds to the first wireless network signal , and get the response back to the water server, the water server restores the response to a second wireless network signal, the water server sends the second wireless network signal to the water surface positioning base station, the The surface positioning base station restores the second wireless network signal to a second ultrasonic signal, and sends the second ultrasonic signal to the underwater terminal; and the underwater terminal converts the received second ultrasonic signal to the underwater terminal. The audio signal is converted into a second digital signal.

Further, each of the underwater terminals has the following actions in the communication process: initialize the underwater terminal; detect ultrasonic signals and user operations, if the ultrasonic signals are detected, all The underwater acoustic receiver of the underwater terminal receives the ultrasonic signal, and converts the underwater acoustic receiver into a digital signal, and the input and output device plays the digital signal. If the user operation is detected, the underwater terminal The underwater acoustic transmitter converts the digital signal that needs to be sent into an ultrasonic signal, and sends the ultrasonic signal; and judge whether the listening is over, if not, then return to the steps to detect the ultrasonic signal and use If it is finished, the communication ends.

Further, the water surface positioning base station has the following actions in the communication process: a wireless network connection is established between each of the water surface positioning base stations and the water server; the GPS positioning module of the water surface positioning base station locates the water surface. The base station performs positioning to realize the positioning of the underwater terminal, and reports the position of the underwater terminal to the water server; performs initialization processing on the surface positioning base station; detects ultrasonic signals and wireless network road signal, if an ultrasonic signal is detected, the ultrasonic signal generating and receiving module of the underwater terminal receives the ultrasonic signal, and the ultrasonic signal modulation and demodulation module converts the ultrasonic signal into the ultrasonic signal. The ultrasonic signal is restored to a wireless network signal, and the wireless network signal is sent to the water server through the wireless network, and then returns to the steps of detecting the ultrasonic signal and the wireless network signal. When a wireless network signal is detected, the surface positioning base station receives the wireless network signal through the wireless network, and the ultrasonic signal modulation and demodulation module modulates the wireless network signal into ultrasonic waves news signal, and send the ultrasonic signal to the underwater terminal, and then return to perform the steps of detecting ultrasonic signals and wireless network signals; When finished, return to the steps of detecting ultrasonic signals and wireless network signals.

On the other hand, the present invention also provides an underwater terminal positioning method, which is based on the underwater acoustic positioning TDOA algorithm, and adopts the underwater acoustic positioning and communication system, including the following steps: the underwater terminal periodically sends ultrasonic waves signal, the ultrasonic signal is an ultrasonic positioning signal frame; a plurality of the water surface positioning base stations receive the ultrasonic signal, and record the time stamp of each received ultrasonic signal; and the water server according to The time stamps recorded by the plurality of water surface positioning base stations calculate the position of the underwater terminal to complete the current positioning.

Optionally, the method for locating the underwater terminal that requires time synchronization between the surface locating base stations includes:

The time synchronization between the water surface positioning base stations is realized by the wireless network connection between the water surface positioning base stations; the underwater terminal periodically sends an ultrasonic positioning signal frame to each of the water surface positioning base stations; The water surface positioning base station receives the ultrasonic positioning signal frame; each of the water surface positioning base stations sends the time stamp of the received ultrasonic positioning signal frame to the water server; and the water server according to each The time stamp sent by the water surface positioning base station calculates the position of the underwater terminal, thereby completing the current positioning.

Optionally, the method for locating the underwater terminal that does not require synchronization time between the surface positioning base stations includes: the underwater terminal periodically sends an ultrasonic positioning signal frame to each of the surface positioning base stations; The base station receives the ultrasonic positioning signal frame; each of the water surface positioning base stations sends the time stamp of the received ultrasonic positioning signal frame to the water server; and the water server records the received the time of the ultrasonic positioning signal frame The time stamp is calculated, and the position of the underwater terminal is calculated according to the time stamp sent by each of the water surface positioning base stations, thereby completing the current positioning.

In a fourth aspect, the present invention also provides an operation method for forming a team of underwater terminals, which includes: using the above-mentioned underwater terminal positioning method to locate each of the underwater terminals in the team; Describe the position of the underwater terminal; and judge whether it is over, if it is over, then this team formation is over, if it is not over, then confirm whether there is an underwater terminal to leave the team, if there is no underwater terminal to leave the team, then directly return to each said water terminal. The step of positioning the lower terminal, if there is an underwater terminal leaving the team, the above-mentioned underwater acoustic communication method is used to give an early warning to the underwater terminal that has left the team, and the information of other underwater terminals is provided to the underwater terminal that has left the team. position, and navigate to instruct it to return to the team, and after returning to the team, return to the step of locating each of the underwater terminals in the team.

In a fifth aspect, the present invention also provides a method for operating a geo-fence of an underwater terminal, comprising: using the above-mentioned underwater terminal positioning method to locate each underwater terminal within the scope of the geo-fence; and the above-water server judging whether If the underwater terminal exceeds the range of the geo-fence, if so, the underwater acoustic communication method described above is used to give an early warning to the underwater terminal that exceeds the range of the geo-fence, and a navigation instruction is provided to return it to the geo-fence range, And end the navigation after it returns, if not, return to the step of locating each underwater terminal in the geo-fence range.

Compared with the prior art, the present invention has the following beneficial effects: the present invention provides an underwater acoustic positioning and communication system, a method for positioning, communication, team formation and geo-fencing, and the underwater acoustic positioning and communication system includes a water server, a plurality of water surface positioning A base station and a number of underwater terminals, the above-water server communicates with a plurality of surface positioning base stations through a wireless network, and the surface positioning base station and the underwater terminal communicate through underwater acoustic communication, so as to realize the communication between the underwater terminals. instant messaging between and positioning and navigating the underwater terminal, so as to solve the problem of unsmooth communication during diving or underwater operation, so that the communication between the diving personnel or the underwater operating personnel (that is, the underwater personnel), the underwater personnel and the water The system installed on the water monitors and protects the condition of the underwater personnel, monitors the environment where the underwater personnel are located, and dispatches the underwater personnel, making it more functional and adapting to various underwater needs. In addition, the digital signal is image, text or voice, so that there are many types of data to be transmitted.

100: Water server

200, 200A, 200B: Surface Positioning Base Station

300, 300A, 300B: underwater terminals

400: Water Terminal

1 is a simple schematic diagram of an underwater acoustic positioning and communication system according to an embodiment of the present invention;

2 is a detailed schematic diagram of an underwater acoustic positioning and communication system according to an embodiment of the present invention;

3a-3c are flow charts of data communication according to an embodiment of the present invention;

4a-4b are schematic diagrams of a communication flow between at least two underwater terminals 300 according to an embodiment of the present invention;

5a-5b are schematic diagrams of the positioning flow of the underwater terminal 300 according to an embodiment of the present invention;

FIG. 6 is a schematic flowchart of forming a team of at least two underwater terminals 300 according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a geo-fencing operation flow of the underwater terminal 300 according to an embodiment of the present invention.

The following will further describe in detail an underwater acoustic positioning and communication system, positioning, communication, team formation and geo-fencing methods of the present invention. The present invention will be described in more detail below with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, and it should be understood that those skilled in the art can modify the invention described herein and still achieve the advantageous effects of the invention. Therefore, the following description should be construed as widely known to those skilled in the art and not as a limitation of the present invention.

In the interest of clarity, not all features of an actual embodiment are described. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention with unnecessary detail. It should be recognized that in the development of any actual embodiment, a number of implementation details must be made to achieve the developer's specific goals, such as changing from one embodiment to another in accordance with system-related or business-related constraints. Additionally, it should be appreciated that such a development effort may be complex and time consuming, but would be merely routine for those skilled in the art.

In order to make the objects and features of the present invention more clearly understood, the specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that, the accompanying drawings are all in a very simplified form and use imprecise ratios, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention.

Underwater acoustic positioning TDOA (Time Difference of Arrival, Time Difference of Arrival) algorithm: According to the mathematical relationship, the distance difference to two known points (two surface positioning base stations) is constant, that is, the underwater terminal sends a signal to two The time difference between the two surface positioning base stations is constant, which makes the position of the underwater terminal must be on the hyperbola with these two points as the focus. That is to say, if there are four known points (four surface positioning base stations), there will be four hyperbolas (that is, a surface positioning base station will have one hyperbola), and the point where the four hyperbolas intersect is the underwater terminal s position.

The specific algorithm of TDOA: 1) Assume that the time from the measured positioning tag to the nth surface positioning base station receiving the ultrasonic signal sent by the underwater terminal is ti (i=1, 2, 3, 4...n), And it is assumed that the distance from the underwater terminal to the nth surface positioning base station is ri (i=1, 2, 3, 4...n);

2) In the case of complete synchronization of time between each water surface positioning base station, the obtained positioning label is relative to multiple groups of water surface positioning base stations (for example, 1# water surface positioning base station, 2# water surface positioning base station, 3# water surface positioning base station and 4# water surface positioning base station are four groups of water surface positioning base stations composed of four water surface positioning base stations, and it is assumed that 1# water surface positioning base station and 2# water surface positioning base station are the first group of water surface positioning base stations, 2# water surface positioning base station Base station and 3# water surface positioning base station are the second group of water surface positioning base stations, 3# water surface positioning base station and 4# water surface positioning base station are the third group of water surface positioning base stations, 1# water surface positioning base station and 4# water surface positioning base station are the fourth group of water surface positioning base stations The distance differences of the positioning base station) are di12, di23, di34, and di14, respectively, and are specifically:

d _i 12=r ₁ -r ₂ =(t ₁ -t ₂ )*c;

d _i 23=r ₂ -r ₃ =(t ₂ -t ₃ )*c;

d _i 34=r ₃ -r ₄ =(t ₃ -t ₄ )*c;

d _i 14=r ₁ -r ₄ =(t ₁ -t ₄ )*c;

4，且i為正整數。 where i

4, and i is a positive integer.

Then the extended Kalman algorithm EKF can be used to calculate the coordinates of the underwater terminal. The EKF algorithm can integrate the optimization results of sensor data such as water pressure sensor and acceleration of the underwater terminal.

3) Assuming that there are n surface positioning base stations arranged on the sea surface, and at the same time, multiple measurement values obtained by using the TDOA algorithm can form a hyperbolic mode group about the position of the underwater terminal. Solving this equation group can obtain the coordinates of the underwater terminal as follows :

4，且i為正整數。 Among them, the position of 1# water surface positioning base station is (x ₁ , y ₁ , z ₁ ), the position of 2# water surface positioning base station is (x ₂ , y ₂ , z ₂ ), and the position of 3# water surface positioning base station is (x 2 , y 2 , z 2 ) ₃ , y ₃ , z ₃ ), 4# The position of the water surface positioning base station is (x ₄ , y ₄ , z ₄ ), i

4, and i is a positive integer.

The signal transmitted by sound waves under water is less attenuated and can be transmitted over a long distance, and the range of use can extend from hundreds of meters to tens of kilometers. Therefore, sound waves are the main carrier of underwater information transmission. The working principle of underwater acoustic communication: First, the underwater acoustic transmitter modulates digital information such as text, voice, and images on the fundamental frequency of ultrasonic waves to convert them into electrical signals; then, the transducer of the underwater acoustic transmitter converts the telecommunications The ultrasonic signal is converted into an ultrasonic signal, and the ultrasonic signal is transmitted to the receiving transducer of the underwater acoustic receiver in the water, and the ultrasonic signal is restored to an electrical signal; The digital signal is then checked for error correction; finally, the digital signal is restored to digital information such as text, voice, and images.

The principle of underwater ultrasonic ranging: the propagation speed of ultrasonic signals in water is about 1500m/s. According to the measurement of the ultrasonic propagation time between two points, the distance between two points can be calculated.

FIG. 1 is a simple schematic diagram of an underwater acoustic positioning and communication system according to this embodiment. FIG. 2 is a detailed schematic diagram of an underwater acoustic positioning and communication system according to this embodiment. As shown in FIG. 1 and FIG. 2 , this embodiment provides an underwater acoustic positioning and communication system. The underwater acoustic positioning and communication system is used to realize underwater communication, underwater positioning and underwater navigation of divers or underwater operators (that is, underwater personnel). i.e. underwater personnel) The intercommunication between the underwater personnel and the above-water system; the monitoring and protection of the condition of the underwater personnel by the above-water system, the monitoring of the environment of the underwater personnel, the dispatching of the underwater personnel by the above-water system; The positioning of the lower personnel makes it a variety of functions.

The underwater acoustic positioning and communication system includes a water server 100, a plurality of surface positioning base stations 200, and a plurality of underwater terminals 300. The water server 100 communicates with the plurality of water surface positioning base stations 200 through a wireless network. The positioning base station 200 and the underwater terminal 300 communicate through underwater acoustic communication. The data of the terminal 300 is converted into wireless network signals and sent to the water server 100, and the data of the water server 100 can also be converted into ultrasonic signals and sent to a plurality of the underwater terminals 300, so that the underwater The terminal 300 and the underwater server 100 can communicate in real time, as well as locate and navigate the underwater terminal.

The underwater server 100 is used for transmitting data with the underwater terminal 300 through the surface positioning base station 200; The position of the underwater terminal 300 is calculated according to the distance reported by the surface positioning base station 200, so that the underwater terminal 300 can be positioned, monitored and tracked. The water server 100 is installed on land.

The water surface positioning base station 200 is used for receiving or sending wireless network signals and ultrasonic signals. Specifically, the water surface positioning base station 200 is used for receiving data sent by the water server 100, and the data is a wireless network signal, and convert the data into an ultrasonic signal, and send the ultrasonic signal to the underwater terminal 300; also for receiving the data sent by the underwater terminal 300, the data is an ultrasonic signal, and the The ultrasonic signal is converted into a wireless network signal, and the wireless network signal is reported to the water server 100 . multiple said water surface positioning The base station 200 can measure and locate the underwater terminal 300 by using the ultrasonic scanning signal of the ultrasonic positioning signal frame sent by the underwater terminal 300 . The water surface positioning base station 200 is set on the water surface, so that it is relatively close to the underwater terminal 300, and the signal propagation between the water surface positioning base stations 200 is carried out in the water.

The water surface positioning base station 200 includes a main control module, an ultrasonic signal modulation and demodulation module, an ultrasonic signal generating and receiving module, a wireless network and a GPS positioning module. When the water surface positioning base station 200 forwards the data of the underwater terminal 300 to the water server 100: the ultrasonic signal generating and receiving module is used to receive the ultrasonic signal sent by the underwater terminal 300, the The ultrasonic signal modulation and demodulation module is used for restoring the ultrasonic signal into a wireless network signal, and sending the wireless network signal to the water server 100 through the wireless network. When the water surface positioning base station 200 forwards the data of the water server 100 to the underwater terminal 300: the water surface positioning base station 200 receives the data of the water server through the wireless network, the super The audio signal modulation and demodulation module is used for modulating the data into an ultrasonic signal, and the ultrasonic signal generating and receiving module receives and transmits the ultrasonic signal to the underwater terminal 300 . When the water server 100 sends a positioning and/or ranging request to the water surface positioning base station 200: the water surface positioning base station 200 receives the positioning and/or ranging request through the wireless network, and sends the The positioning request is sent to the main control module, and the GPS positioning module is used to position the surface positioning base station 200 to realize the positioning of the underwater terminal 300, and confirm that the positioning of the underwater terminal 300 is used as a reference coordinate system, and use the GPS clock to precisely synchronize the clock of the water surface positioning base station 200; the underwater terminal 300 sends out a positioning data packet, as long as it is received by the water surface positioning base station 200, a positioning can be completed, and the water surface positioning base station 200 can complete a positioning. The lower terminal 300 may periodically send positioning data packets, and the surface positioning base station 200 and the water server 100 monitor the position of the underwater terminal 300 in real time. For the main control module according to the positioning request, measure the distance between the underwater terminal 300 and the surface positioning base station 200 and/or the received positioning timestamp of the underwater terminal, and report the distance to the Water server 100.

The underwater terminal 300 is used for inputting and outputting digital signals, receiving and sending ultrasonic signals, and for converting between digital signals and ultrasonic signals. Specifically, the underwater terminal 300 is used to input digital signals such as images, text or voice, convert the digital signals into ultrasonic signals, and send the ultrasonic signals to the water surface positioning base station 200; Receive the ultrasonic signal sent by the water surface positioning base station 200, convert it into digital signal such as image, text or voice, and output the digital signal such as image, text or voice. The forms of the underwater terminal 300 include diving masks, underwater sensors, wearable devices worn on users who are diving or underwater, underwater bone conductors, underwater robots, etc., so that there are many kinds of carriers. . The digital signals such as images, texts or voices enable many types of data to be transmitted.

The underwater terminal 300 includes an underwater acoustic transmitter, an underwater acoustic receiver, and an input/output device, and the underwater acoustic transmitter and the underwater acoustic receiver are respectively electrically connected to the input/output device. The underwater acoustic transmitter is used to convert digital signals such as images, text or voice into ultrasonic signals, and send the ultrasonic signals to the water surface positioning base station 200; the underwater acoustic receiver is used to locate the base station from the water surface. 200 Receive ultrasonic signals, and convert the ultrasonic signals into digital signals such as images, text or voice; the input and output device is used to input or output digital signals such as images, text or voice, and convert the digital signals into The signal is sent to the underwater acoustic transmitter, and the digital signal such as image, text or voice converted by the underwater acoustic receiver is received.

The input and output devices may include any one or more of information display devices, audio modules and keyboard input devices to display the information of team members, so that when members place orders, they can Time reminder and alarm, and show navigation, and can ask team members or other team members for help. The information display device is, for example, a display screen with a camera or smart glasses with a camera, so that it can take pictures and/or display images to communicate through images, such as diving masks, wearable devices (such as mobile phones). class), underwater robots, etc.; the audio module is used to receive voice and transmit voice signals to communicate by voice, such as bone conduction earphones, wearable devices, underwater robots, etc.; the keyboard input device is used for For inputting text to communicate through text, such as wearable devices, underwater robots, etc.

Optionally, the input and output device may include a security device, and the security device includes a plurality of the sensors to realize communication between water and underwater when digital signals such as images, text or voice cannot be transmitted, such as diving. Masks, bone conduction headphones, wearable devices, underwater robots, etc.

The underwater acoustic positioning and communication system further includes a water terminal 400, the water terminal 400 is connected to the water server in communication, and obtains the image, text or voice sent by the underwater terminal 300 through the water server. The digital signal is used to monitor the working condition of the underwater terminal 300 or the user carrying the underwater terminal 300 , and to monitor and protect the condition of the user carrying the underwater terminal 300 .

This embodiment also provides an underwater acoustic communication method, comprising the following steps:

Step S11: providing at least two underwater terminals 300;

Step S12: one of the underwater terminals 300 sends out a first digital signal, and the first digital signal is an ultrasonic signal;

Step S13: A plurality of the underwater terminals 300 or the water servers 400 receive the first digital signal and respond to the second digital signal, and one of the underwater terminals 300 receives the first digital signal. Two-digit signal, so as to realize the mutual communication between at least two of the underwater terminals 300 .

The underwater acoustic communication method will be described in detail below with reference to 1-4b.

FIG. 3a is a flowchart of direct data communication between underwater terminals 300 in this embodiment. As shown in FIG. 3a, taking two underwater terminals 300 (underwater terminal 300A and underwater terminal 300B) as an example, when the underwater terminal 300A and the underwater terminal 300B communicate with each other, first, all The underwater terminal 300A sends a connection request to the underwater terminal 300B through the public broadcasting channel; then, the underwater terminal 300B allocates a communication channel to the underwater terminal 300A; then, the underwater terminal 300A sends a text , voice, image and other first digital signals (ie, first digital signals); then, the underwater terminal 300B receives the first digital signal, and responds with the second digital signal; then, the underwater terminal 300A The second digital signal is received, and the direct data communication between the underwater terminals can be realized by going back and forth several times.

FIG. 3b is a flowchart of indirect data communication between underwater terminals according to this embodiment. As shown in Figure 3b, taking two underwater terminals 300 (underwater terminal 300A and underwater terminal 300B) as an example, at this time, there are also two surface positioning base stations, which are respectively the surface positioning base station 200A and the surface positioning base station 200B, The surface positioning base station 200A receives and sends ultrasonic signals to the underwater terminal 300A, that is, the underwater terminal 300A corresponds to the surface positioning base station 200A, and similarly, the underwater terminal 300B corresponds to the surface positioning base station 200B. When the underwater terminal 300A and the underwater terminal 300B communicate with each other, first, the underwater terminal 300A sends a connection request to the surface positioning base station 200A through the public broadcasting channel; then, the underwater terminal 300B sends a connection request to the The underwater terminal 300A allocates a communication channel; then, the underwater terminal 300A converts the first digital signal such as text, voice, and image to be sent into a first ultrasonic signal; then, the water surface positioning base station 200A receives the the first ultrasonic signal, and convert the first ultrasonic signal into a first wireless network signal number, and sends the first wireless network signal to the water server 100, the water server 100 sends the first wireless network signal to the water surface positioning base station 200B, and the water surface positioning base station 200B sends the The first wireless network signal is restored to a first ultrasonic signal, and the first ultrasonic signal is sent to the underwater terminal 300B, and the underwater terminal 300B restores the first ultrasonic signal to an image, text or The first digital signal such as voice, and in response to the second digital signal, the underwater terminal 300B converts the second digital signal into a second ultrasonic signal; then, the water surface positioning base station 200B receives the second digital signal. ultrasonic signal, convert the second ultrasonic signal into a second wireless network signal, and send the second wireless network signal to the water server 100, and the water server 100 converts the second wireless network signal The wireless network signal is sent to the water surface positioning base station 200A, and the water surface positioning base station 200A restores the second wireless network signal to a second ultrasonic signal, and sends the second ultrasonic signal to the underwater terminal 300A; then , the underwater terminal 300A converts the received second ultrasonic signal into a second digital signal, so that the indirect data communication between the underwater terminals can be realized several times.

FIG. 3c is a flow chart of communication between an underwater terminal and a water terminal in this embodiment. As shown in FIG. 3c , taking an underwater terminal 300A and a water terminal 400 as an example, when the underwater terminal 300A and the water terminal 400 communicate with each other, firstly, the underwater terminal 300A communicates with all the The water surface positioning base station 200A sends a connection request; then, the water surface positioning base station 200A allocates a communication channel to the underwater terminal 300A; then, the underwater terminal 300A sends the text, voice, image and other first digits that need to be sent The signal is converted into a first ultrasonic signal; then, the water surface positioning base station 200A receives the first ultrasonic signal, converts the first ultrasonic signal into a first wireless network signal, and sends the first wireless The network signal is sent to the water server 100, and the water server 100 sends the first wireless network signal to the water terminal 400: The water terminal 400 responds to the first wireless network signal, and obtains the response and feeds it back to the water server 100, and the water server 100 restores the response to the second wireless network signal. The device 100 sends the second wireless network signal to the water surface positioning base station 200A, and the water surface positioning base station 200A restores the second wireless network signal to a second ultrasonic signal, and converts the second ultrasonic signal Send to the underwater terminal 300A; then, the underwater terminal 300A converts the received second ultrasonic signal into a second digital signal, so that several round trips can realize data communication between the underwater terminal 300A and the water terminal 400 .

FIG. 4a is a schematic diagram of a communication flow of each underwater terminal in this embodiment. As shown in FIG. 4a, during the communication between the underwater terminal and other underwater terminals, or between the underwater terminal and the water terminal, the underwater terminal 300 has the following actions: The underwater terminal is initialized, and specifically the underwater acoustic transmitter, the underwater acoustic receiver, and the input and output devices are initialized. Next, the ultrasonic signal and the user's operation are detected. If the ultrasonic signal is detected, the underwater acoustic receiver receives the ultrasonic signal and converts the underwater acoustic receiver into image, text or voice. and other digital signals, the input and output devices play the digital signals; if the user's operation is detected, the underwater acoustic transmitter converts the digital signals to be sent into ultrasonic signals, and transmits the ultrasonic The sound wave signal is sent out. Next, it is judged whether the listening is over, and if it is not over, return to the step to detect the ultrasonic signal and the user's operation; if it is over, the communication is over.

FIG. 4b is a schematic flowchart of a water surface positioning base station when each underwater terminal communicates in this embodiment. As shown in Fig. 4b, during the communication between the underwater terminal and other underwater terminals, or between the underwater terminal and the water terminal, the surface positioning base station 200 has the following actions: first, each A wireless network is established between the water surface positioning base station 200 and the water server 100 connect. Next, the GPS positioning module locates the surface positioning base station 200 to realize the positioning of the underwater terminal, and reports the position of the underwater terminal to the water server 100 . Next, perform initialization processing on the water surface positioning base station 200, specifically, perform initialization processing on the ultrasonic signal modulation and demodulation module, the ultrasonic signal generating and receiving module, and at the same time, the water server 100 starts the detection listen. Next, detect the ultrasonic signal and the wireless network signal, if the ultrasonic signal is detected, the ultrasonic signal generating and receiving module receives the ultrasonic signal, and the ultrasonic signal modulation and demodulation module will The ultrasonic signal is restored to a wireless network signal, and the water surface positioning base station 200 sends the wireless network signal to the water server 100 through the wireless network, and then returns to execution The step of detecting an ultrasonic signal and a wireless network signal; if a wireless network signal is detected, the wireless network signal is received through the wireless network, and the ultrasonic signal modulation and demodulation module converts the wireless network signal to the The network signal is modulated into an ultrasonic signal, and the ultrasonic signal is sent to the underwater terminal 300, and then returns to the steps of detecting the ultrasonic signal and the wireless network signal. Next, it is judged whether the interception is over, if it is over, the communication is over, if it is not over, it returns to the step of detecting the ultrasonic signal and the wireless network signal.

This embodiment also provides an underwater terminal positioning method, which is based on an underwater acoustic positioning TDOA algorithm and includes the following steps: Step S21: the underwater terminal periodically sends an ultrasonic signal, and the ultrasonic signal is an ultrasonic positioning signal frame; Step S22: a plurality of the water surface positioning base stations receive the ultrasonic signals, and record the time stamps of the received ultrasonic signals; Step S23: the water server locates the base stations according to the plurality of water surface positioning base stations The recorded time stamp calculates the position of the underwater terminal to complete the current positioning.

The underwater acoustic communication method will be described in detail below with reference to Figures 5a-7.

For the underwater terminal positioning method, for example, the underwater acoustic positioning TDOA algorithm is used for positioning. Since the underwater terminal 300 periodically sends the ultrasonic positioning signal frame to the surface positioning base station 200, the ultrasonic positioning signal frame is also interspersed with the digital signal even during the communication process of the digital signal (data). sent to the water surface positioning base station 200. When the TDOA algorithm performs positioning, the wireless network connection between the plurality of the water surface positioning base stations 200 may be used to perform precise synchronization time, or the synchronization time between the water surface positioning base stations 200 may not be used. After receiving the ultrasonic positioning signal frame, the base station 200 calculates the position of the underwater terminal 300 by using a fixed processing time, and then sends the position to the server. Since the time difference caused by the distance difference between the various water surface positioning base stations 200 is negligible relative to the propagation time of the sound wave, the time difference of transmitting the radio wave signal is also negligible. Therefore, the time stamp of the final signal arriving at the server can be used. to calculate the time difference, thereby realizing the positioning of the underwater terminal 300 .

FIG. 5a is a schematic diagram of a positioning flow of an underwater terminal that requires synchronization time between various surface positioning base stations according to the present embodiment. As shown in FIG. 5a , the method for locating the underwater terminal 300 that requires time synchronization between the water surface positioning base stations 200 includes: first, realizing the water surface positioning through the wireless network connection between the water surface positioning base stations 200 Time synchronization between base stations 200; then, the underwater terminal 300 periodically sends an ultrasonic positioning signal frame to each of the water surface positioning base stations 200; then, each of the water surface positioning base stations 200 receives the ultrasonic positioning signal frame ; Next, each of the water surface positioning base stations 200 sends the time stamp of the received ultrasonic positioning signal frame to the water server 100; The position of the underwater terminal 300 is calculated with the timestamp of , so as to complete this positioning.

FIG. 5b is a schematic diagram of a positioning flow of an underwater terminal that does not require synchronization time between various surface positioning base stations according to the present embodiment. As shown in FIG. 5b , the method for locating the underwater terminal 300 that does not require time synchronization between the surface positioning base stations 200 includes: first, the underwater terminal 300 periodically sends ultrasonic positioning to each of the surface positioning base stations 200 signal frame; then, each of the water surface positioning base stations 200 receives the ultrasonic positioning signal frame; then, each of the water surface positioning base stations 200 sends the time stamp of the received ultrasonic positioning signal frame to the water servo Then, the water server 100 records the time stamps of the received ultrasonic positioning signal frames, and calculates the position of the underwater terminal 300 according to the time stamps sent by the water surface positioning base stations 200 to complete the positioning.

When people are diving or working underwater, if a single member leaves a certain position of the group, it is easy to cause the person to be placed on the list because the position of the group cannot be obtained. In order to avoid the member from leaving the list, this embodiment also provides an underwater terminal. How the team works. FIG. 6 is a schematic flowchart of forming a team of at least two underwater terminals according to this embodiment. As shown in FIG. 6 , the operation method for forming a team of the underwater terminals 300 includes: first, locating the underwater terminals 300 in the team. Next, the position of each of the underwater terminals 300 in the group is broadcast. Next, it is judged whether it is over, if it is over, the team formation is over; if it is not over, it is confirmed whether there is any underwater terminal leaving the team, if there is no underwater terminal leaving the team, then directly return to the step of locating each of the underwater terminals , if there is an underwater terminal leaving the team, it will give an early warning to the underwater terminal that has left the team, and provide the position of the other underwater terminals to the underwater terminal that has left the team. The position relationship between them provides navigation instructions to return to the team, and returns to the step of locating each of the underwater terminals after the underwater terminals that have left the team return to the team. In the above method, when a single team member leaves the team, the water server can issue an early warning to the leaving underwater terminal and give a navigation instruction so that it can return to the team position.

FIG. 7 is a schematic diagram of an operation flow of a geofence of an underwater terminal according to this embodiment. As shown in FIG. 7 , this embodiment further provides a method for operating a geo-fence of an underwater terminal, including: first, locating each of the underwater terminals 300 within the scope of the geo-fence. Next, the above-water server 100 judges whether the underwater terminal 300 exceeds the range of the geo-fence, and if so, issues an early warning to the underwater terminal 300 that exceeds the range of the geo-fence, and at the same time, according to the relationship between the underwater terminal 300 and the geo-fence The location relationship between the geo-fences provides a navigation instruction to return to the geo-fence range, and ends the navigation after returning; if not, returns to the step of locating each underwater terminal 300 in the geo-fence range.

To sum up, the present invention provides an underwater acoustic positioning and communication system, positioning, communication, team formation and geo-fencing methods. The above water server communicates with a plurality of water surface positioning base stations through wireless network, and the water surface positioning base station and underwater terminal communicate through underwater acoustic communication, so as to realize instant communication between the underwater terminals, and to communicate with all the underwater terminals. The above-mentioned underwater terminal is used for positioning and navigation, so as to solve the problem of poor communication during diving or underwater operations, so that the divers or underwater operators (that is, underwater personnel) can communicate with each other, and the communication between the underwater personnel and the water can be improved. Intercommunication; the monitoring and protection of the condition of the underwater personnel by the above-water system, the monitoring of the environment where the underwater personnel are located, and the scheduling of the underwater personnel by the above-water system make it more functional and adapt to various underwater needs. In addition, the digital signal is image, text or voice, so that there are many types of data to be transmitted.

In addition, it should be noted that, unless otherwise specified or pointed out, the descriptions of the terms "first" and "second" in the specification are only used to distinguish each element, element, step, etc. in the specification, rather than to indicate each The logical relationship or sequence relationship between elements, elements, steps, etc.

It should be understood that, although the present invention has been disclosed above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, many possible changes and modifications can be made to the technical solution of the present invention by using the technical content disclosed above, or modified into equivalents of equivalent changes Example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention still fall within the protection scope of the technical solutions of the present invention.

100: Water server

200: Surface positioning base station

300: Underwater Terminal

Claims (18)

An underwater acoustic positioning and communication system, comprising a water server, a plurality of water surface positioning base stations and a plurality of underwater terminals, the water server and the water surface positioning base stations communicate via a wireless network, the water surface positioning base stations and The underwater terminals communicate through an underwater acoustic communication method, so as to realize instant communication between the underwater terminals, and to perform positioning and navigation of the underwater terminals. The underwater acoustic positioning and communication system as described in claim 1, wherein the underwater terminals are used for inputting and outputting a digital signal, receiving and sending an ultrasonic signal, and performing the communication between the digital signal and the ultrasonic signal. The surface positioning base stations are used to perform ranging and positioning of the underwater terminals, and send the ranging results and positioning to the water server, and carry out the ultrasonic signal and a wireless network signal. The water server is used to send a positioning and/or ranging request to one of the underwater terminals to the surface positioning base stations, and calculate the distances reported by the surface positioning base stations. the position of the underwater terminals; and the underwater terminals and the water server perform data transmission through the surface positioning base stations. The underwater acoustic positioning and communication system as described in item 2 of the scope of the application, wherein the water surface positioning base stations include a main control module, an ultrasonic signal modulation and demodulation module, an ultrasonic signal generating and receiving module, a wireless network and a GPS positioning module; Wherein, when the surface positioning base stations forward the data of the underwater terminals to the water server: the ultrasonic signal generating and receiving module is used to receive the ultrasonic signal sent by the underwater terminals, the ultrasonic signal The signal modulation and demodulation module is used to convert the ultrasonic signal into the wireless network signal, and send the wireless network signal to the water server through the wireless network; wherein, the water surface positioning base stations When the data of the water server is forwarded to the underwater terminals: the surface positioning base stations receive the data of the water server through the wireless network, the super The sonic signal modulation and demodulation module is used for modulating data into the ultrasonic signal, and the ultrasonic signal generating and receiving module is used for sending the ultrasonic signal to the underwater terminal; and When the maritime server sends the positioning and/or ranging request to the surface positioning base stations, the surface positioning base stations receive the positioning and/or ranging request through the wireless network, and send the positioning and/or ranging request to the surface positioning base stations. The distance request is sent to the main control module, the GPS positioning module is used to locate these surface positioning base stations, and the main control module is used to measure the underwater terminals and A distance between the surface positioning base stations, and reporting the distance and/or a received positioning time stamp of the underwater terminals to the water server. The underwater acoustic positioning and communication system as described in item 1 of the scope of application, wherein the underwater terminals comprise an underwater acoustic transmitter, an underwater acoustic receiver and an input/output device, the underwater acoustic transmitter and the underwater acoustic The receivers are respectively electrically connected with the input and output devices; wherein the underwater acoustic transmitter is used for converting a digital signal into an ultrasonic signal, and sending the ultrasonic signal to the water surface positioning base stations; the underwater acoustic receiver is used for receiving The water surface positioning base stations receive the ultrasonic signal and convert the ultrasonic signal into the digital signal; wherein the input-output device is used for inputting or outputting the digital signal, and sending the digital signal to the underwater acoustic transmitter, and receiving the digital signal converted by the underwater acoustic receiver. The underwater acoustic positioning and communication system as described in claim 4, wherein the input and output device comprises at least one of an information display device, an audio module and a keyboard input device. The underwater acoustic positioning and communication system as described in item 1 of the scope of the patent application further comprises a water terminal, the water terminal communicates with the water server, and obtains the data sent by the underwater terminals through the water server . The underwater acoustic positioning and communication system as described in item 2 of the patent application scope, wherein the digital signal is an image, text or voice. An underwater acoustic communication method, which adopts the underwater acoustic positioning and communication system according to any one of items 1 to 7 of the scope of application for a patent, includes the following steps: Provide a plurality of underwater terminals; At least one of the underwater terminals sends out a first digital signal, and the first digital signal is an ultrasonic signal; and Another at least one of the underwater terminals or a water server receives the first digital signal and responds to a second digital signal, and the underwater terminals receive the second digital signal, thereby realizing the communication between the underwater terminals or the The mutual communication between the underwater terminal and the water server. The underwater acoustic communication method described in item 8 of the scope of the application further comprises: A first underwater terminal sends a connection request to a second underwater terminal through a public broadcast channel; The second underwater terminal allocates a communication channel to the first underwater terminal; the first underwater terminal sends out a first digital signal; the second underwater terminal receives the first digital signal and responds with the second digital signal; and The first underwater terminal receives the second digital signal, so as to realize direct communication between the two underwater terminals. The underwater acoustic communication method as described in item 8 of the patent application scope, wherein indirect communication is formed between two underwater terminals, including: one of the underwater terminals sends a connection request to a surface positioning base station through a public broadcast channel; One of the surface positioning base stations assigns a communication channel to one of the underwater terminals; One of the underwater terminals converts a first digital signal to be sent into a first ultrasonic wave signal; A surface positioning base station receives the first ultrasonic signal, converts the first ultrasonic signal into a first wireless network signal, and sends the first wireless network signal to the water server, the water server Send the first wireless network signal to another surface positioning base station, and the other surface positioning base station restores the first wireless network signal to the first ultrasonic signal, and sends the first ultrasonic signal to The other underwater terminal, the other underwater terminal restores the first ultrasonic signal into a first digital signal, and responds with a second digital signal, and the other underwater terminal converts the second digital signal into a second ultrasonic signal; The other water surface positioning base station receives the second ultrasonic signal, converts the second ultrasonic signal into a second wireless network signal, and sends the second wireless network signal to the water server, the water The server sends the second wireless network signal to the water surface positioning base station, the water surface positioning base station restores the second wireless network signal to the second ultrasonic signal, and sends the second ultrasonic signal to the water lower terminal; and The underwater terminal converts the received second ultrasonic signal into the second digital signal. The underwater acoustic communication method as described in item 8 of the scope of the application, wherein the communication between the underwater terminal and an underwater terminal includes: The underwater terminal sends a connection request to the surface positioning base station through a public broadcast channel; The surface positioning base station allocates a communication channel to the underwater terminal; The underwater terminal converts a first digital signal to be sent into a first ultrasonic signal; The water surface positioning base station receives the first ultrasonic signal, converts the first ultrasonic signal into a first wireless network signal, and sends the first wireless network signal to the water server, and the water server will The first wireless network signal is sent to the water terminal; The water terminal makes a response to the first wireless network signal, and feeds back the response to the water server, the water server restores the response to a second wireless network signal, and the water server returns the second wireless network signal. The network signal is sent to the water surface positioning base station, and the water surface positioning base station restores the second wireless network signal into a second ultrasonic signal, and sends the second ultrasonic signal to the underwater terminal; and The underwater terminal converts the received second ultrasonic signal into a second digital signal. The underwater acoustic communication method according to any one of items 8 to 11 of the scope of the application, wherein the underwater terminals have the following actions during the communication process: Initialize the underwater terminal; Detecting an ultrasonic signal and a user operation; If the ultrasonic signal is detected, an underwater acoustic receiver of the underwater terminal receives the ultrasonic signal, converts the underwater acoustic receiver into a digital signal, and an input and output device plays the digital signal; If the operation of the user is detected, an underwater acoustic transmitter of the underwater terminal converts the digital signal to be sent into the ultrasonic signal, and sends the ultrasonic signal; and Determine whether the listening is over; if it is not over, return to the steps of detecting the ultrasonic signal and the user's operation; if it is over, the communication is over. The underwater acoustic communication method according to any one of items 8 to 11 in the scope of the application, wherein the water surface positioning base station has the following actions during the communication process: establishing a wireless network connection between each of the surface positioning base stations and the water server; A GPS positioning module of the water surface positioning base station locates the water surface positioning base station to realize the positioning of the underwater terminal, and reports the position of the underwater terminal to the water servo device; Perform initialization processing on the water surface positioning base station; detect the ultrasonic signal and the wireless network signal; If the ultrasonic signal is detected, an ultrasonic signal generating and receiving module of the underwater terminal receives the ultrasonic signal, and the ultrasonic signal modulation and demodulation module restores the ultrasonic signal to a wireless network signal , send the wireless network signal to the water server through the wireless network, and then return to perform the steps of detecting the ultrasonic signal and the wireless network signal; If the wireless network signal is detected, the surface positioning base station receives the wireless network signal through the wireless network, and the ultrasonic signal modulation and demodulation module modulates the wireless network signal into the ultrasonic signal , and send the ultrasonic signal to the underwater terminal, and then return to the steps of detecting the ultrasonic signal and the wireless network signal; and It is judged whether the listening is over. If it is over, the communication is over. If it is not over, it returns to the steps of detecting ultrasonic signals and wireless network signals. An underwater terminal positioning method, based on the underwater acoustic positioning TDOA algorithm, and adopting the underwater acoustic positioning and communication system according to any one of items 1 to 7 in the scope of the application, including the following steps: The underwater terminal periodically sends an ultrasonic signal, and the ultrasonic signal is an ultrasonic positioning signal frame; a plurality of the surface positioning base stations receive the ultrasonic signal and record a time stamp of each received ultrasonic signal; and The water server calculates the position of the underwater terminal according to the time stamps recorded by the plurality of water surface positioning base stations, so as to complete the current positioning. The underwater terminal positioning method as described in item 14 of the scope of application, wherein each water surface positioning is required The positioning method of the underwater terminal with time synchronization between base stations includes the following steps: Synchronizing time between the water surface positioning base stations is realized by the wireless network connection between the water surface positioning base stations; The underwater terminal periodically sends ultrasonic positioning signal frames to the surface positioning base stations; Each of the surface positioning base stations receives the ultrasonic positioning signal frame; each of the water surface positioning base stations sends the time stamp of the received ultrasonic positioning signal frame to the water server; and The water server calculates the position of the underwater terminal according to the time stamps sent by the water surface positioning base stations, thereby completing the current positioning. The method for locating underwater terminals as described in item 14 of the scope of the application, wherein the method for locating underwater terminals that does not require synchronization time between each surface locating base station comprises the following steps: The underwater terminal periodically sends ultrasonic positioning signal frames to each of the surface positioning base stations; Each of the surface positioning base stations receives the ultrasonic positioning signal frame; each of the water surface positioning base stations sends the time stamp of the received ultrasonic positioning signal frame to the water server; and The water server records the time stamps of the received ultrasonic positioning signal frames, and calculates the position of the underwater terminal according to the time stamps sent by the water surface positioning base stations, thereby completing the current positioning. An operation method for forming a team of an underwater terminal, comprising the following steps: Use the underwater terminal positioning method according to any one of claim items 14 to 16 to position each of the underwater terminals in the team; the location of each of the underwater terminals of the broadcast team; and Judging whether it is over, if it is over, then the team is over, if it is not over, then confirm whether there is any Any one of the underwater terminals leaves the team, if no one of the underwater terminals leaves the team, then directly return to the step of positioning each of the underwater terminals, if any of the underwater terminals leave the team, use the request items 8 to 13. According to any one of the underwater acoustic communication methods, the underwater terminals that leave the team are warned, and the positions of the other underwater terminals are provided to the underwater terminals that have left the team, and the navigation instructs them to return to the team, and returns to the team after returning to the team. in the step of positioning each of the underwater terminals. A method for operating a geofence of an underwater terminal, comprising the following steps: Use the underwater terminal positioning method according to any one of claims 14 to 16 to locate each of the underwater terminals in the geo-fence; and the underwater server determines whether there are the underwater terminals beyond the geo-fence, If so, adopt the underwater acoustic communication method as described in any one of the request items 8 to 13 to give an early warning to the underwater terminal beyond the range of the geo-fence, and provide navigation instructions to return it to the range of the geo-fence, and after it returns end the navigation, If not, return to the step of locating each of the underwater terminals in the geographic fence range.

Images