Abstract: The invention relates to a method and system for path planning of a wave glider, comprising acquiring historical navigation data of the glider and an underwater vehicle via a shore-based monitoring center; fitting historical navigation data nonlinearly by a deep learning neural network to obtain a trained network; acquiring real-time navigation data of the glider at an off-line end, real-time navigation data and predetermined shipping track data of the vehicle; obtaining the set of off-line optimized path planning schemes of the glider by the above data and the trained network; and determining an optimal path planning scheme of the glider by the deep learning neural network according to real-time data and constraint data of the glider at the on-line end. The invention can reasonably plan the path of the glider and ensure continuous and reliable information interaction between the glider and the vehicle.

Abstract: The present invention discloses a method and system for determining a horizontal distance between a transmitting point and a receiving point. The method obtains a depth value of the transmitting point and a depth value of the receiving point. An area of a sound velocity profile according to the depth value of the transmitting point and the depth value of the receiving point is then determined. A sound velocity gradient according to the area of the sound velocity profile is also determined. The horizontal distance between the transmitting point and the receiving point according to the sound velocity gradient is then determined by calculations. The present invention eliminates the need to calculate a grazing angle of an eigen sound ray(wave) connecting the transmitting point and the receiving point, by directly converting a propagation time into the horizontal distance, thereby quickly and efficiently calculating the horizontal distance between the transmitting point and the receiving point.

Abstract: The present invention provides a method and system for real-time high-precision positioning in the deep sea. The present invention, based on a ray theory model, uses an azimuth angle, a transmission delay, a deep-sea vehicle depth and a depth of an acoustic transducer of a water surface monitoring platform as an eigenray emergence angle, an eigenray transmission time, eigenray emergence depth and an eigenray end point depth respectively, quickly calculates an eigenray that connects the water surface monitoring platform with the deep-sea vehicle, accurately calculates a position of the deep-sea vehicle relative to the water surface monitoring platform, and converts the position into absolute position information of the deep-sea vehicle through the latitude and longitude of the water surface monitoring platform, thereby achieving real-time high-precision positioning.

Abstract: The present invention discloses a method for determining an effective sound velocity in the deep sea. The method is applied to an apparatus for determining an effective sound velocity in the deep sea having a transmission point, a receiving point, and an underwater mobile carrier. The transmission point is installed on the sea surface such that the depth of the transmission point is unchanged. The receiving point is installed on the underwater mobile carrier such that the depth of the receiving point changes with movement of the underwater mobile carrier. The underwater mobile carrier can measure a sound velocity profile between the transmission point and the receiving point and a horizontal distance between the transmission point and the receiving point.

Abstract: An integrated method and system for communication, positioning, navigation, and timing of a deep-sea vehicle. The method implements integration and deep fusion of communication, positioning, navigation, and timing, and can achieve uniformity of space references and time references between sensors and systems, can reduce difficulty in information fusion, and can implement convenient underwater acoustic communication, real-time/high-update-rate/low-power-consumption/high-precision positioning, high-precision/fault-tolerant navigation, and precise timing. The present invention implements simultaneous operation of four working modes: communication, positioning, navigation, and timing, to fundamentally resolve problems such as insufficient practicability of underwater acoustic communication, low accuracy of navigation and positioning, and no timing function, so as to improve underwater operation efficiency of a deep-sea vehicle.

Abstract: A deep-sea low-cost long-endurance collaborative navigation and positioning system. A shore-based monitoring center transmits a route planning solution to a wave glider. The wave glider follows an underwater vehicle to travel and feeds back state information of the wave glider and state information of the underwater vehicle to the shore-based monitoring center in real time. The shore-based monitoring center adjusts the route planning solution according to the state information in real time. The wave glider and the underwater vehicle are respectively equipped with an underwater acoustic communication machine.

Abstract: A deep-sea low-cost long-endurance collaborative navigation and positioning system. A shore-based monitoring center transmits a route planning solution to a wave glider. The wave glider follows an underwater vehicle to travel and feeds back state information of the wave glider and state information of the underwater vehicle to the shore-based monitoring center in real time. The shore-based monitoring center adjusts the route planning solution according to the state information in real time. The wave glider and the underwater vehicle are respectively equipped with an underwater acoustic communication machine.

Abstract: The invention relates to a method and system for path planning of a wave glider, comprising acquiring historical navigation data of the glider and an underwater vehicle via a shore-based monitoring center; fitting historical navigation data nonlinearly by a deep learning neural network to obtain a trained network; acquiring real-time navigation data of the glider at an off-line end, real-time navigation data and predetermined shipping track data of the vehicle; obtaining the set of off-line optimized path planning schemes of the glider by the above data and the trained network; and determining an optimal path planning scheme of the glider by the deep learning neural network according to real-time data and constraint data of the glider at the on-line end. The invention can reasonably plan the path of the glider and ensure continuous and reliable information interaction between the glider and the vehicle.

Abstract: Seismic exploration system based on an underwater mobile platform including: an add-on type electronic cabin, a circuit integration device, an underwater mobile platform, a mounting mechanism, a multi-electrode emission array, and a multi-channel hydrophone linear array; where the electronic cabin is externally fixed on the underwater mobile platform through the mounting mechanism, the circuit integration device is disposed in the electronic cabin, the circuit integration device is connected with the multi-electrode emission array, and the multi-electrode emission array is connected with the multi-channel hydrophone linear array; and the circuit integration device includes a multi-channel underwater acoustic data acquisition device, a sound source host, a photoelectric junction box and a battery pack, where the acoustic data acquisition device is connected with the sound source host, and the photoelectric junction box is connected with the acoustic data acquisition device, the sound source host, the battery p

Abstract: The present invention discloses a near-sea-bottom hydrate detection system, which includes a ship-borne part and a deep-towing part. The ship-borne part includes: a comprehensive monitoring host, configured to send an acquisition triggering pulse signal, and transmit the signal to the deep-towing part; and receive near-sea-bottom information acquired by the deep-towing part, and determine a near-sea-bottom condition according to the near-sea-bottom information.

Abstract: Seismic exploration system based on an underwater mobile platform including: an add-on type electronic cabin, a circuit integration device, an underwater mobile platform, a mounting mechanism, a multi-electrode emission array, and a multi-channel hydrophone linear array; where the electronic cabin is externally fixed on the underwater mobile platform through the mounting mechanism, the circuit integration device is disposed in the electronic cabin, the circuit integration device is connected with the multi-electrode emission array, and the multi-electrode emission array is connected with the multi-channel hydrophone linear array; and the circuit integration device includes a multi-channel underwater acoustic data acquisition device, a sound source host, a photoelectric junction box and a battery pack, where the acoustic data acquisition device is connected with the sound source host, and the photoelectric junction box is connected with the acoustic data acquisition device, the sound source host, the battery p

Abstract: A marine magnetism detection device and a detection method are provided. The device includes a surveying ship, an onboard laboratory magnetism measurement portion arranged on the surveying ship, an aerostat shell and an aerostat magnetism measurement portion arranged inside the aerostat shell. The aerostat shell is connected to the surveying ship via a rope, and the aerostat shell floats in air. The aerostat magnetism measurement portion includes a magnetic sensor, an electronic magnetism data acquisition unit and an aerostat transmission unit; and the onboard laboratory magnetism measurement portion includes a data recording computer and a laboratory transmission unit. The marine magnetism detection device and method of the present invention are advantageously not limited by the working sea area and can also operate with other onboard devices and dragging devices.

Abstract: The present invention discloses a marine magnetism detection device and a detection method. The device comprises a surveying ship, an onboard laboratory magnetism measurement portion arranged on the surveying ship, an aerostat shell and an aerostat magnetism measurement portion arranged inside the aerostat shell, wherein the aerostat shell is connected to the surveying ship via a rope, and the aerostat shell floats in air; the aerostat magnetism measurement portion comprises a magnetic sensor, an electronic magnetism data acquisition unit and an aerostat transmission unit; and, the onboard laboratory magnetism measurement portion comprises a data recording computer and a laboratory transmission unit. The marine magnetism detection device and method of the present invention will not be limited by the working sea area and can also operate with other onboard devices and dragging devices.