Abstract: The present invention relates to a compound of formula (I) capable of inhibiting plasmin activity and having blood coagulation and hemostasis activity, and a pharmaceutically acceptable salt, hydrate, isomer, prodrug and mixture thereof, wherein R1 to R3 are as defined in the description.

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: 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: 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: 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.