Abstract: A navigation and positioning system for an underwater glider includes a micro-electro-mechanical system inertial measurement unit, a global positioning system receiving module, a triaxial magnetometer, a Doppler velocimeter, and an integrated navigation hardware processing system. If a navigation and positioning error is too large, the underwater glider stops working in real time and switches from the underwater working state to the up floating error correction state; and when velocity and location errors of a GPS/INS integrated navigation system are smaller than specified thresholds, the underwater glider switches from the up floating error correction state to the underwater working state and continues to work. An H? Kalman filter algorithm based on an adaptive multiple fading factor is established to ensure robustness and adaptability of navigation and positioning of a glider.

Abstract: A dual-filter-based transfer alignment method under dynamic deformation. A dynamic deformation angle generated under dynamic deformation and a coupling angle between dynamic deformation and body motion will reduce the accuracy of transfer alignment; and a transfer alignment filter is divided into two parts, the first part estimates a bending deformation angle and the coupling angle, and uses an attitude matching method, and the second part estimates a dynamic lever arm, and uses a “speed plus angular speed” matching method.

Abstract: This application describes a method, a system, and a related device for network attached storage (NAS) data access. The method includes receiving, by a NAS client, an access request message, and determining an operation object according to information about to-be-accessed target data in the access request message, where the operation object includes a directory and/or a file to which the target data belongs. The method may also include generating a first direct memory access file system (DMAFS) packet according to a format described by using a preset file system type, where the preset file system type is used to describe a format of a DMAFS packet. Furthermore, the method may include sending the first DMAFS packet to an acceleration apparatus, so that the acceleration apparatus converts the operation object and an operation type that are in the first DMAFS packet into NFS data, and encapsulates the NFS data into a network protocol packet and sends the network protocol packet to a NAS server.

Abstract: This application describes a method, a system, and a related device for network attached storage (NAS) data access. The method includes receiving, by a NAS client, an access request message, and determining an operation object according to information about to-be-accessed target data in the access request message, where the operation object includes a directory and/or a file to which the target data belongs. The method may also include generating a first direct memory access file system (DMAFS) packet according to a format described by using a preset file system type, where the preset file system type is used to describe a format of a DMAFS packet. Furthermore, the method may include sending the first DMAFS packet to an acceleration apparatus, so that the acceleration apparatus converts the operation object and an operation type that are in the first DMAFS packet into NFS data, and encapsulates the NFS data into a network protocol packet and sends the network protocol packet to a NAS server.