技术领域technical field
本发明涉及水下定位导航领域，具体来说，涉及一种用于室内水下目标定位的时延估计方法及装置。The invention relates to the field of underwater positioning and navigation, in particular to a time delay estimation method and device for indoor underwater target positioning.
背景技术Background technique
在实现自主式水下航行器(AUV)的工程化以及实用化的过程中，水下导航定位技术的实现是最关键的一步。为了正确的指示AUV在水下的具体位置，水下定位系统必须能够提供长时间范围内的精确定位信息，从而进一步引导AUV完成各种复杂任务，故实现精确定位是一项艰难的任务。In the process of realizing the engineering and practical application of autonomous underwater vehicles (AUV), the realization of underwater navigation and positioning technology is the most critical step. In order to correctly indicate the specific position of the AUV underwater, the underwater positioning system must be able to provide accurate positioning information over a long period of time, so as to further guide the AUV to complete various complex tasks, so achieving precise positioning is a difficult task.
目前，已经存在的定位系统主要分为超短基线、短基线、长基线三类，用于室内中小型的水下定位系统多采用短基线原理，故实现精确定位的必要条件之一就是得到精确的时延估计。时延估计就是利用参数估计和信号处理的理论和方法，对各应答器接收到的超声波换能器信号的时间和信号产生的时间差值进行估计和测定，多采用相关算法，简易的相关算法精度不高，应用所谓广义相关算法或加权时延估计等方法计算较复杂，运算时间长，且适用范围都有一定的局限性。At present, the existing positioning systems are mainly divided into three categories: ultra-short baseline, short baseline, and long baseline. Most of the indoor and medium-sized underwater positioning systems use the short baseline principle, so one of the necessary conditions for accurate positioning is to obtain accurate time delay estimate. Delay estimation is to use the theory and method of parameter estimation and signal processing to estimate and measure the time difference between the time of the ultrasonic transducer signal received by each transponder and the time difference generated by the signal, and mostly use correlation algorithms, simple correlation algorithms The accuracy is not high, and the application of the so-called generalized correlation algorithm or weighted time delay estimation method is more complicated, the calculation time is long, and the scope of application has certain limitations.
发明内容Contents of the invention
本发明目的是为了解决上述问题，克服现有方法的缺陷，提出了一种用于室内水下目标定位的时延估计方法及装置。The purpose of the present invention is to solve the above problems, overcome the defects of the existing methods, and propose a time delay estimation method and device for indoor underwater target positioning.
本发明采用的技术方案为：一种用于室内水下目标定位的时延估计的装置，该装置包括信号产生模块、信号采集和处理模块、超声波换能器和水听器；The technical solution adopted by the present invention is: a device for time delay estimation of indoor underwater target positioning, the device includes a signal generation module, a signal acquisition and processing module, an ultrasonic transducer and a hydrophone;
所述信号产生模块包括单片机、功率放大器、DDS(直接数字式频率合成器)芯片和阻抗匹配变压器；Described signal generating module comprises single-chip microcomputer, power amplifier, DDS (direct digital frequency synthesizer) chip and impedance matching transformer;
当系统处于工作状态，使用单片机控制DDS芯片产生供超声波换能器使用的激励信号，由于产生的信号微弱，通过功率放大器放大信号，而由于功率放大器输出阻抗与所连接的超声波换能器阻抗不匹配，为防止对超声波换能器工作状态产生明显影响，故用阻抗匹配变压器实现阻抗匹配，经过计算，阻抗匹配变压器比例n1:n2＝1:5；When the system is in the working state, the single-chip microcomputer is used to control the DDS chip to generate the excitation signal for the ultrasonic transducer. Since the generated signal is weak, the signal is amplified by the power amplifier, and the output impedance of the power amplifier is different from the impedance of the connected ultrasonic transducer. Matching, in order to prevent the working state of the ultrasonic transducer from being significantly affected, an impedance matching transformer is used to achieve impedance matching. After calculation, the ratio of impedance matching transformer n1:n2=1:5;
所述超声波换能器与水听器的指向性分别为全向发射(±2dB)和全向接收(±2dB)，且均具有灵敏度高，额定脉冲工作电压高，瞬时输出功率大的特点；The directivity of the ultrasonic transducer and the hydrophone are respectively omnidirectional transmission (±2dB) and omnidirectional reception (±2dB), and both have high sensitivity, high rated pulse working voltage, and large instantaneous output power;
所述信号采集和处理模块包括增益可调放大器、带通滤波器、数据采集卡以及工控PC机；The signal acquisition and processing module includes an adjustable gain amplifier, a bandpass filter, a data acquisition card and an industrial PC;
所述增益可调放大器和带通滤波器的作用是滤掉水听器接收信号中的白噪声，保证数采卡采集信号的准确性，数据采集卡安装在工控PC机内，采集超声波换能器发射信号以及三路水听器接收信号传送至工控PC机，工控PC机通过数据采集卡采集的四路信号进行时延估计；The functions of the gain-adjustable amplifier and the band-pass filter are to filter out the white noise in the signal received by the hydrophone to ensure the accuracy of the signal collected by the data acquisition card. The data acquisition card is installed in the industrial control PC to collect ultrasonic energy The signal transmitted by the transmitter and the signal received by the three-way hydrophone are transmitted to the industrial control PC, and the industrial control PC performs delay estimation through the four-way signals collected by the data acquisition card;
所述的装置内还包括多个线性电源，分别为：The device also includes a plurality of linear power supplies, which are:
+5V线性电源，为水听器、单片机、DDS芯片供电；+5V linear power supply, power supply for hydrophone, single-chip microcomputer, DDS chip;
±12V线性电源，为增益可调放大器和带通滤波器供电；±12V linear power supply for gain-adjustable amplifier and bandpass filter;
±60V的开关电源，为功率放大器供电。±60V switching power supply for the power amplifier.
作为优选，所述超声波换能器发射信号频率为80kHz的超声波脉冲，脉冲时间为0.2ms，带通滤波器的中心频率为80kHz。Preferably, the ultrasonic transducer transmits ultrasonic pulses with a signal frequency of 80 kHz, the pulse time is 0.2 ms, and the center frequency of the band-pass filter is 80 kHz.
作为优选，所述数据采集卡采用外触发，即单片机除用于控制DDS芯片产生激励信号外，亦在同时产生同步信号，通过TTL电平上升沿0→1触发数据采集卡采集数据，并在一定时间间隔后通过TTL电平1→0下降沿结束采集。As preferably, the data acquisition card adopts an external trigger, that is, the single-chip microcomputer is used to control the DDS chip to generate the excitation signal, and also generates a synchronization signal at the same time, and the data acquisition card is triggered by the TTL level rising edge 0→1 to collect data, and in After a certain time interval, the acquisition is ended through the falling edge of TTL level 1→0.
一种使用上述装置的用于室内水下目标定位的时延估计方法，该时延估计方法包括以下步骤：A time delay estimation method for indoor underwater target positioning using the above device, the time delay estimation method includes the following steps:
步骤一：对数据采集卡采集的各水听器接收信号数据和超声波换能器原始信号数据进行去野值和归一化处理；Step 1: Perform wild value removal and normalization processing on the received signal data of each hydrophone and the original signal data of the ultrasonic transducer collected by the data acquisition card;
步骤二：将各水听器信号分别与超声波换能器原始信号做循环相关处理，得到相关信号；Step 2: Perform circular correlation processing on each hydrophone signal and the original signal of the ultrasonic transducer to obtain the relevant signal;
步骤三：定义两个不同宽度的矩形窗口，对归一化后的信号进行加窗处理，其顺序为4个宽度较窄的窗口分布在两侧，宽度较宽的窗口位于中间，从左向右移动窗口，并分别对4个宽度较窄的窗口内的数据点进行求和，求和后对相邻两个窗口内的和求比例，若左侧两窗口比例大于1且右侧两窗口比例小于1，则要求的相关峰即在宽度较宽的窗口内，求窗口内所有数据点的最大值，其横坐标即为粗峰值位置P1，将此步骤应用的方法称为超前滞后法；Step 3: Define two rectangular windows with different widths, and perform windowing processing on the normalized signal. The order is that 4 narrower windows are distributed on both sides, and the wider window is located in the middle, from left to Move the window to the right, and sum the data points in the 4 narrower windows respectively, and calculate the ratio of the sum in the two adjacent windows after summing, if the ratio of the two windows on the left is greater than 1 and the two windows on the right If the ratio is less than 1, the required correlation peak is within a wider window, and the maximum value of all data points in the window is calculated, and its abscissa is the coarse peak position P1. The method applied in this step is called the lead-lag method;
步骤四：预先定义一个最大值，并以1/2的最大值为阈值，将归一化后的信号数据点逐一语预设的最大值进行比较，若大于最大值则替换当前最大值，并取新的阈值，若小于当前最大值且与最大值之差并未超过阈值，则信号可能处于短暂下降趋势，继续寻找最大值点，若数据点值小于当前最大值且与最大值之差超过阈值，则认为信号最大值即为当前最大值，则此时最大值的横坐标即为粗峰值位置P2，将此步骤应用的方法称为阈值法；Step 4: Define a maximum value in advance, and use 1/2 of the maximum value as the threshold, compare the normalized signal data points one by one with the preset maximum value, if it is greater than the maximum value, replace the current maximum value, and Take a new threshold, if it is less than the current maximum value and the difference from the maximum value does not exceed the threshold value, the signal may be in a short-term downward trend, continue to find the maximum point, if the data point value is less than the current maximum value and the difference from the maximum value exceeds Threshold, the maximum value of the signal is considered to be the current maximum value, and the abscissa of the maximum value at this time is the rough peak position P2, and the method applied in this step is called the threshold value method;
步骤五：若P1≠P2，则数采卡读入数据有误，重新读取数据进行计算，若P1＝P2，两所求峰值相同时，则以通过超前滞后法和阈值法进行计算得到的信号峰值为中心，以7个步长为间隔，左右两侧各取十个数据点，对所求所有数据点求包络进行二次拟合，再求抛物线顶点的横坐标，此横坐标即为最终求得的发射信号到达初始位置，将此初始位置与AD采样周期相乘，即可得到声信号时延，将此步骤应用的方法称为跟踪法，再将时延乘以水中声速，则可得到水听器与换能器之间的距离，供水下目标定位使用。Step 5: If P1≠P2, the data read by the digital acquisition card is wrong, read the data again for calculation, if P1=P2, when the two obtained peak values are the same, then use the lead-lag method and the threshold method to calculate Take the peak value of the signal as the center, take 7 steps as the interval, take ten data points on the left and right sides, and perform quadratic fitting on the envelope of all the data points obtained, and then find the abscissa of the apex of the parabola. The abscissa is In order to obtain the final transmitted signal to reach the initial position, the initial position is multiplied by the AD sampling period to obtain the delay of the acoustic signal. The method applied in this step is called the tracking method, and then the delay is multiplied by the speed of sound in water. Then the distance between the hydrophone and the transducer can be obtained, which can be used for underwater target positioning.
下面具体介绍本发明的工作原理及过程：Introduce working principle and process of the present invention in detail below:
本发明基于短基线原理，水听器按上述方法以水域中心为基点，以三角阵的形式固定在水域内。需要定位时，超声波换能器向外发送80kHz频率的超声波脉冲，脉冲持续时间很短为0.2ms，同时在超声波换能器发出超声波脉冲信号的起始时刻单片机发出触发信号启动数据采集卡对各水听器接收到的信号进行采样，采样持续的时间大于超声波脉冲到达距离最远的水听器所需的传播时间。数采卡采集到的信号在采集结束后传送至工控PC机内，通过结合超前滞后法、阈值法、跟踪法的方法对各水听器的采样数据进行分析，得到超声波脉冲到达各水听器需要的传播时间，即时延。根据超声波信号到达各水听器的传播时间及水中声速，既可计算得到目标与各水听器之间的距离。The present invention is based on the short baseline principle, and the hydrophone is fixed in the water area in the form of a triangular array with the center of the water area as the base point according to the above method. When positioning is required, the ultrasonic transducer sends out an ultrasonic pulse with a frequency of 80kHz, and the pulse duration is as short as 0.2ms. The signal received by the hydrophone is sampled for a duration greater than the propagation time required for the ultrasonic pulse to reach the furthest hydrophone. The signal collected by the digital acquisition card is transmitted to the industrial control PC after the collection is completed, and the sampling data of each hydrophone is analyzed by combining the method of lead-lag method, threshold method, and tracking method, and the ultrasonic pulse reaches each hydrophone. The required propagation time, ie delay. According to the propagation time of the ultrasonic signal to each hydrophone and the speed of sound in water, the distance between the target and each hydrophone can be calculated.
本发明的有益效果：1.超声波换能器与水听器均是全向发射或接收，数据采集时为并行采集，外部同步信号触发数据采集卡统一采集，方便简单精确。Beneficial effects of the present invention: 1. Both the ultrasonic transducer and the hydrophone transmit or receive omnidirectionally, the data is collected in parallel, and the external synchronous signal triggers the data collection card to collect uniformly, which is convenient, simple and accurate.
2.控制简单可靠、稳定性高。本发明的时延估计装置内部集成有增益放大器、带通滤波器等模块，保证数据采集卡采集信号的准确性。且水听器、换能器均使用防水电缆与机箱连接，稳定性高，不易受外界影响。2. Simple and reliable control, high stability. The time delay estimating device of the present invention integrates modules such as a gain amplifier and a band-pass filter to ensure the accuracy of signals collected by the data acquisition card. In addition, the hydrophone and transducer are connected to the chassis with waterproof cables, which have high stability and are not easily affected by the outside world.
3.本发明采用的时延估计方法相对于普遍应用的简单去相关峰最大值精度更高，有效提高水下目标定位精，且比广义相关算法等复杂的求峰值算法更为简便，计算时间较短。3. The time delay estimation method adopted by the present invention has higher precision than the commonly used simple decorrelation peak maximum value, effectively improves the accuracy of underwater target positioning, and is more convenient than complex peak calculation algorithms such as generalized correlation algorithms, and the calculation time shorter.
附图说明Description of drawings
图1是本发明中时延估计装置示意图。FIG. 1 is a schematic diagram of a delay estimation device in the present invention.
图2是本发明中时延估计方法中的超前滞后法的示意图。Fig. 2 is a schematic diagram of the lead-lag method in the time delay estimation method of the present invention.
图3是本发明中时延估计方法中的跟踪法的示意图。Fig. 3 is a schematic diagram of the tracking method in the time delay estimation method of the present invention.
图4是本发明中时延估计方法流程图。Fig. 4 is a flow chart of the delay estimation method in the present invention.
具体实施方式detailed description
下面结合附图和具体实施方式对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
如图1所示，本发明的一种用于室内水下目标定位的时延估计的装置，该装置包括信号产生模块5、信号采集和处理模块6、超声波换能器1和水听器2、3、4，超声波换能器1和水听器2、3、4，指向性分别为全向发射(±2dB)和全向接收(±2dB)，且均具有灵敏度高，额定脉冲工作电压高，瞬时输出功率大的特点；信号产生模块5内部包括51系列单片机9，DDS芯片10、功率放大器11、阻抗匹配变压器12，当系统处于工作状态，使用单片机9控制DDS芯片10产生供超声波换能器1使用的激励信号，由于产生的信号微弱，通过功率放大器11放大信号，而由于功率放大器11输出阻抗与所连接的超声波换能器1阻抗不匹配，为防止对超声波换能器1工作状态产生明显影响，故用阻抗匹配变压器12实现阻抗匹配，经过计算，阻抗匹配变压器12比例n1:n2＝1:5；信号采集和处理模块6内部包括数据采集卡7、工控PC机8、增益可调放大器13、14、15以及带通滤波器16、17、18，其中增益可调放大器13、14、15以及带通滤波器16、17、18的作用是滤掉水听器接收信号中的白噪声，保证数采卡采集信号的准确性，由于超声波换能器1发射信号频率为80kHz，故带通滤波器16、17、18的中心频率为80kHz，数据采集卡7安装在工控PC机8内，采集超声波换能器1发射信号以及三路水听器2、3、4接收信号传送至工控PC机8，工控PC机8通过数据采集卡7采集的四路信号进行时延估计。As shown in Figure 1, a kind of device of the present invention is used for the time delay estimation of indoor underwater target localization, and this device comprises signal generation module 5, signal acquisition and processing module 6, ultrasonic transducer 1 and hydrophone 2 , 3, 4, ultrasonic transducer 1 and hydrophone 2, 3, 4, the directivity is omnidirectional transmission (±2dB) and omnidirectional reception (±2dB), and they all have high sensitivity and rated pulse working voltage High, high instantaneous output power; the signal generating module 5 includes a 51 series single-chip microcomputer 9, a DDS chip 10, a power amplifier 11, and an impedance matching transformer 12. When the system is in a working state, the single-chip microcomputer 9 is used to control the DDS chip 10 to generate the ultrasonic converter The excitation signal used by the transducer 1, because the generated signal is weak, the signal is amplified by the power amplifier 11, and because the output impedance of the power amplifier 11 does not match the impedance of the connected ultrasonic transducer 1, in order to prevent the ultrasonic transducer 1 from working The state produces obvious influence, so realize impedance matching with impedance matching transformer 12, through calculation, impedance matching transformer 12 ratio n1:n2=1:5; Signal acquisition and processing module 6 internally includes data acquisition card 7, industrial control PC machine 8, gain Adjustable amplifier 13,14,15 and band-pass filter 16,17,18, wherein the effect of adjustable gain amplifier 13,14,15 and band-pass filter 16,17,18 is to filter out the hydrophone receiving signal white noise to ensure the accuracy of the data acquisition card acquisition signal, because the ultrasonic transducer 1 transmission signal frequency is 80kHz, so the center frequency of the band-pass filter 16, 17, 18 is 80kHz, the data acquisition card 7 is installed in the industrial control PC In the machine 8, the transmitted signal of the ultrasonic transducer 1 and the received signal of the three-way hydrophone 2, 3, and 4 are collected and sent to the industrial control PC 8, and the industrial control PC 8 performs time delay estimation through the four-way signal collected by the data acquisition card 7 .
所述的超声波换能器1在定位时发射特别频率的超声波脉冲，在此为80kHz，脉冲时间很短，为0.2ms。数据采集卡7总共使用四个通道，CH3通道采集超声波换能器1发射的原始信号，CH0、CH1、CH2通道采集水听器采集的信号。数据采集卡7采用外触发，即单片机9除用于控制DDS芯片10产生激励信号外，亦在同时产生同步信号，通过TTL电平上升沿0→1触发数据采集卡7采集数据，并在一定时间间隔后通过TTL电平1→0下降沿结束采集。The ultrasonic transducer 1 transmits an ultrasonic pulse of a special frequency during positioning, here it is 80 kHz, and the pulse time is very short, 0.2 ms. The data acquisition card 7 uses four channels in total, the CH3 channel collects the original signal emitted by the ultrasonic transducer 1, and the CH0, CH1, and CH2 channels collect the signals collected by the hydrophone. The data acquisition card 7 adopts an external trigger, that is, the single-chip microcomputer 9 is used to control the DDS chip 10 to generate an excitation signal, and also generates a synchronous signal at the same time, and the data acquisition card 7 is triggered by the TTL level rising edge 0 → 1 to collect data, and at a certain time After the time interval, the acquisition is terminated by the TTL level 1→0 falling edge.
所述的装置内还包括多个线性电源，分别为+5V线性电源19，为水听器2、3、4、单片机9、DDS10、供电；±12V线性电源20为增益可调放大器13、14、15和带通滤波器16、17、18供电；另外还有±60V的开关电源21为功率放大器11供电。Also comprise a plurality of linear power supplies in the described device, be respectively +5V linear power supply 19, for hydrophone 2,3,4, single-chip microcomputer 9, DDS10, power supply; ±12V linear power supply 20 is gain adjustable amplifier 13,14 , 15 and bandpass filters 16, 17, 18 for power supply; in addition, there is a ±60V switching power supply 21 for power amplifier 11.
一种使用上述装置的用于室内水下目标定位的时延估计方法，该时延估计方法包括以下步骤，如图4所示：A time delay estimation method for indoor underwater target positioning using the above-mentioned device, the time delay estimation method includes the following steps, as shown in Figure 4:
首先对数据采集卡采集的各水听器接收信号数据CH0_Buffr、CH1_Buffer、CH2_Buffer和换能器原始信号数据CH3_Buffer进行去野值和归一化处理，紧接着将各水听器信号分别与换能器原始信号做循环相关处理，得到相关信号，然后分别通过超前滞后法和阈值法求相关信号的峰值，若两所求峰值不同，则数采卡读入数据有误，TrackingFlag＝0,重新读取数据进行计算，当两所求峰值相同时，TrackingFlag＝1,则进入下一步骤，运用跟踪法对峰值进行修正，得到最终的峰值与其相对应的横坐标，此横坐标数值即为水听器接收的换能器信号到达初始位置Ch0Delay、Ch1Delay、Ch2Delay，再与AD采样周期相乘得到各通道时延Delay0、Delay1、Delay2,最后与水中声速相乘从而得到水听器与换能器之间的距离s0,s1,s2。Firstly, the received signal data CH0_Buffr, CH1_Buffer, CH2_Buffer of each hydrophone collected by the data acquisition card and the original signal data CH3_Buffer of the transducer are removed and normalized, and then the signals of each hydrophone are respectively compared with the transducer The original signal is subjected to cyclic correlation processing to obtain the relevant signal, and then the peak value of the relevant signal is obtained by the lead-lag method and the threshold method respectively. If the two obtained peak values are different, the data read by the data acquisition card is wrong, TrackingFlag=0, re-read Calculate the data, when the two peak values are the same, TrackingFlag=1, then enter the next step, use the tracking method to correct the peak value, and get the final peak value and its corresponding abscissa, the abscissa value is the hydrophone The received transducer signal arrives at the initial position Ch0Delay, Ch1Delay, Ch2Delay, and then multiplied by the AD sampling period to obtain the time delay Delay0, Delay1, Delay2 of each channel, and finally multiplied by the speed of sound in water to obtain the distance between the hydrophone and the transducer. The distances s0 , s1 , s2 .
所述的超前滞后法如图2所示，即为通过定义两个不同宽度的矩形窗口W1、W2。对归一化后的信号进行加窗处理，从左向右移动窗口，并对窗口W1中的数据点求和，从左到右4个W1窗口的求和结果分别为S1、S2、S3、S4。在移动过程中，如果S2/S1大于1且S4/S3小于1，则说明要求的相关峰在窗口W2中。求窗口W2中所有数据点的最大值，其横坐标即为峰值位置。The lead-lag method is shown in FIG. 2 , that is, by defining two rectangular windows W1 and W2 with different widths. Perform windowing processing on the normalized signal, move the window from left to right, and sum the data points in window W1, the summation results of the four W1 windows from left to right are S1, S2, S3, S4. During the movement, if S2/S1 is greater than 1 and S4/S3 is less than 1, it means that the required correlation peak is in the window W2. Find the maximum value of all data points in window W2, and its abscissa is the peak position.
所述的阈值法即为预先定义一个最大值，并以1/2的最大值为阈值，将归一化后的信号数据点逐一语预设的最大值进行比较，若大于最大值则替换当前最大值，并取新的阈值，若小于当前最大值且与最大值之差并未超过阈值，则信号可能处于短暂下降趋势，继续寻找最大值点，若数据点值小于当前最大值且与最大值之差超过阈值，则认为信号最大值即为当前最大值，则此时最大值的横坐标即为峰值位置。The threshold value method is to define a maximum value in advance, and use the maximum value of 1/2 as the threshold value, compare the normalized signal data points one by one with the preset maximum value, and replace the current value if it is greater than the maximum value. The maximum value, and take a new threshold value, if it is less than the current maximum value and the difference from the maximum value does not exceed the threshold value, the signal may be in a short-term downward trend, continue to find the maximum point, if the data point value is less than the current maximum value and the maximum value If the value difference exceeds the threshold, the maximum value of the signal is considered to be the current maximum value, and the abscissa of the maximum value at this time is the peak position.
所述的跟踪法如图3所示，即为以通过超前滞后法和阈值法进行计算得到的信号最大值为中心，以7个步长为间隔，左右两侧各取十个数据点，对所求所有数据点求包络进行二次拟合，再求抛物线顶点的横坐标，此横坐标即为最终求得的初始位置。The tracking method is shown in Figure 3, that is, the maximum value of the signal calculated by the lead-lag method and the threshold method is the center, with 7 steps as the interval, and ten data points are taken on the left and right sides respectively. Find the envelope of all the data points for quadratic fitting, and then find the abscissa of the apex of the parabola, which is the final initial position.
以上结合附图对本发明的实施方式做出详细说明，但本发明不局限于所描述的实施方式。对本领域的普通技术人员而言，在本发明的原理和技术思想的范围内，对这些实施方式进行实施方式进行多种变化、修改、替换和变形仍落入本发明的保护范围内。The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, within the scope of the principles and technical ideas of the present invention, various changes, modifications, substitutions and deformations to these embodiments still fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201510675318.4ACN105241459B (en) | 2015-10-19 | 2015-10-19 | A kind of delay time estimation method and device for the positioning of indoor submarine target |
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| CN201510675318.4ACN105241459B (en) | 2015-10-19 | 2015-10-19 | A kind of delay time estimation method and device for the positioning of indoor submarine target |
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| CN201510675318.4AActiveCN105241459B (en) | 2015-10-19 | 2015-10-19 | A kind of delay time estimation method and device for the positioning of indoor submarine target |
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