公开(公告)号：US11733381B2

公开(公告)日：2023-08-22

申请号：US17232163

申请日：2021-04-16

申请人： ZHEJIANG UNIVERSITY

发明人： Liling Jin ,  Wen Xu

IPC分类号： G01H5/00 ,  G01S15/89

CPC分类号： G01S15/89 ,  G01H5/00

摘要： A sound velocity profile inversion method based on an inverted multi-beam echometer. Said method comprises the following steps: mounting, in an inverted manner, the multi-beam echometer on an underwater submerged buoy or fixing same to a water bottom, transmitting a beam to a water surface by means of a transmitting transducer array, and receiving an echo signal by means of a receiving transducer array; the multi-beam echometer obtaining an angle of arrival and arrival time of an echo according to the received echo signal; solving an EOF according to sound velocity profile prior information, and obtaining a dimension reduction primary function description method of the sound velocity profile; in combination with the EOF, a ray tracing algorithm, a surface sound velocity and multi-beam data, establishing an optimization model; according to the established optimization model, the arrival time and the angle of arrival of the received echo and the surface sound velocity, using an optimization algorithm to obtain an estimation result of the sound velocity profile of a measurement area; and further, calculating a water temperature profile of the measurement area by using an estimated value of the sound velocity profile. Said method can rapidly and accurately track fluctuations of the sound velocity profile and the temperature profile.

公开(公告)号：US11886191B2

公开(公告)日：2024-01-30

申请号：US17408480

申请日：2021-08-22

申请人： ZHEJIANG UNIVERSITY

发明人： Huarong Zheng ,  Wen Xu ,  Dongfang Ma ,  Fengzhong Qu

IPC分类号： G05D1/02 ,  B63B79/40 ,  G05B17/02 ,  B63B79/20 ,  G08G3/00 ,  G05D1/00

CPC分类号： G05D1/0206 ,  B63B79/20 ,  B63B79/40 ,  G05B17/02 ,  G05D1/0088 ,  G08G3/00

摘要： The present application discloses is a scheduling method and system for fully autonomous waterborne inter terminal transportation, and belongs to the field of transportation. The method includes: establishing a dynamic scheduling model for waterborne Autonomous guided vessels (wAGVs); quickly inserting the dynamically arriving transportation tasks into all the existing wAGV paths, calculating the insertion cost and selecting the path and position with the lowest insertion cost to obtain updated initial paths; improving the initial path using a heuristic algorithm based on tabu search to obtain quasi-optimal wAGV paths; executing the scheduling wAGV paths.

公开(公告)号：US20220128647A1

公开(公告)日：2022-04-28

申请号：US17481872

申请日：2021-09-22

申请人： Zhejiang University

发明人： Huifang Chen ,  Lei Xie ,  Feng Liu ,  Chenglei Lv ,  Wen Xu

IPC分类号： G01S5/26

摘要： A method for positioning an underwater glider based on a virtual TDOA of a single beacon is provided. In the method, a positioning beacon periodically sends positioning messages, where the positioning message includes longitude, latitude and depth information of the positioning beacon; the underwater glider receives the positioning messages and records TOAs at which the positioning messages arrive at an acoustic positioning signal receiving module; and the underwater glider parses the positioning messages and stores positioning message data, creates virtual beacons based on beacon information and attitude information of the underwater glider, corrects the TOAs, and calculates a position of the underwater glider according to a TDOA algorithm. According to the method, the underwater glider passively listens to and receives the positioning messages without sending a positioning request to the positioning beacon, making the entire positioning process energy-saving with a certain degree of concealment.

公开(公告)号：US11719784B2

公开(公告)日：2023-08-08

申请号：US17481872

申请日：2021-09-22

申请人： Zhejiang University

发明人： Huifang Chen ,  Lei Xie ,  Feng Liu ,  Chenglei Lv ,  Wen Xu

IPC分类号： G01S5/26

CPC分类号： G01S5/26

摘要： A method for positioning an underwater glider based on a virtual TDOA of a single beacon is provided. In the method, a positioning beacon periodically sends positioning messages, where the positioning message includes longitude, latitude and depth information of the positioning beacon; the underwater glider receives the positioning messages and records TOAs at which the positioning messages arrive at an acoustic positioning signal receiving module; and the underwater glider parses the positioning messages and stores positioning message data, creates virtual beacons based on beacon information and attitude information of the underwater glider, corrects the TOAs, and calculates a position of the underwater glider according to a TDOA algorithm. According to the method, the underwater glider passively listens to and receives the positioning messages without sending a positioning request to the positioning beacon, making the entire positioning process energy-saving with a certain degree of concealment.