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1. 发明专利

ES2717753T3 Método y aparato para sincronización de relojes subacuáticos usando luz y sonido 未知
公开(公告)号：ES2717753T3
公开(公告)日：2019-06-25
申请号：ES15733115
申请日：2015-01-02
申请人： TRACKSERVER INC
发明人： CROWELL JONATHAN
IPC分类号： H04B13/02 , G01V1/38

2. 发明专利

ES2658345T3 Sistema y método de posicionamiento acústico subacuático 未知
公开(公告)号：ES2658345T3
公开(公告)日：2018-03-09
申请号：ES06801585
申请日：2006-08-16
申请人： TRACKSERVER INC
发明人： CROWELL JONATHAN C
IPC分类号： H04B11/00 , G01S5/22 , G01S11/14
摘要： Un método para determinar la posición de un dispositivo subacuático, que comprende: proporcionar una pluralidad de dispositivos de estación de mantenimiento (12) en o debajo de la superficie (14) del agua, estando situado cada dispositivo de mantenimiento de la estación (12) en una posición conocida; proporcionar un dispositivo a localizar (22) debajo de la superficie (14) del agua; proporcionar cada uno de los dispositivos de mantenimiento en posición (12) y dispositivo a localizar (22) con una base de tiempo sincronizada; proporcionar una programación de tiempo de pulso acústico a cada uno de los dispositivos de mantenimiento en posición (12) y el dispositivo a localizar (22); el envío de un pulso acústico (20) a la vez de acuerdo con el esquema de impulsos acústicos de cada uno de los dispositivos de mantenimiento de estación (12), el pulso que es recibido por el dispositivo a localizar (22); calcular una distancia entre el dispositivo a localizar (22) y cada estación de dispositivo de mantenimiento (12) en base a la hora programada que el impulso acústico es enviado y el momento en que se recibe el pulso; y calcular una posición del dispositivo a localizar (22) en base a las distancias entre el dispositivo a localizar (22) y los dispositivos de mantenimiento de estación (12).

3. 发明授权

US10656267B2 Underwater acoustic tracking and two way messaging system 有权
公开(公告)号：US10656267B2
公开(公告)日：2020-05-19
申请号：US15259077
申请日：2016-09-08
申请人： TRACKSERVER, INC.
发明人： Jonathan C. Crowell
IPC分类号： G01S15/00 , G01S15/66 , H04B13/02 , G01S3/808 , G01S5/22 , H04W84/00
摘要： A system where a large number of underwater devices can transmit their precise position relative to a fixed underwater beacon, by transmitting two short duration, precisely timed acoustic tones (pings). The arrival time of the pulses at the fixed underwater transceiver beacon will relay the transmitter's precise position relative to that beacon. The two pings code for two numbers; either the range and bearing or an X, Y coordinate of each object with respect to the beacon. Data messages can be sent to and received from the beacon, used for command, control and status. The pulses can be a single frequency and have duration of around a 1 ms and operate one or many frequencies to allow multiple cycles to be overlapped in time. This coding scheme allows many devices to send the data simultaneously in the cycle for group tracking from last position or as independent cycles for unambiguous tracking. The transducers used in the system can be omni-directional hydrophones. The tracking grid size is a function of the acoustic frequency chosen and range from 1000 m for 40 KHz and 6000 m for 8 kHz. The system requires that all nodes in the system keep precise synchronized time.

4. 发明申请

US20170067993A1 UNDERWATER ACOUSTIC TRACKING AND TWO WAY MESSAGING SYSTEM 审中-公开
标题翻译：水下跟踪和两路消声系统
公开(公告)号：US20170067993A1
公开(公告)日：2017-03-09
申请号：US15259077
申请日：2016-09-08
申请人： TRACKSERVER, INC.
发明人： Jonathan C. Crowell
IPC分类号： G01S15/66 , H04B13/02 , H04L29/06
CPC分类号： G01S15/66 , G01S3/808 , G01S5/22 , H04B13/02 , H04W84/005
摘要： A system where a large number of underwater devices can transmit their precise position relative to a fixed underwater beacon, by transmitting two short duration, precisely timed acoustic tones (pings). The arrival time of the pulses at the fixed underwater transceiver beacon will relay the transmitter's precise position relative to that beacon. The two pings code for two numbers; either the range and bearing or an X, Y coordinate of each object with respect to the beacon. Data messages can be sent to and received from the beacon, used for command, control and status. The pulses can be a single frequency and have duration of around a lms and operate one or many frequencies to allow multiple cycles to be overlapped in time. This coding scheme allows many devices to send the data simultaneously in the cycle for group tracking from last position or as independent cycles for unambiguous tracking. The transducers used in the system can be omni-directional hydrophones. The tracking grid size is a function of the acoustic frequency chosen and range from 1000 m for 40 KHz and 6000 m for 8 kHz. The system requires that all nodes in the system keep precise synchronized time.
摘要翻译：通过发送两个短持续时间，精确定时的声学音调（ping），其中大量水下装置可以相对于固定的水下信标发送其精确位置的系统。脉冲到固定水下收发信机的到达时间将相对于该信标中继发射机的精确位置。两个编号为两个编号; 每个物体的距离和方位或X，Y坐标相对于信标。数据消息可以发送到信标，并用于指挥，控制和状态。脉冲可以是单个频率并且具有约1ms的持续时间，并且操作一个或多个频率以允许多个周期在时间上重叠。该编码方案允许许多设备在从最后位置进行组跟踪的周期中同时发送数据，或者作为用于明确跟踪的独立周期。系统中使用的传感器可以是全向水听器。跟踪网格尺寸是选择的声学频率的函数，范围从40 KHz的1000 m和8 kHz的6000 m。系统要求系统中的所有节点保持精确的同步时间。

5. 发明授权

US09645272B2 Method and apparatus for synchronizing clocks underwater using light and sound 有权
公开(公告)号：US09645272B2
公开(公告)日：2017-05-09
申请号：US14588558
申请日：2015-01-02
申请人： TRACKSERVER, INC.
发明人： Jonathan C. Crowell
IPC分类号： G04G7/00 , H04B11/00 , G04C11/00 , G01V1/38
CPC分类号： G04C11/00 , G01S19/13 , G01V1/3852 , G01V2200/12 , G04G7/00 , H04B10/80 , H04B11/00 , H04B13/02 , H04L7/0075
摘要： Methods and systems for synchronizing clocks used in underwater devices is described. All clocks have some drift due to frequency accuracy and this disclosure provides a method for periodically synchronizing clocks to an accurate master clock to remove long term drift. A synchronization device can use an accurate clock and hardware to transmit both a sound wave and light pulse at the same point in time. Remote slave clocks can detect the light first, and later the sound, allowing them to calculate the distance the pulse had to travel. The clocks can then synchronize their time to the master clock canceling out any drift. The synchronization device can be packaged in a waterproof housing and can be moved around on a periodic basis between the clock on an underwater robot or any other means.

6. 发明申请

US20150288459A1 Method and Apparatus for Underwater Acoustic Communication 有权
标题翻译：水声通信方法与装置
公开(公告)号：US20150288459A1
公开(公告)日：2015-10-08
申请号：US14674477
申请日：2015-03-31
申请人： TRACKSERVER, INC.
发明人： Jonathan C. Crowell
IPC分类号： H04B13/02 , H04B11/00
CPC分类号： H04B13/02 , H04B11/00
摘要： Systems and methods are disclosed allowing for spatially separated nodes to transmit data to a single remote master receiver node in a synchronized way. Slave nodes can send acoustic data so that it travels through water and arrives at the master node exactly timed so that the data bit appears in a predetermined time slot. The next time slot could be a data bit coming from another remote or slave node in another direction and at a different distance. This can be repeated for many nodes and the incoming bits will be received in a time division multiplexed fashion at the receiver or master node. The senders address and bit meaning are implicit due to the time slot in which they arrive. The assumption is that all nodes have accurate synchronized time as well as the ability to accurately estimate sound travel time between itself and any master node.
摘要翻译：公开的系统和方法允许空间分离的节点以同步方式将数据发送到单个远程主接收器节点。从节点可以发送声学数据，使其通过水传播并准确定时到达主节点，使得数据位出现在预定时隙中。下一个时隙可以是来自另一个远程或从节点的另一方向和不同距离的数据位。对于许多节点可以重复这一点，并且在接收器或主节点处将以时分多路复用的方式接收输入比特。发送者的地址和位的含义由于它们到达的时隙而是隐含的。假设所有节点具有准确的同步时间，以及准确估计其与任何主节点之间的声音行进时间的能力。

7. 发明申请

WO2015103464A1 METHOD AND APPARATUS FOR SYNCHRONIZING CLOCKS UNDERWATER USING LIGHT AND SOUND 审中-公开
标题翻译：使用光和声音同步水下时钟的方法和装置
公开(公告)号：WO2015103464A1
公开(公告)日：2015-07-09
申请号：PCT/US2015/010025
申请日：2015-01-02
申请人： TRACKSERVER, INC.
发明人： CROWELL, Jonathan, C.
IPC分类号： H04B13/02
CPC分类号： G04C11/00 , G01S19/13 , G01V1/3852 , G01V2200/12 , G04G7/00 , H04B10/80 , H04B11/00 , H04B13/02 , H04L7/0075
摘要： Methods and systems for synchronizing clocks used in underwater devices is described. All clocks have some drift due to frequency accuracy and this disclosure provides a method for periodically synchronizing clocks to an accurate master clock to remove long term drift. A synchronization device can use an accurate clock and hardware to transmit both a sound wave and light pulse at the same point in time. Remote slave clocks can detect the light first, and later the sound, allowing them to calculate the distance the pulse had to travel. The clocks can then synchronize their time to the master clock canceling out any drift. The synchronization device can be packaged in a waterproof housing and can be moved around on a periodic basis between the clock on an underwater robot or any other means.
摘要翻译：描述了用于同步在水下设备中使用的时钟的方法和系统。所有时钟由于频率精度而有一些漂移，并且本公开提供了一种用于周期性地将时钟同步到精确主时钟以消除长期漂移的方法。同步装置可以使用准确的时钟和硬件在同一时间点传输声波和光脉冲。远程从站时钟可以首先检测到光，然后再发声，让它们计算出脉冲不得不行进的距离。时钟可以将其时间与主时钟同步，从而消除任何漂移。同步装置可以被包装在防水壳体中，并且可以在水下机器人上的时钟或任何其他装置之间周期性地移动。

8. 发明申请

WO2015153576A3 METHOD AND APPARATUS FOR UNDERWATER ACOUSTIC COMMUNICATION 审中-公开
标题翻译：用于水下声学通信的方法和设备
公开(公告)号：WO2015153576A3
公开(公告)日：2015-11-12
申请号：PCT/US2015023541
申请日：2015-03-31
申请人： TRACKSERVER INC
发明人： CROWELL JONATHAN C
IPC分类号： H04B13/02
CPC分类号： H04B13/02 , H04B11/00
摘要： Systems and methods are disclosed allowing for spatially separated nodes to transmit data to a single remote master receiver node in a synchronized way. Slave nodes can send acoustic data so that it travels through water and arrives at the master node exactly timed so that the data bit appears in a predetermined time slot. The next time slot could be a data bit coming from another remote or slave node in another direction and at a different distance. This can be repeated for many nodes and the incoming bits will be received in a time division multiplexed fashion at the receiver or master node. The senders address and bit meaning are implicit due to the time slot in which they arrive. The assumption is that all nodes have accurate synchronized time as well as the ability to accurately estimate sound travel time between itself and any master node.
摘要翻译：公开了允许空间上分离的节点以同步方式将数据传输到单个远程主接收器节点的系统和方法。从属节点可以发送声音数据，以便它在水中传播，并准确地到达主节点，从而使数据位出现在预定时隙中。下一个时隙可能是来自另一个远程或从属节点的另一个方向和不同距离的数据位。这可以针对许多节点重复，并且将在接收器或主节点处以时分复用方式接收传入比特。发件人地址和位含义由于它们到达的时隙而隐含。假设所有节点都具有精确的同步时间，并且能够准确估计其本身与任何主节点之间的声音传播时间。

9. 发明申请

WO2015153576A2 METHOD AND APPARATUS FOR UNDERWATER ACOUSTIC COMMUNICATION 审中-公开
标题翻译：用于水下声学通信的方法和装置
公开(公告)号：WO2015153576A2
公开(公告)日：2015-10-08
申请号：PCT/US2015/023541
申请日：2015-03-31
申请人： TRACKSERVER, INC.
发明人： CROWELL, Jonathan, C.
IPC分类号： H04B13/02 , H04B11/00
CPC分类号： H04B13/02 , H04B11/00
摘要： Systems and methods are disclosed allowing for spatially separated nodes to transmit data to a single remote master receiver node in a synchronized way. Slave nodes can send acoustic data so that it travels through water and arrives at the master node exactly timed so that the data bit appears in a predetermined time slot. The next time slot could be a data bit coming from another remote or slave node in another direction and at a different distance. This can be repeated for many nodes and the incoming bits will be received in a time division multiplexed fashion at the receiver or master node. The senders address and bit meaning are implicit due to the time slot in which they arrive. The assumption is that all nodes have accurate synchronized time as well as the ability to accurately estimate sound travel time between itself and any master node.
摘要翻译：公开的系统和方法允许空间分离的节点以同步的方式将数据发送到单个远程主接收器节点。从节点可以发送声学数据，使其通过水传播并准确定时到达主节点，使得数据位出现在预定时隙中。下一个时隙可以是来自另一个远程或从节点的另一方向和不同距离的数据位。对于许多节点可以重复这一点，并且在接收器或主节点处将以时分多路复用的方式接收输入比特。发送者的地址和位的含义由于它们到达的时隙而是隐含的。假设所有节点具有准确的同步时间，以及准确估计其与任何主节点之间的声音行进时间的能力。

10. 发明授权

US09641262B2 Method and apparatus for underwater acoustic communication 有权
公开(公告)号：US09641262B2
公开(公告)日：2017-05-02
申请号：US14674477
申请日：2015-03-31
申请人： TRACKSERVER, INC.
发明人： Jonathan C. Crowell
IPC分类号： H04B13/02 , H04B11/00
CPC分类号： H04B13/02 , H04B11/00
摘要： Systems and methods are disclosed allowing for spatially separated nodes to transmit data to a single remote master receiver node in a synchronized way. Slave nodes can send acoustic data so that it travels through water and arrives at the master node exactly timed so that the data bit appears in a predetermined time slot. The next time slot could be a data bit coming from another remote or slave node in another direction and at a different distance. This can be repeated for many nodes and the incoming bits will be received in a time division multiplexed fashion at the receiver or master node. The senders address and bit meaning are implicit due to the time slot in which they arrive. The assumption is that all nodes have accurate synchronized time as well as the ability to accurately estimate sound travel time between itself and any master node.

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