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1. 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.

2. 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.

3. 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.

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