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1. 发明公开

EP3090498A4 METHOD AND APPARATUS FOR SYNCHRONIZING CLOCKS UNDERWATER USING LIGHT AND SOUND 审中-公开
标题翻译： VERFAHREN UND VORRICHTUNG ZUR SYNCHRONISIERUNG VON UHREN UNTER WASSER MITHILFE VON LICHT UND SCHALL
公开(公告)号：EP3090498A4
公开(公告)日：2017-08-16
申请号：EP15733115
申请日：2015-01-02
申请人： TRACKSERVER INC
发明人： CROWELL JONATHAN C
IPC分类号： H04B13/02 , 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.
摘要翻译：描述了用于同步水下设备中使用的时钟的方法和系统。由于频率准确性，所有时钟都有一些漂移，并且本公开提供了一种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。同步设备可以使用精确的时钟和硬件在相同的时间点传输声波和光脉冲。远程从属时钟可以先检测光线，然后再检测声音，从而可以计算出脉冲行进的距离。然后时钟可以将它们的时间与主时钟同步，从而消除任何漂移。同步装置可以封装在防水外壳中，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。

2. 发明授权

EP3090498B1 METHOD AND APPARATUS FOR SYNCHRONIZING CLOCKS UNDERWATER USING LIGHT AND SOUND 审中-公开
公开(公告)号：EP3090498B1
公开(公告)日：2018-12-26
申请号：EP15733115.8
申请日：2015-01-02
申请人： TrackServer, Inc.
发明人： CROWELL, Jonathan, C.
IPC分类号： H04B13/02 , 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.

3. 发明授权

EP3127256B1 METHOD AND APPARATUS FOR UNDERWATER ACOUSTIC COMMUNICATION 无效
公开(公告)号：EP3127256B1
公开(公告)日：2020-05-06
申请号：EP15773872.5
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

4. 发明授权

EP1927201B1 UNDERWATER ACOUSTIC POSITIONING SYSTEM AND METHOD 有权
标题翻译：水下声学定位系统和方法
公开(公告)号：EP1927201B1
公开(公告)日：2017-11-29
申请号：EP06801585.8
申请日：2006-08-16
申请人： TrackServer, Inc.
发明人： CROWELL, Jonathan C.
IPC分类号： H04B11/00 , G01S11/14 , G01S5/22
CPC分类号： G01S5/30 , H04B11/00
摘要： A method for determining the position of an underwater device includes placement of a plurality of station keeping devices on or below the surface of the water in known positions. A device to locate is provided for placement below the surface of the water, and the device to locate and the station keeping devices are provided with a synchronized time base and a common acoustic pulse time schedule. Each station keeping device sends an acoustic pulse at a time according to the common acoustic pulse schedule. The device to locate receives pulses sent by the station keeping devices and calculates a distance between itself and each station keeping device based upon the time that the acoustic pulse is sent and the time that the pulse is received. The device to locate then calculates its position based upon the distances between the device to locate and the station keeping devices.

5. 发明公开

EP3090498A1 METHOD AND APPARATUS FOR SYNCHRONIZING CLOCKS UNDERWATER USING LIGHT AND SOUND 审中-公开
标题翻译：方法和设备的时钟进行同步使用在水中灯光和音响
公开(公告)号：EP3090498A1
公开(公告)日：2016-11-09
申请号：EP15733115.8
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：的方法和系统，用于同步在水下装置中使用的时钟进行说明。所有时钟有一定的漂移由于频率精度和本公开提供了用于定期时钟同步到精确的主时钟以除去长期漂移的方法。一种同步装置，可以使用精确的时钟和硬件来在同一时间点同时传输的声波和光脉冲。远程从时钟可以首先检测光，以及后来的声音，从而允许它们计算脉冲必须行进的距离。然后，时钟可以自己的时间同步到主时钟抵消任何漂移。同步装置可以包装在防水壳体和可移动围绕时钟之间的周期性的基础上对水下机器人或任何其他方式。

6. 发明公开

EP3127256A4 METHOD AND APPARATUS FOR UNDERWATER ACOUSTIC COMMUNICATION 无效
公开(公告)号：EP3127256A4
公开(公告)日：2017-11-15
申请号：EP15773872
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.

7. 发明公开

EP3127256A2 METHOD AND APPARATUS FOR UNDERWATER ACOUSTIC COMMUNICATION 无效
标题翻译： VERFAHREN UND VORRICHTUNGFÜRAKUSTISCHE UNTERWASSERKOMMUNIKATION
公开(公告)号：EP3127256A2
公开(公告)日：2017-02-08
申请号：EP15773872.5
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的系统和方法。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方向和不同距离的另一个远程或从节点的数据位。这可以针对许多节点重复，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。发件人的地址和位的含义由于它们到达的时间段而是隐含的。假设所有节点具有准确的同步时间，以及准确地估计其与任何主节点之间的声音行进时间的能力。

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