Zhejiang University

Utstarcom Telecom Co., Ltd.

Feng Liu

Wen Xu

Lei Xie

Huifang Chen

Xinqiang Liang

Yong-Lin Tang

Si-Hai Bao

Fayong Li

Sheng Yu

Ziyi Zhao

Junwei Jin

Shuang He

Chenglei Lv

Some embodiments of the disclosure provide a cooperative positioning system and method for an unmanned underwater vehicle (UUV) cluster based on ranging and information interaction. In some examples, the cooperative positioning system includes one master UUV, multiple slave UUVs, and a cooperative positioning apparatus. In some examples, the cooperative positioning method includes following steps. A master UUV and a slave UUV perform internal clock disciplining. The master UUV periodically packages a location of the master UUV and a covariance matrix of location estimation into a cooperative positioning data packet and broadcasts the cooperative positioning data packet to slave UUVs of a cluster. The slave UUV receives the cooperative positioning data packet. A cooperative positioning apparatus of the salve UUV constructs a state and a measurement equation according to data. The cooperative positioning apparatus calculates and obtains a cooperative positioning result by using an extended Kalman filter (EKF).

Cooperative positioning system and method for unmanned underwater vehicle (UUV) cluster based on ranging and information interaction

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.

Method for positioning underwater glider based on virtual time difference of arrival of single beacon

A rural landscape-type nitrogen and phosphorus ecological interception ditch system and a farmland drainage nitrogen and phosphorus interception method using the system are provided. The system includes a sediment buffer zone, an ecological ditch unit, an interception-conversion pool and a field ridge hedge fence; the sediment buffer zone, the ecological ditch unit, and the interception-conversion pool are sequentially arranged in a continuous ditch along a direction of a water flow; and the field ridge hedge fence is arranged on field ridges on one side or both sides of the ditch. The present disclosure can, on the basis of not affecting normal production functions of a farmland, further exert an ecological role of the farmland, and use the farmland as an assimilation sink for environmental nitrogen and phosphorus, so as to optimize drainage water quality and improve a farmland ecological environment.

Rural landscape-type nitrogen and phosphorus ecological interception ditch system and farmland drainage nitrogen and phosphorus interception method using the same

A method for routing a packet in a segment routing network includes extracting a destination Internet Protocol (IP) address from an IP header of the packet received by a routing node wherein the destination IP address includes a network identifier, a node identifier, a function identifier, and an argument; determining whether the network identifier and the node identifier match a routing node identifier; when the network identifier and the node identifier match the routing node identifier, determining a function to be executed based on the function identifier and the argument; when the function to be executed is determined, updating the node identifier, the function identifier, and the argument according to a segment list included in a segment routing header of the packet; and routing the packet according to the updated node identifier, the updated function identifier, and the updated argument in the destination IP address.

Method and apparatus for routing packet in segment routing network based on IPv6

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Hangzhou, China

Feng Liu