| 摘要 |
The invention relates to a positioning system having at least one underwater apparatus, said underwater apparatus comprising an acoustic receiver and a computer, said system comprising a base station placed in the sea environment, said base station transmitting an acoustic signal received by the acoustic receiver, wherein the acoustic receiver comprises a hydrophone, the base station comprises at least two acoustic transmitters forming an antenna, the distances between the acoustic transmitters of the antenna being known and said transmitters being synchronized therebetween. According to the invention, the computer comprises a means for calculating differences in arrival time and differences in phases of acoustic signals coming from the base station transmitters, and a means for calculating the possible geometric loci of the position of the apparatus relative to said base station and to the orientation thereof, and the position of the underwater apparatus is predetermined from these possible geometric loci. |
