High-quality CPNT is a key technology for deep-sea vehicles that dive into the deep sea and for detecting and developing the deep sea. At present, however, CPNT services for deep-sea vehicles are provided by separate communication, positioning, and navigation systems as well as separate synchronous clocks (atomic clocks). This directly affects the operational efficiency, for example, update rates of up to 0.125 Hz, of deep-sea vehicles engaged in deep-sea scientific research, environmental investigation, and resource development. Therefore, a new design method and operating mode of CPNT is proposed herein to overcome the inherent flaws of the current communication/positioning/navigation modes of deep-sea vehicles; meet the actual demands of deep-sea vehicles in real time; achieve high update rates, low power consumption, and high precision positioning and navigation; and to be combined with the current development trends. The integration of CPNT can both unify time and space references, and reduce the difficulty of multi-sensor information fusion. Thus, the problems of poor navigation and the non-timing functions of deep-sea vehicles can be solved fundamentally. The integration of CPNT will improve the navigation and positioning accuracy as well as the information update rate (up to 1 Hz) of large deep-sea vehicles, such as deepsea human-occupied vehicles, deep-sea remotely operated underwater vehicles, and deep-sea autonomous underwater vehicles.

中文翻译：

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深海航行器通信、定位、导航、授时一体化


高质量CPNT是深海航行器潜入深海、探测和开发深海的关键技术。然而，目前深海航行器的CPNT服务是由单独的通信、定位和导航系统以及单独的同步时钟（原子钟）提供的。这直接影响了从事深海科学研究、环境调查、资源开发等深海航行器的运行效率，例如高达0.125Hz的更新速率。因此，本文提出一种新的CPNT设计方法和运行模式，以克服当前深海航行器通信/定位/导航模式的固有缺陷；实时满足深海车辆的实际需求；实现高更新率、低功耗、高精度定位导航；并结合当前发展趋势。 CPNT的集成既可以统一时间和空间参考，又可以降低多传感器信息融合的难度。从而从根本上解决深海航行器导航能力差、无授时功能的问题。 CPNT的集成将提高大型深海航行器的导航定位精度以及信息更新率（高达1 Hz），例如深海载人航行器、深海遥控水下航行器和深海航行器。海上自主水下航行器。