CN110487149A - A kind of position-measurement device and method of soundd navigation and ranging - Google Patents
A kind of position-measurement device and method of soundd navigation and ranging Download PDFInfo
- Publication number
- CN110487149A CN110487149A CN201910734552.8A CN201910734552A CN110487149A CN 110487149 A CN110487149 A CN 110487149A CN 201910734552 A CN201910734552 A CN 201910734552A CN 110487149 A CN110487149 A CN 110487149A
- Authority
- CN
- China
- Prior art keywords
- ranging
- connecting rod
- conduit
- vertical connecting
- soundd navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title abstract description 11
- 230000014759 maintenance of location Effects 0.000 claims description 9
- 238000000691 measurement method Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000003466 welding Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of position-measurement device of soundd navigation and ranging and methods, belong to multibeam calibration field of measuring technique.The position-measurement device of the soundd navigation and ranging includes: that vertical connecting rod is fixedly connected with the end face of the horizontal supporting plate, and the vertical connecting rod is vertical with the horizontal supporting plate；Two angle measurement arms are fixedly connected with the vertical connecting rod, and two angle measurement arms are symmetrical as symmetry axis using the vertical connecting rod, are provided with scale on two angle measurement arms；The conduit and the angle measurement arm correspond, and the first end of the conduit turnably is connect with the vertical connecting rod, and the second end of conduit is removably arranged on corresponding angle measurement arm.The real-time coordinates position of the available soundd navigation and ranging of position-measurement device and method of soundd navigation and ranging of the present invention guarantees the security reliability and accuracy of soundd navigation and ranging measurement.
Description
Technical field
The present invention relates to multibeam calibration field of measuring technique, in particular to the position of a kind of soundd navigation and ranging measures dress
It sets and method.
Background technique
With land resources consumption increasingly close to exhaustion, people there is an urgent need to marine energy, resource carry out exploitation with
It utilizes.And for ocean development, need to carry out ocean multibeam calibration measurement, to obtain a wide range of, accurate ocean ring
Border data.
But in carrying out multibeam calibration measurement process, the position of soundd navigation and ranging can be adjusted or under water
The streamer length of survey meter is adjusted, then the position coordinates of soundd navigation and ranging relative measurement ship navigator fix reference point are just sent out
Variation is given birth to, the position for causing soundd navigation and ranging to obtain seabed object is inaccurate.
Summary of the invention
The present invention provides the position-measurement device and method of a kind of soundd navigation and ranging, solves or part solves existing skill
The position coordinates of soundd navigation and ranging relative measurement ship navigator fix reference point change in art, and soundd navigation and ranging is caused to obtain sea
The inaccurate technical problem in the position of substrate body.
In order to solve the above technical problems, including: level the present invention provides a kind of position-measurement device of soundd navigation and ranging
Support plate, vertical connecting rod, two angle measurement arms and two conduits；The vertical connecting rod and the horizontal supporting plate
End face is fixedly connected, and the vertical connecting rod is vertical with the horizontal supporting plate；Two angle measurement arms are erected with described
Straight connecting rods are fixedly connected, and are provided with scale on two angle measurement arms；The conduit and the angle measurement arm
It corresponds, the first end of the conduit turnably is connect with the vertical connecting rod, the second end of the conduit
Removably it is arranged on corresponding angle measurement arm any position.
Further, the position-measurement device of the soundd navigation and ranging further include: retention mechanism；The vertical connecting rod is logical
The retention mechanism is crossed to be fixedly connected with the end face of the horizontal supporting plate；The retention mechanism includes: fastening sleeve and fastening
Part；The outer wall of the fastening sleeve is fixedly connected with the end face of the horizontal supporting plate；The vertical connecting rod passes through described tight
Gu sleeve, the fastener passes through the fastening sleeve and is fixedly connected with the vertical connecting rod.
Further, the first end of the conduit turnably is connected by the fastener and the fastening sleeve
It connects.
Further, the both ends of the vertical connecting rod are fixedly installed connection sleeve.
Further, the shape of the angle measurement arm is arc.
Further, two angle measurement arms form angle square.
Further, several connecting holes are offered on the angle measurement arm；Connector passes through the second of the conduit
End is removably connect with the connecting hole.
Further, the position-measurement device of the soundd navigation and ranging further include: clamping device；The clamping device and institute
The side for stating horizontal supporting plate is fixedly connected；The clamping device includes: clamping piece and two grip blocks；Two grip blocks
It is fixedly connected with the side of the horizontal supporting plate；The clamping piece passes through a grip block in two grip blocks.
Further, there is spacing between two grip blocks.
Based on identical inventive concept, the application also provides a kind of location measurement method of soundd navigation and ranging, including following
Step: horizontal supporting plate is fixed on ship side plate, and vertical connecting rod is fixed to the end face of the horizontal supporting plate
On；Rotary wire pipe rotates the first end of the conduit in the vertical connecting rod and forms test point, the conduit
Second end slided on corresponding angle measurement arm, when the second end of the conduit is slided on the angle measurement arm
When to suitable position, the second end of the conduit is fixed on the angle measurement arm；By on the angle measurement arm
Scale read angle theta between the conduit and the vertical connecting rod；By equipment towing cable across the conduit and under water
Soundd navigation and ranging connection, and obtain the equipment towing cable pass through the conduit length L；Obtain the soundd navigation and ranging phase
Horizontal distance to the vertical connecting rod 5 is L*sin θ, and the vertical range for obtaining the soundd navigation and ranging relative sensing point is
L*cosθ；Obtain the real time position of the soundd navigation and ranging.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
Since vertical connecting rod is fixedly connected with the end face of horizontal supporting plate, two angle measurement arms with vertical connecting rod
It is fixedly connected, is provided with scale on two angle measurement arms, so, two angle measurement arms can form angle square, due to
Conduit and angle measurement arm correspond, and the first end of conduit turnably is connect with vertical connecting rod, conduit
Second end is removably arranged on corresponding angle measurement arm any position, so, the first end of conduit and vertical
Connecting rod junction forms test point, and when the position of soundd navigation and ranging to be adjusted, rotary wire pipe passes through angle square
Angle theta between conduit and vertical connecting rod is obtained, conduit drives underwater soundd navigation and ranging to act by towing cable, makes underwater
The position of survey meter changes, and obtains the length L that equipment towing cable passes through conduit, then available soundd navigation and ranging is relatively perpendicular
The horizontal distance of straight connecting rods is L*sin θ, and the vertical range of soundd navigation and ranging relative sensing point is L*cos θ, is visited under water
The real-time coordinates position for surveying instrument is obtained conduit and is connected vertically when the towing cable of soundd navigation and ranging needs to lengthen by angle square
Then angle theta between extension bar obtains the length L that equipment towing cable passes through conduit, then available soundd navigation and ranging opposed vertical
The horizontal distance of connecting rod 5 is L*sin θ, and the vertical range of soundd navigation and ranging relative sensing point is L*cos θ, obtains undersea detection
The real-time coordinates position of instrument guarantees the security reliability and accuracy of soundd navigation and ranging measurement, operates, is easy for installation.
Detailed description of the invention
Fig. 1 is the main diagram of the position-measurement device of soundd navigation and ranging provided in an embodiment of the present invention；
Fig. 2 is the side view of the position-measurement device of soundd navigation and ranging in Fig. 1；
Fig. 3 is the top view of the position-measurement device of soundd navigation and ranging in Fig. 1；
Fig. 4 is the scheme of installation of the position-measurement device of soundd navigation and ranging in Fig. 1；
Fig. 5 is the towing schematic diagram of the soundd navigation and ranging of the position-measurement device of soundd navigation and ranging in Fig. 1.
Specific embodiment
Referring to Fig. 1-3, a kind of position-measurement device of soundd navigation and ranging provided in an embodiment of the present invention includes: horizontally-supported
Plate 1,2, two angle measurement arms 3 of vertical connecting rod and two conduits 4.
Vertical connecting rod 2 is fixedly connected with the end face of horizontal supporting plate 1.
Two angle measurement arms 3 are fixedly connected with vertical connecting rod 2, are provided with scale on two angle measurement arms 3.
Two conduits 4 and two angle measurement arms 3 correspond, and the first end of conduit 4 can turn with vertical connecting rod 2
It connects to dynamic formula, the second end of conduit 4 is removably arranged on corresponding angle measurement arm any position.
The application specific embodiment is since vertical connecting rod 2 is fixedly connected with the end face of horizontal supporting plate 1, two angles
Measurement arm 3 is fixedly connected with vertical connecting rod 2, is provided with scale on two angle measurement arms 3, so, two angles are surveyed
Amount arm 3 can form angle square, since conduit 4 and angle measurement arm 3 correspond, the first end of conduit 4 with connect vertically
Extension bar 2 turnably connects, and corresponding angle measurement arm any position is removably arranged in the second end of conduit 4
On, so, the first end of conduit 4 and vertical 2 junction of connecting rod form test point, when will be to the position of soundd navigation and ranging 5
When being adjusted, rotary wire pipe 4 obtains angle theta between conduit 4 and vertical connecting rod 2 by angle square, and conduit 4 is logical
Crossing towing cable 6 drives underwater soundd navigation and ranging 5 to act, and soundd navigation and ranging position is made to change, and acquisition equipment towing cable 6, which passes through, leads
The length L of spool 4, then the horizontal distance of available 5 opposed vertical connecting rod 2 of soundd navigation and ranging is L*sin θ, undersea detection
The vertical range of 5 relative sensing point of instrument is L*cos θ, the real-time coordinates position of soundd navigation and ranging 5 is obtained, when soundd navigation and ranging 5
When towing cable 6 needs to lengthen, angle theta between conduit 4 and vertical connecting rod 2 is obtained by angle square, then obtains equipment towing cable 6
Across the length L of conduit 4, then the horizontal distance of available 5 opposed vertical connecting rod 2 of soundd navigation and ranging is L*sin θ, water
The vertical range of lower 5 relative sensing point of survey meter is L*cos θ, obtains the real-time coordinates position of soundd navigation and ranging 5, is guaranteed underwater
The security reliability and accuracy that survey meter 5 measures.
Specifically, vertical connecting rod 2 is vertical with horizontal supporting plate 1, still, between vertical connecting rod 2 and horizontal supporting plate 1
Vertical relation be not absolute upright on geometric meaning, the angular relationship between vertical connecting rod 2 and horizontal supporting plate 1 can
In 90 ± 3 ° of range.Specifically, the position-measurement device of the soundd navigation and ranging further include: retention mechanism 7.
Vertical connecting rod 2 is fixedly connected by retention mechanism 7 with the end face of horizontal supporting plate 1, is avoided vertical connecting rod 2
It is directly connect with horizontal supporting plate 1, if vertical connecting rod 2 is damaged, can be convenient and vertical connecting rod 2 is replaced.
Retention mechanism 7 includes: fastening sleeve 7-1 and fastener 7-2.
The outer wall of fastening sleeve 7-1 is fixedly connected with the end face of horizontal supporting plate 1.In the present embodiment, fastening sleeve
The outer wall of 7-1 can be fixedly connected by welding with the end face of horizontal supporting plate 1, in other embodiments, fastening sleeve 7-1's
Outer wall can such as bolt be fixedly connected with the end face of horizontal supporting plate 1 otherwise.
Vertical connecting rod 2 passes through fastening sleeve 7-1, and fastener 7-2 passes through fastening sleeve 7-1 and vertical connecting rod 2 is fixed
Connection.
The first end of conduit 4 turnably is connect by fastener 7-2 with fastening sleeve 7-1, guarantee conduit 4 and
Fastening sleeve 7-1 connection is firm, and conduit 4 is avoided to shake.
Wherein, fastener 7-2 can be bolt or pivot pin.
The both ends of vertical connecting rod 2 are fixedly installed connection sleeve 8.In the present embodiment, connection sleeve 8 is close to perpendicular
The end of straight connecting rods 2 offers internal screw thread, is connect by internal screw thread with the end thread of vertical connecting rod 2, in other implementations
In mode, connection sleeve 8 can be fixedly connected by welding with the end of vertical connecting rod 2.
Wherein, connection sleeve 8 offers internal screw thread far from the end of vertical connecting rod 2, is used for and other vertical connecting rods
Connection, in order to extend the length of vertical connecting rod.
Specifically, the shape of angle measurement arm 3 is arc.Two angle measurement arms 3 form angle square, are convenient for measure traverse line
The included angle of formation between pipe 4 and vertical connecting rod 2.
Several connecting holes are offered on angle measurement arm 3；Connector 9 pass through conduit 4 second end removably with
Connecting hole connection.
The second end of conduit 4 can be adjustable in 0-90 ° of angle measurement arm of radian.
Wherein, connector 9 can be bolt or pivot pin.
Referring to fig. 4, the position-measurement device of the soundd navigation and ranging further include: clamping device 10.
Clamping device 10 is fixedly connected with the side of horizontal supporting plate 1.
Clamping device 10 includes: clamping piece 10-1 and two grip block 10-2.
Two grip block 10-2 are fixedly connected with the side of horizontal supporting plate 1.In the present embodiment, two grip blocks
10-2 can be fixedly connected by welding with the side of horizontal supporting plate 1, and in other embodiments, two grip block 10-2 can lead to
Other way such as bolt etc. is crossed to be fixedly connected with the side of horizontal supporting plate 1.
Clamping piece 10-1 passes through a grip block in two grip block 10-2.
There is spacing between two grip block 10-2, the size of spacing is greater than the thickness of ship side plate 11.
Two grip block 10-2 are clamped on ship side plate 11, clamping piece 10-1 is screwed, clamping piece 10-1 is made to hold out against ship
Oceangoing ship side plate, support level support plate 1 avoid damaging hull.
Wherein, clamping piece 10-1 can be bolt or pivot pin.
Referring to Fig. 5, it is based on identical inventive concept, also a kind of location measurement method of soundd navigation and ranging of the application, including
Following steps:
Step 1, horizontal supporting plate 1 is fixed on ship side plate 11, vertical connecting rod 2 is fixed at horizontally-supported
On the end face of plate 1.
Step 2, rotary wire pipe 4 rotates the first end of conduit 4 in vertical connecting rod 2 and forms test point, conducting wire
The second end of pipe 4 is slided on corresponding angle measurement arm 3, when the second end of conduit 4 slides on angle measurement arm 3
When suitable position, the second end of conduit 4 is fixed on angle measurement arm 3.
Step 3, angle theta between conduit 4 and vertical connecting rod 2 is read by the scale on angle measurement arm 3.
Step 4, equipment towing cable 6 is passed through conduit to connect with underwater soundd navigation and ranging 5, and obtains equipment towing cable 6 and wears
Cross the length L of conduit 4.
Step 5, the horizontal distance for obtaining 5 opposed vertical connecting rod 2 of soundd navigation and ranging is L*sin θ, obtains soundd navigation and ranging
The vertical range of 5 relative sensing points is L*cos θ, obtains the real time position of soundd navigation and ranging 5.
The embodiment of the present invention is introduced in order to become apparent from, is introduced from the application method of the embodiment of the present invention below.
Two grip block 10-2 are clamped on ship side plate 11, clamping piece 10-1 is screwed, clamping piece 10-1 is made to hold out against ship
Two grip block 10-2 are fastened on ship side plate 11 by oceangoing ship side plate.Two grip block 10-2 are welded on horizontal supporting plate 1
On side, support level support plate 1.
The outer wall of fastening sleeve 7-1 is vertically welded on the end face of horizontal supporting plate 1, vertical connecting rod 2 is passed through
Fastening sleeve 7-1, meanwhile, fastening sleeve 7-1 is arranged on the end face of horizontal supporting plate 1 in conduit 4, fastener 7-2
Conduit 4 and fastening sleeve 7-1 is sequentially passed through to be fixedly connected with vertical connecting rod 2.The first end of conduit 4 passes through fastener 7-
2 turnably connect with fastening sleeve 7-1.Wherein, the junction of conduit 4 and vertical connecting rod 2 forms test point.
Two angle measurement arms 3 are fixedly connected by bolt with vertical connecting rod 2, two angle measurement arms 3 are with vertical
Connecting rod 2 is that symmetry axis is symmetrical, is provided with scale on two angle measurement arms 3.The shape of angle measurement arm 3 is arc,
Two angle measurement arms 3 form angle square, convenient for the included angle of the formation between measure traverse line pipe 4 and vertical connecting rod 2.Its
In, the height of two angle measurement arms 3 and vertical 2 junction of connecting rod is less than the height of test point.
When the position of soundd navigation and ranging 5 to be adjusted, rotary wire pipe 4, by angle square obtain conduit 4 with
Angle theta between vertical connecting rod 2.Conduit 4 drives underwater soundd navigation and ranging 5 to act by towing cable 6, makes soundd navigation and ranging 5
Position change.The length L that equipment towing cable 6 passes through conduit 4 is obtained, then available 5 opposed vertical of soundd navigation and ranging
The horizontal distance of connecting rod 2 is L*sin θ, and the vertical range of 5 relative sensing point of soundd navigation and ranging is L*cos θ, obtains underwater visit
The real-time coordinates position of instrument 5 is surveyed, guarantees security reliability and accuracy that soundd navigation and ranging 5 measures.
When the towing cable 6 of soundd navigation and ranging 5 needs to lengthen, obtained between conduit 4 and vertical connecting rod 2 by angle square
Angle theta.Then the length L that equipment towing cable 6 passes through conduit 4 is obtained, then available 5 opposed vertical connecting rod of soundd navigation and ranging
2 horizontal distance is L*sin θ, and the vertical range of 5 relative sensing point of soundd navigation and ranging is L*cos θ, obtains soundd navigation and ranging 5
Real-time coordinates position guarantees security reliability and accuracy that soundd navigation and ranging 5 measures.Wherein, soundd navigation and ranging 5 can be sound
.
Present application addresses inconvenience precise measurement relative positions, towing horizontal distance when side scan sonar shipboard is installed and pulled
With real-time the technical issues of adjusting immersion angle degree and depth, the real-time coordinates position of available sonar guarantees sonar measurement
It is safe and reliable, easy to operate, cheap to realize shipboard mounting bracket for security reliability and accuracy.
It should be noted last that the above specific embodiment is only used to illustrate the technical scheme of the present invention and not to limit it,
Although being described the invention in detail referring to example, those skilled in the art should understand that, it can be to the present invention
Technical solution be modified or replaced equivalently, without departing from the spirit and scope of the technical solution of the present invention, should all cover
In the scope of the claims of the present invention.
Claims (10)
1. a kind of position-measurement device of soundd navigation and ranging characterized by comprising horizontal supporting plate, vertical connecting rod, two
Angle measurement arm and two conduits；
The vertical connecting rod is fixedly connected with the end face of the horizontal supporting plate；
Two angle measurement arms are fixedly connected with the vertical connecting rod, are provided on two angle measurement arms
Scale；
The conduit and the angle measurement arm correspond, and the first end of the conduit can turn with the vertical connecting rod
It connects to dynamic formula, the second end of the conduit is removably arranged on corresponding angle measurement arm any position.
2. the position-measurement device of soundd navigation and ranging according to claim 1, which is characterized in that the soundd navigation and ranging
Position-measurement device further include: retention mechanism；
The vertical connecting rod is fixedly connected by the retention mechanism with the end face of the horizontal supporting plate；
The retention mechanism includes: fastening sleeve and fastener；
The outer wall of the fastening sleeve is fixedly connected with the end face of the horizontal supporting plate；
The vertical connecting rod passes through the fastening sleeve, and the fastener passes through the fastening sleeve and the vertical connecting rod
It is fixedly connected.
3. the position-measurement device of soundd navigation and ranging according to claim 2, it is characterised in that:
The first end of the conduit turnably is connect by the fastener with the fastening sleeve.
4. the position-measurement device of soundd navigation and ranging according to claim 1, it is characterised in that:
The both ends of the vertical connecting rod are fixedly installed connection sleeve.
5. the position-measurement device of soundd navigation and ranging according to claim 1, it is characterised in that:
The shape of the angle measurement arm is arc.
6. the position-measurement device of soundd navigation and ranging according to claim 5, it is characterised in that:
Two angle measurement arms form angle square.
7. the position-measurement device of soundd navigation and ranging according to claim 6, it is characterised in that:
Several connecting holes are offered on the angle measurement arm；
The second end that connector passes through the conduit is removably connect with the connecting hole.
8. the position-measurement device of soundd navigation and ranging according to claim 1, which is characterized in that the soundd navigation and ranging
Position-measurement device further include: clamping device；
The clamping device is fixedly connected with the side of the horizontal supporting plate；
The clamping device includes: clamping piece and two grip blocks；
Two grip blocks are fixedly connected with the side of the horizontal supporting plate；
The clamping piece passes through a grip block in two grip blocks.
9. the position-measurement device of soundd navigation and ranging according to claim 8, it is characterised in that:
There is spacing between two grip blocks.
10. a kind of location measurement method of soundd navigation and ranging, based on soundd navigation and ranging described in any one of claim 1-9
Position-measurement device, which is characterized in that the location measurement method of the soundd navigation and ranging the following steps are included:
Horizontal supporting plate is fixed on ship side plate, vertical connecting rod is fixed to the end face of the horizontal supporting plate
On；
Rotary wire pipe rotates the first end of the conduit in the vertical connecting rod and forms test point, the conducting wire
The second end of pipe is slided on corresponding angle measurement arm, when the second end of the conduit is sliding on the angle measurement arm
When moving to suitable position, the second end of the conduit is fixed on the angle measurement arm；
Angle theta between the conduit and the vertical connecting rod is read by the scale on the angle measurement arm；
Equipment towing cable is passed through the conduit to connect with underwater soundd navigation and ranging, and obtains the equipment towing cable across described
The length L of conduit；
The horizontal distance for obtaining the relatively described vertical connecting rod 5 of the soundd navigation and ranging is L*sin θ, obtains the undersea detection
The vertical range of instrument relative sensing point is L*cos θ；
Obtain the real time position of the soundd navigation and ranging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910734552.8A CN110487149A (en) | 2019-08-09 | 2019-08-09 | A kind of position-measurement device and method of soundd navigation and ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910734552.8A CN110487149A (en) | 2019-08-09 | 2019-08-09 | A kind of position-measurement device and method of soundd navigation and ranging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110487149A true CN110487149A (en) | 2019-11-22 |
Family
ID=68549650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910734552.8A Pending CN110487149A (en) | 2019-08-09 | 2019-08-09 | A kind of position-measurement device and method of soundd navigation and ranging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110487149A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113375532A (en) * | 2021-06-11 | 2021-09-10 | 宁夏中欣晶圆半导体科技有限公司 | Device for measuring steel wire position of slicing machine |
| CN114001710A (en) * | 2021-10-14 | 2022-02-01 | 水利部水土保持监测中心 | High-precision channel flow cross-section area measuring device and measuring method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007026873A1 (en) * | 2007-06-11 | 2008-12-24 | Atlas Elektronik Gmbh | Method for determining current in sea area for navigation of unmanned underwater vessel, involves measuring emerging position of underwater vessel by satellite supported position determining systems during emerging of underwater vessel |
| CN202432950U (en) * | 2011-12-28 | 2012-09-12 | 中国海洋石油总公司 | Submarine pipeline flange space position measuring device |
| CN103322989A (en) * | 2013-06-06 | 2013-09-25 | 上海米度测量技术有限公司 | Measuring device and method of dynamic real-time measurement of position and posture of pipe pushing jack |
| CN103777195A (en) * | 2014-02-17 | 2014-05-07 | 中国科学院南京地理与湖泊研究所 | Portable fish finder energy converter fixator with adjustable angle and application method |
| CN105759275A (en) * | 2016-03-09 | 2016-07-13 | 青岛海澄知识产权事务有限公司 | Leveling type underwater detection positioning device |
| CN106997057A (en) * | 2017-05-11 | 2017-08-01 | 深圳潜水侠创新动力科技有限公司 | Alignment system and its localization method for underwater detectoscope |
| CN108761470A (en) * | 2018-06-29 | 2018-11-06 | 中国船舶重工集团公司第七〇五研究所 | A kind of object localization method based on the parsing of towing cable shape equation |
| CN210664227U (en) * | 2019-08-09 | 2020-06-02 | 中国石油天然气集团公司 | Position measuring device of underwater detecting instrument |
-
2019
- 2019-08-09 CN CN201910734552.8A patent/CN110487149A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007026873A1 (en) * | 2007-06-11 | 2008-12-24 | Atlas Elektronik Gmbh | Method for determining current in sea area for navigation of unmanned underwater vessel, involves measuring emerging position of underwater vessel by satellite supported position determining systems during emerging of underwater vessel |
| CN202432950U (en) * | 2011-12-28 | 2012-09-12 | 中国海洋石油总公司 | Submarine pipeline flange space position measuring device |
| CN103322989A (en) * | 2013-06-06 | 2013-09-25 | 上海米度测量技术有限公司 | Measuring device and method of dynamic real-time measurement of position and posture of pipe pushing jack |
| CN103777195A (en) * | 2014-02-17 | 2014-05-07 | 中国科学院南京地理与湖泊研究所 | Portable fish finder energy converter fixator with adjustable angle and application method |
| CN105759275A (en) * | 2016-03-09 | 2016-07-13 | 青岛海澄知识产权事务有限公司 | Leveling type underwater detection positioning device |
| CN106997057A (en) * | 2017-05-11 | 2017-08-01 | 深圳潜水侠创新动力科技有限公司 | Alignment system and its localization method for underwater detectoscope |
| CN108761470A (en) * | 2018-06-29 | 2018-11-06 | 中国船舶重工集团公司第七〇五研究所 | A kind of object localization method based on the parsing of towing cable shape equation |
| CN210664227U (en) * | 2019-08-09 | 2020-06-02 | 中国石油天然气集团公司 | Position measuring device of underwater detecting instrument |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113375532A (en) * | 2021-06-11 | 2021-09-10 | 宁夏中欣晶圆半导体科技有限公司 | Device for measuring steel wire position of slicing machine |
| CN113375532B (en) * | 2021-06-11 | 2023-02-10 | 宁夏中欣晶圆半导体科技有限公司 | Device for measuring steel wire position of slicing machine |
| CN114001710A (en) * | 2021-10-14 | 2022-02-01 | 水利部水土保持监测中心 | High-precision channel flow cross-section area measuring device and measuring method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021103697A1 (en) | Submarine cable three-dimensional routing measurement method and measurement instrument based on magnetic vector data | |
| CN103017743B (en) | Pull wire positioning instrument and measurement method thereof | |
| CN101533035A (en) | Method for observing estuary seacoast near-bottom water and sediment under high turbidity environment | |
| CN110927802B (en) | Submarine cable fault accurate positioning method based on magnetic vector data and positioner | |
| CN110487149A (en) | A kind of position-measurement device and method of soundd navigation and ranging | |
| US6700835B1 (en) | System for subsea diverless metrology and hard-pipe connection of pipelines | |
| CN203427996U (en) | Fixing device for acoustic transducer | |
| CN110488334A (en) | A kind of underwater object locator, positioning system and its localization method | |
| CN108535751A (en) | Underwater positioning device and localization method | |
| CN107063201A (en) | Carry the accurate depth measurement erecting device of integration and its system of calibration system | |
| CN110927801B (en) | Submarine cable route self-navigation line patrol method based on magnetic vector data and navigation detector | |
| CN114383578B (en) | Sea surface height measurement system and method based on ocean monitoring buoy | |
| CN113640808B (en) | Shallow water submarine cable buried depth detection method and device | |
| CN114264299A (en) | Scalar magnetic field data-based alternating-current transmission submarine cable route positioning method | |
| CN110470860A (en) | A kind of time difference method ultrasonic wind velocity indicator and calibration method | |
| CN109212152A (en) | A kind of nearly bottom edge interlayer Dissolved Oxygen Flux measurement method in ocean | |
| CN210664227U (en) | Position measuring device of underwater detecting instrument | |
| CN208421225U (en) | A kind of underwater positioning system based on image sonar | |
| TWM406734U (en) | Three-axis positioning underwater ultrasonic measuring system | |
| CN105548599A (en) | Anti-interference measuring device for flow speed of surface seawater | |
| CN109178203A (en) | A kind of Attitude calibration method of floating support mounting actual measurement | |
| CN106767724A (en) | A kind of installation method on the spot of Ocean Surveying equipment | |
| CN210400263U (en) | Submarine pipeline flange angle measuring instrument | |
| CN106525041A (en) | Method for measuring deepwater crossunder pipe | |
| CN205691769U (en) | A kind of fixed haulage rod of side scan sonar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |