CN100343688C - Underwater global positioning system receiving arrangement - Google Patents
Underwater global positioning system receiving arrangement Download PDFInfo
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- CN100343688C CN100343688C CNB2004100206091A CN200410020609A CN100343688C CN 100343688 C CN100343688 C CN 100343688C CN B2004100206091 A CNB2004100206091 A CN B2004100206091A CN 200410020609 A CN200410020609 A CN 200410020609A CN 100343688 C CN100343688 C CN 100343688C
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- cable
- gps
- winch
- slip ring
- gps receiver
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Abstract
The present invention discloses an underwater global positioning system (GPS) receiving device which is composed of a GPS antenna pressurization cabin, a traction and communication cable and a collecting and releasing winch, wherein the GPS antenna pressurization cabin is connected with the winch through the traction and communication cable. The pressurization shell of the GPS antenna pressurization cabin is spherical, and a lug boss is arranged on the inner wall of the lower semi-sphere. Two shaft swinging tables are arranged on the lug boss of the lower semi-sphere, and the GPS antenna and the GPS receiving machine are both arranged on inner swinging frames of the two shaft swinging tables. The GPS receiving machine is electrically connected with an electric conduction slip ring through a cable, and a driving motor, a speed reducing mechanism and a winch drum of the winch are all fixed on a machine base. The cable is wound on the winch drum, a watertight socket connector on the lower end of the cable is connected with a brush leading wire of the electric conduction slip ring in the winch drum, and a ring leading wire of the electric conduction slip ring is connected to a master-control computer of the navigation device. On the premise of ensuring the navigation accuracy of an underwater navigation device, the present invention can greatly increase the invisible performance and the safety of the underwater navigation device, and the mission of the underwater navigation device can be ensured to be smoothly completed.
Description
Technical field
The present invention relates to the integrated navigation technology of marine environment medium-long range submarine navigation device.Specifically a kind of by using GPS (GPS) to carry out GPS under water (GPS) receiving trap of precision navigation location for long-range submarine navigation device.
Background technology
Navigational system is to guarantee the water surface or underwater sailing body safety, the accurate indispensable system of navigation.Except the shore-based navigation system of being made up of equipment such as traditional navigation light, bank base radio navigation stations, more common navigational system has two kinds of GPS and inertial navigation systems etc. at present.Inertial navigation system is not owing to need to carry out signal exchange with the external world, and self-organizing system generally is used for submarine navigation device.Be particularly useful for having the submarine navigation device that maybe can't receive gps signal of stealthy requirement, as the relatively poor underwater vehicle under water of sea-keeping when the surface navigation, the long-range underwater vehicle that under the ice face, navigates by water etc.But because inertial navigation system self has certain cumulative errors, when aircraft was carried out the navigation of longer distance, even use the inertial navigation system of degree of precision, this error also may be increased to and can not satisfy the degree that navigation accuracy requires.It is covering the whole world that GPS comprises that other similar global position systems have, and the characteristics that navigation and positioning accuracy is high are most popular, the navigational system that range of application is the widest.But because the frequency of gps signal is very high, in water, almost can not transmit, limit its application in the aircraft under water.
For increasing the navigation accuracy of submarine navigation device, make it to have concurrently the advantage of inertial navigation system and GPS, more common way is to adopt GPS to add the integrated navigation system of inertial navigation at present, be that submarine navigation device utilizes self-contained inertial navigation system independent navigation in the most of the time, every navigation a period of time, aircraft floats to water surface reception gps signal, utilizes the locating information of GPS to proofread and correct and eliminate aircraft cumulative errors for the previous period.
This way is effective in most of times, but for stealthy demand or the relatively poor submarine navigation device of water surface sea-keeping are arranged, come-up all has certain risk each time.As running into severe sea condition when the last floatation surface, may cause the serious consequence of device damage even sinking.
Summary of the invention
Need submarine navigation device regularly or irregularly to float to receive the deficiency of gps signal to the water surface in order to overcome integrated navigation system that present GPS adds inertial navigation, the purpose of this invention is to provide and a kind ofly make submarine navigation device need not to float to receive the receiving trap of GPS under water of gps signal to the water surface.
To achieve these goals, the technical solution adopted for the present invention to solve the technical problems is: by the gps antenna pressure-resistant cabin, and traction and telecommunication cable, releasing winch three parts are formed, and the gps antenna pressure-resistant cabin links to each other with winch by traction and telecommunication cable; Wherein: gps antenna pressure-resistant cabin part is made up of pressure hull, diaxon tilter, GPS receiving antenna, GPS receiver, pressure hull is spherical, divide episphere and lower semisphere two parts, the lower semisphere inwall is provided with boss, the diaxon tilter is installed on the lower semisphere boss, the diaxon tilter is made up of interior swing frame and outer swing frame, and gps antenna and GPS receiver are installed on the interior swing frame of diaxon tilter, and the GPS receiver is electrically connected by the conducting slip ring of cable and winch inside;
Traction and telecommunication cable part are made up of pressure-resistant cabin end underwater electrical connector, cable, winch end underwater electrical connector, the two ends of cable are equipped with watertight connector, one end is the underwater electrical connector that links to each other with the gps antenna pressure-resistant cabin, and an end is the underwater electrical connector that links to each other with the brush lead-in wire of conducting slip ring;
The winch part is made up of the ring lead-in wire that the brush of drive motor, turbine and worm decelerator, winch support, conducting slip ring went between, twisted drum, conducting slip ring, conducting slip ring, drive motor, reducing gear and strand drum all are fixed on the support, cable is wrapped on the strand drum, the underwater electrical connector of cable lower end links to each other with the brush lead-in wire that twists the conducting slip ring in rousing, and the ring lead-in wire of conducting slip ring is connected to the main control computer of aircraft;
Swing frame top in wherein the GPS receiving antenna is installed in, swing frame below in the GPS receiver is installed in; Be provided with packoff between the upper and lower hemispheres; Pressure hull adopts glass-reinforced plastic material, and the oversheath of cable adopts the urethane rubber material, also can adopt nitrile rubber or silicon rubber; The internal core of cable except that the cable core that data communication needs, add in the centre of cable cross-section one run through whole cable spin the synthetic fibre fiber.
The beneficial effects of the utility model are: under the prerequisite that guarantees the submarine navigation device navigation accuracy, can increase substantially its stealth and security, guarantee finishing smoothly of aircraft mission.
Description of drawings
Fig. 1 is that structure of the present invention is formed synoptic diagram.
Fig. 2 is a swing frame structure for amplifying synoptic diagram among Fig. 1.
Embodiment
Below in conjunction with following examples and accompanying drawing in detail the present invention is described in detail.
As shown in Figure 1, the present invention is installed a gps antenna receiving trap additional on the aircraft under water.Described receiving trap draws and telecommunication cable by comprising the gps antenna pressure-resistant cabin, winch three parts, and the gps antenna pressure-resistant cabin links to each other with releasing winch by traction and telecommunication cable.
Wherein: the gps antenna pressure part (is the OEM plate by pressure-resistant cabin housing 1, diaxon tilter 2, GPS receiving antenna 3, GPS receiver, be the commercial product of prior art) 4 compositions, pressure hull 1 is spherical, divide episphere and lower semisphere two parts, by the good glass-reinforced plastic material of gps signal transmitance is made; Lower semisphere 15 inwalls are provided with boss, diaxon tilter 2 is installed on the lower semisphere boss 16, GPS receiving antenna 3 and GPS receiver 4 are installed on the interior swing span of diaxon tilter 2, the centre of gravity place of diaxon tilter 2 after together with 4 combinations of top mounted component GPS receiving antenna 3 and GPS receiver is positioned at the bottom of two axis of swing (structure: the diaxon tilter is made up of swing frame 18 and outer swing frame 17 during design, gps antenna and GPS receiver 4 are installed on the interior swing frame of diaxon tilter, GPS receiving antenna 3 up, GPS receiver 4 below), when the effect lower swing of pressure hull 1 at stormy waves, the interior swing span of diaxon tilter 2 will keep its attitude constant substantially under the effect of gravity, promptly keep the sensing of GPS receiving antenna 3 constant substantially, thereby guarantee the reliability of GPS receiving antenna 3 received signals.Seal with O type rubber seal between the upper and lower hemispheres, after all parts Installation and Debugging are finished, upper and lower hemispheres is fitted together, form a complete pressure-resistant cabin with screw.GPS receiving antenna 3 is sent to GPS receiver 4 with the signal that receives during real work, and GPS receiver 4 is sent to the main control computer of aircraft by the conducting slip ring 13 of cable 6 and winch inside after with the signal Processing that receives.
Traction and telecommunication cable part are made up of pressure-resistant cabin end underwater electrical connector 5, cable 6, winch end underwater electrical connector 10, all there is watertight connector at the two ends of cable 6, one end be underwater electrical connector 5, one ends that link to each other with the gps antenna pressure-resistant cabin for the underwater electrical connector 10 that line links to each other that brushes out of conducting slip ring 13.The oversheath of cable 6 is made to guarantee its watertightness under higher hydraulic condition by urethane rubber.
Winch part is made up of the ring lead-in wire 14 of the brush lead-in wire 11 of drive motor 8, turbine and worm decelerator 7, winch support 9, conducting slip ring, conducting slip ring 13, strand drum 12, conducting slip ring, drive motor 8, reductor 7 and twist drum 12 and all be fixed on the support 9.When receiving trap need discharge or reclaim the gps antenna pressure-resistant cabin, drive motor 8 drove reductor 7, and reductor 7 drives strand drum 12, thereby finished cable 6 releases that will be wrapped on the strand drum 12 or the function that reclaims.
The principle of the invention:
Be installed in gps antenna receiving trap on the submarine navigation device and be gps antenna pressure-resistant cabin by bodily light, releasing winch, communication and folding and unfolding cable three parts are formed, when aircraft utilized self inertial navigation equipment to provide navigation information to navigate by water under water, the gps antenna pressure-resistant cabin was fixed on the aircraft by the cable 6 that is wrapped on the winch strand drum 12.When aircraft need calibrate or revise the navigation error of self, winch discharged cable 6, and the gps antenna pressure-resistant cabin is under the effect of self positive buoyancy, and floating to the water surface receives gps signal.As long as the capacity of the length of cable and winch strand drum 12 allows, this moment, the aircraft body can be under water the position of the degree of depth arbitrarily.The gps signal that the main control computer utilization of aircraft receives carries out error correction to self course and position.Because the gps antenna pressure-resistant cabin is compared with the aircraft body, volume is wanted little several number magnitude, the general floating thing of its form and the water surface much at one, its spherical structure has good structural strength and sea-keeping, even water surface sea situation is very abominable, also there is the ruined possibility of pressure-resistant cabin hardly, can greatly improves the stealth effect and the security of aircraft.
Because the sensing of the reception of GPS receiving antenna 3 and the material of antenna casing and antenna is closely related, so the housing of gps antenna pressure-resistant cabin adopts the unscreened glass-reinforced plastic material of gps signal is made, inside is equipped with a diaxon tilter 2.Because diaxon tilter 2 is made up of interior swing frame and outer swing frame, under steady state (SS), two axis of swing of diaxon tilter 2 are positioned at same plane, and the center of gravity of diaxon tilter 2 is positioned at the below of axis of swing, have constituted one " tumbler " device.Gps antenna and GPS receiver 4 are installed on the interior swing frame of diaxon tilter in addition, even have under the situation of stormy waves on the sea like this, diaxon tilter 2 still can keep antenna towards basically straight up, be not subjected to the influence of water surface wave with the sensing that guarantees GPS receiving antenna 3, under any circumstance can both receive signal reliably.With GPS receiver 4 also to be installed in reason in the pressure-resistant cabin be GPS receiver 4 with main control computer between communicate by letter and be generally the RS232 interface, generally be connected between GPS receiving antenna 3 and the GPS receiver 4 by concentric cable, compare between the two, no matter be the permission length of telecommunication cable, or the reliability of communication, the former is better than the latter.
The signal that telecommunication cable 6 between gps antenna pressure-resistant cabin and the releasing winch is received GPS receiver 4 passes to the aircraft main control computer, and this root cable also is the heaving pile of gps antenna pressure-resistant cabin folding and unfolding except the effect of playing the signal transmission.Therefore both require his internal core to satisfy the requirement of communicating by letter, and required him to have enough tenacities and pliability again, guaranteed the safety that pressure-resistant cabin discharges and reclaims.
For guaranteeing drive motor and the conducting slip ring positiver sealing during environmental work under water, the releasing winch sealing mechanism is adopted oil-filled collocation structure.The ring of conducting slip ring lead-in wire 14 links to each other with the main control computer of aircraft, the brush lead-in wire 11 of conducting slip ring be wrapped in the gps antenna telecommunication cable 6 of strand on bulging and link to each other.Reducing gear 7 adopts the worm and gear structure, adopt the reducing gear of this structure to reduce to the desirability except making motor speed, fundamental purpose is to utilize the reverse auto-lock function of this reducing gear, guarantee that the gps antenna pressure-resistant cabin can not be under the effect of other factors such as self positive buoyancy or wave, the pulling winch avoids the antenna pressure-resistant cabin to break away from the aircraft come-up without reason under non-control condition.
In addition, the oversheath of described cable 6 can be made by nitrile rubber or silicon rubber; The internal core of cable 6 except that the cable core that data communication needs, add in the centre of cable cross-section one run through whole cable spin the synthetic fibre fiber so that it had both had enough tenacities, lower proportion is arranged and pliability preferably when twining again.
Claims (5)
1. GPS receiver under water is characterized in that: by the gps antenna pressure-resistant cabin, and traction and telecommunication cable, releasing winch three parts are formed, and the gps antenna pressure-resistant cabin links to each other with winch by traction and telecommunication cable; Wherein: gps antenna pressure-resistant cabin part is by pressure hull (1), diaxon tilter (2), GPS receiving antenna (3), GPS receiver (4) is formed, pressure hull (1) is spherical, divide episphere and lower semisphere two parts, lower semisphere (15) inwall is provided with boss (16), diaxon tilter (2) is installed on the lower semisphere boss (16), the diaxon tilter is made up of interior swing frame (18) and outer swing frame (17), gps antenna and GPS receiver (4) are installed on the interior swing frame (18) of diaxon tilter, and GPS receiver (4) is electrically connected by the conducting slip ring (13) of cable (6) and winch inside;
Traction and telecommunication cable part are made up of pressure-resistant cabin end underwater electrical connector (5), cable (6), winch end underwater electrical connector (10), the two ends of cable (6) are equipped with watertight connector, one end is the underwater electrical connector (5) that links to each other with the gps antenna pressure-resistant cabin, and an end is the underwater electrical connector (10) that links to each other with the brush lead-in wire (11) of conducting slip ring (13);
The winch part is made up of the brush lead-in wire (11) of drive motor (8), turbine and worm decelerator (7), winch support (9), conducting slip ring, the ring lead-in wire (14) that strand is roused (12), conducting slip ring (13), conducting slip ring, drive motor (8), reducing gear (7) and strand drum (12) all are fixed on the support (9), cable (6) is wrapped on the strand drum (12), the underwater electrical connector of cable lower end (10) links to each other with the brush lead-in wire (11) that strand is roused the conducting slip ring in (12), and the ring lead-in wire (14) of conducting slip ring (13) is connected to the main control computer of aircraft.
2. according to the described GPS receiver under water of claim 1, it is characterized in that: wherein GPS receiving antenna (3) is installed in interior swing frame (18) top, and GPS receiver (4) is installed in interior swing frame (18) below.
3. according to the described GPS receiver under water of claim 1, it is characterized in that: wherein be provided with packoff between the upper and lower hemispheres.
4. according to the described GPS receiver under water of claim 1, it is characterized in that: wherein pressure hull (1) adopts glass-reinforced plastic material, and the oversheath of cable (6) adopts the urethane rubber material, also can adopt nitrile rubber or silicon rubber.
5. according to the described GPS receiver under water of claim 1, it is characterized in that: wherein the internal core of cable (6) except that the cable core of data communication needs, add in the centre of cable cross-section one run through whole cable spin the synthetic fibre fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100206091A CN100343688C (en) | 2004-05-26 | 2004-05-26 | Underwater global positioning system receiving arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100206091A CN100343688C (en) | 2004-05-26 | 2004-05-26 | Underwater global positioning system receiving arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1704767A CN1704767A (en) | 2005-12-07 |
| CN100343688C true CN100343688C (en) | 2007-10-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100206091A Expired - Fee Related CN100343688C (en) | 2004-05-26 | 2004-05-26 | Underwater global positioning system receiving arrangement |
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| CN (1) | CN100343688C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101556326B (en) * | 2009-05-14 | 2011-08-31 | 江苏指南针导航通信技术有限公司 | Housing of integrated Beidou satellite receiver |
| CN103604616A (en) * | 2013-11-07 | 2014-02-26 | 上海交通大学 | Watertight device for jacket launching actual measurement |
| CN106019317B (en) * | 2016-05-17 | 2017-12-08 | 滨州学院 | A kind of GPS receivers for the mapping that suspended for water body |
| CN106019316B (en) * | 2016-05-18 | 2017-11-03 | 滨州学院 | The maneuverable GPS receivers of one kind tool and its application method |
| CN107810585B (en) * | 2017-08-09 | 2021-01-29 | 深圳微孚智能信息科技有限公司 | Multifunctional concentrator and underwater vehicle |
| CN109524756B (en) * | 2017-09-18 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Underwater autonomous folding antenna |
| CN111487580B (en) * | 2020-05-09 | 2022-04-26 | 中国船舶科学研究中心 | Multifunctional acoustic beacon and deep sea long baseline array type calibration method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2311005Y (en) * | 1997-09-05 | 1999-03-17 | 中国人民解放军第二炮兵后勤科学技术研究所 | Underground (underwater) wounded person finding apparatus |
| US6058874A (en) * | 1998-06-26 | 2000-05-09 | The United States Of America As Represented By The Secretary Of The Navy | Radio frequency communications for underwater vehicle |
| US6093069A (en) * | 1999-05-17 | 2000-07-25 | The United States Of America As Represented By The Secretary Of The Navy | Low watch circle buoy system |
| CN2701752Y (en) * | 2004-05-26 | 2005-05-25 | 中国科学院沈阳自动化研究所 | Underwater receiver |
-
2004
- 2004-05-26 CN CNB2004100206091A patent/CN100343688C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2311005Y (en) * | 1997-09-05 | 1999-03-17 | 中国人民解放军第二炮兵后勤科学技术研究所 | Underground (underwater) wounded person finding apparatus |
| US6058874A (en) * | 1998-06-26 | 2000-05-09 | The United States Of America As Represented By The Secretary Of The Navy | Radio frequency communications for underwater vehicle |
| US6093069A (en) * | 1999-05-17 | 2000-07-25 | The United States Of America As Represented By The Secretary Of The Navy | Low watch circle buoy system |
| CN2701752Y (en) * | 2004-05-26 | 2005-05-25 | 中国科学院沈阳自动化研究所 | Underwater receiver |
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| CN1704767A (en) | 2005-12-07 |
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Granted publication date: 20071017 |