CN105947154A - Unmanned underwater carrier for radiation noise and magnetic signal detection for ship - Google Patents
Unmanned underwater carrier for radiation noise and magnetic signal detection for ship Download PDFInfo
- Publication number
- CN105947154A CN105947154A CN201610405736.6A CN201610405736A CN105947154A CN 105947154 A CN105947154 A CN 105947154A CN 201610405736 A CN201610405736 A CN 201610405736A CN 105947154 A CN105947154 A CN 105947154A
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- Prior art keywords
- pressure hull
- hydrophone
- mechanically connected
- ship
- kuppe
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention provides an unmanned underwater carrier for radiation noise and magnetic signal detection for a ship. The unmanned underwater carrier comprises a head guide hood, a front pressure-resisting shell, a middle pressure-resisting shell, a rear pressure-resisting shell, a tail guide hood, a data collection and control system, an outer elastic leather bag, an inner elastic leather bag, a normally-closed solenoid valve, a minitype electric pump, a servo motor, a lead screw transmission mechanism, a lithium ion battery pack, a three-blade ducted propeller device, a crossed fin rudder device, a communication antenna, a Beidou terminal, an inertial measuring unit, a detector, a height meter, a vector hydrophone, an all-directional hydrophone A, an all-directional hydrophone B, an all-directional hydrophone C, an underwater acoustic modem and a magnetometer. The unmanned underwater carrier has high maneuverability and high cruising ability, and the redundancy of a propelling system is high. The characteristic signal of the underwater carrier is weak and hard to detect by a rival, so that a ship of the rival has no where to hide while the ocean battlefield is clear only to own side, and zero casualty is guaranteed.
Description
Technical field
The present invention relates to a kind of UNMANNED UNDERWATER VEHICLE, a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal.
Background technology
Owing to multiple physical field can be produced when naval vessel navigates by water in ocean, such as sound field, magnetic field, infrared field etc., it is easy to be detected and implement to attack with weapons such as guided missile, torpedo, submarine mines.Along with the development of stealth technology, naval vessel characteristic signal is more and more weak, and detection difficulty is gradually increased.Such as the employing of the measures such as low noise propeller technology, damping, buoyant raft technology, noise reduction by bubble screen technology, radiated noise is greatly reduced；The application of demagnetization technology, is effectively increased ship magnetic protection.Target characteristic signal weakening, needs naval vessel proximity detection, and once exposure clashes and is difficult to ensure that effective strength zero injures and deaths.
Summary of the invention
The deficiency existed for prior art and defect, the technical problem to be solved in the present invention is to provide a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal.It can have higher mobility and stronger flying power, and propulsion system redundancy is high；Can have that unique characteristics signal is weak and very difficult to be detected by opponent, make the other side naval vessel have no place to hide and battlefield, ocean is to one's own side's one-way transparent, it is ensured that personnel zero injures and deaths.
The present invention is realized by following technical proposals, a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal includes: stem kuppe, anterior pressure hull, middle part pressure hull, rear portion pressure hull, afterbody kuppe, acquisition and control system, elastic outer leather bag, leather bag in elastic, normally closed solenoid valve, mini electric pump, servomotor, lead-screw drive mechanism, lithium ion battery bag, SANYE catheter propeller device, cross fin rudder arrangement, communication antenna, Big Dipper terminal, inertial measuring unit, sounding instrument, altimeter, vector hydrophone, A all directional hydrophone, B all directional hydrophone, C all directional hydrophone, underwater sound modem, magnetometer.
Described stem kuppe is mechanically connected with altimeter and vector hydrophone respectively.Anterior pressure hull is mechanically connected with acquisition and control system, inertial measuring unit and magnetometer respectively.Middle part pressure hull is mechanically connected with servomotor, lead-screw drive mechanism and lithium ion battery bag respectively.Rear portion pressure hull is mechanically connected with leather bag, normally closed solenoid valve and mini electric pump in elasticity respectively.Afterbody kuppe leather bag outer with elasticity, SANYE catheter propeller device, cross fin rudder arrangement, sounding instrument and underwater sound modem respectively are mechanically connected.The right horizontal fin of cross fin rudder arrangement is mechanically connected with B all directional hydrophone, and left horizontal fin is mechanically connected with C all directional hydrophone, and upper vertical fins is mechanically connected with communication antenna, Big Dipper terminal and A all directional hydrophone respectively.
Further, described stem kuppe, anterior pressure hull, middle part pressure hull, rear portion pressure hull and afterbody kuppe are the agent structure of underwater research vehicle.Stem kuppe and afterbody kuppe are non-pressure-resistance structure, semiellipsoid profile, select polypropylene material；Pressure hull is made up of anterior pressure hull, middle part pressure hull and rear portion pressure hull three sections, is cylindrical shape, aluminium alloy material.Polypropylene and aluminium alloy are non-magnetic material, can improve the accuracy of electronic equipment.Agent structure adjacent compartment section is connected by sealing member and internal-flange bolt.
Further, described servomotor is mechanically connected with one end of lead-screw drive mechanism, and the other end of lead-screw drive mechanism is mechanically connected with lithium ion battery bag, for regulating the angle of pitch of underwater research vehicle.
Further, described elastic outer leather bag is connected with leather bag pipeline in elasticity by normally closed solenoid valve and mini electric pump respectively.In elastic outer leather bag and elasticity, leather bag is filled with anti-icing fluid force feed, for regulating the buoyancy of underwater research vehicle.
Further, described lithium ion battery bag is connected with acquisition and control system circuit.Acquisition and control system is connected with normally closed solenoid valve, mini electric pump, servomotor, SANYE catheter propeller device, cross fin rudder arrangement, communication antenna, Big Dipper terminal, inertial measuring unit, sounding instrument, altimeter, vector hydrophone, A all directional hydrophone, B all directional hydrophone, C all directional hydrophone, underwater sound modem and magnetometer circuit respectively.
Further, described sounding instrument is used for Depth control, and altimeter is for water-bed collision prevention.When underwater research vehicle is positioned at the water surface, utilize Big Dipper terminal to position, utilize communication antenna to carry out radio communication with other naval vessels, underwater research vehicle and remote command control centre.When underwater research vehicle is positioned under water, utilize inertial measuring unit to carry out independent navigation, utilize underwater sound modem and other naval vessels and underwater research vehicle to carry out subsurface communication, group net operation and collaborative detection.Subsurface communication function can allow underwater research vehicle without emerging, and is directly got in touch with command and control center by network node under water, enhances the disguise of underwater research vehicle.
The mission payload of the present invention is made up of ships radiated noise signal detection system and magnetic signal detection system.Ships radiated noise signal detection system includes vector hydrophone, A all directional hydrophone, B all directional hydrophone and C all directional hydrophone.Vector hydrophone is arranged on the front end of stem kuppe, away from interference, for measuring the direction of noise source；A all directional hydrophone, B all directional hydrophone and C all directional hydrophone are for being monitored the radiated noise on naval vessel, identify and find range.Owing to the self noise of underwater research vehicle is the lowest, it is also possible to for the measurement of ambient sea noise, provide data supporting for complicated Marine environment modeling, it is simple to the microenvironment change that detection calm type naval vessel causes.Magnetic signal detection system includes magnetometer, for naval vessel magnetic signal is measured and assessed.
The present invention is the unmanned underwater kit of hybrid propulsion type, has conventional autonomous underwater vehicle and the advantage of underwater aerodone concurrently.When underwater research vehicle needs high maneuverability, utilize impeller driven, SANYE catheter propeller device for advancing, the horizontal fin rudder of cross fin rudder arrangement for latent deep controlling, the vertical fins rudder of cross fin rudder arrangement is for Heading control.When underwater research vehicle needs high-acruracy survey or requires lasting highly concealed type, utilize buoyancy-driven, allow underwater research vehicle gather data under glide pattern.Regulating mechanism of buoyancy includes the outer leather bag of elasticity, elastic interior leather bag, normally closed solenoid valve and mini electric pump, for regulating displacement of volume and the buoyancy of underwater research vehicle, it is achieved the dive of underwater research vehicle and floating.Pitching adjusting mechanism includes servomotor, lead-screw drive mechanism and lithium ion battery bag, for regulating the angle of pitch of underwater research vehicle, makes underwater research vehicle attitude regulation for bowing one's head, make underwater research vehicle attitude regulation for holding head high during floating during dive.The lift produced on the horizontal fin rudder of cross fin rudder arrangement component in the horizontal direction orders about underwater research vehicle and travels forward, and the vertical fins rudder of cross fin rudder arrangement is used for Heading control.
Beneficial effects of the present invention: a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal provided by the present invention has higher mobility and stronger flying power, and propulsion system redundancy is high.When underwater research vehicle needs high maneuverability, utilize impeller driven；When underwater research vehicle needs high-acruracy survey or requires lasting highly concealed type, utilize buoyancy-driven.Underwater research vehicle unique characteristics signal is weak and very difficult is detected by opponent for this, makes the other side naval vessel have no place to hide and battlefield, ocean is to one's own side's one-way transparent, it is ensured that personnel zero injures and deaths.
Accompanying drawing explanation
Fig. 1 is the central fore-and-aft vertical plane figure of a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal of the present invention；
Fig. 2 is the top view of a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal of the present invention.
Detailed description of the invention
It is embodied as being further described to the present invention below with reference to drawings and Examples.
As shown in Figure 1, the present invention includes: stem kuppe 1, anterior pressure hull 2, middle part pressure hull 3, rear portion pressure hull 4, afterbody kuppe 5, acquisition and control system 6, elastic outer leather bag 7, leather bag 8 in elastic, normally closed solenoid valve 9, mini electric pump 10, servomotor 11, lead-screw drive mechanism 12, lithium ion battery bag 13, SANYE catheter propeller device 14, cross fin rudder arrangement 15, communication antenna 16, Big Dipper terminal 17, inertial measuring unit 18, sounding instrument 19, altimeter 20, vector hydrophone 21, A all directional hydrophone 22, B all directional hydrophone 23, C all directional hydrophone 24, underwater sound modem 25, magnetometer 26.
Stem kuppe 1, anterior pressure hull 2, middle part pressure hull 3, rear portion pressure hull 4 and afterbody kuppe 5 are the agent structure of underwater research vehicle.Stem kuppe 1 and afterbody kuppe 5 are non-pressure-resistance structure, semiellipsoid profile, select polypropylene material；Pressure hull is made up of anterior pressure hull 2, middle part pressure hull 3 and rear portion pressure hull 4 three sections, is cylindrical shape, aluminium alloy material.Polypropylene and aluminium alloy are non-magnetic material, can improve the accuracy of electronic equipment.Agent structure adjacent compartment section is connected by sealing member and internal-flange bolt.
Stem kuppe 1 is mechanically connected with altimeter 20 and vector hydrophone 21 respectively.Anterior pressure hull 2 is mechanically connected with acquisition and control system 6, inertial measuring unit 18 and magnetometer 26 respectively.Middle part pressure hull 3 is mechanically connected with servomotor 11, lead-screw drive mechanism 12 and lithium ion battery bag 13 respectively.Rear portion pressure hull 4 is mechanically connected with leather bag in elasticity 8, normally closed solenoid valve 9 and mini electric pump 10 respectively.Afterbody kuppe 5 leather bag 7 outer with elasticity, SANYE catheter propeller device 14, cross fin rudder arrangement 15, sounding instrument 19 and underwater sound modem 25 respectively are mechanically connected.The right horizontal fin of cross fin rudder arrangement 15 is mechanically connected with B all directional hydrophone 23, and left horizontal fin is mechanically connected with C all directional hydrophone 24, and upper vertical fins is mechanically connected with communication antenna 16, Big Dipper terminal 17 and A all directional hydrophone 22 respectively.
Servomotor 11 is mechanically connected with one end of lead-screw drive mechanism 12, and the other end of lead-screw drive mechanism 12 is mechanically connected with lithium ion battery bag 13, for regulating the angle of pitch of underwater research vehicle.
Elastic outer leather bag 7 is connected with leather bag in elasticity 8 pipeline by normally closed solenoid valve 9 and mini electric pump 10 respectively.In elastic outer leather bag 7 and elasticity, leather bag 8 is filled with anti-icing fluid force feed, for regulating the buoyancy of underwater research vehicle.
Lithium ion battery bag 13 is connected with acquisition and control system 6 circuit.Acquisition and control system 6 is connected with normally closed solenoid valve 9, mini electric pump 10, servomotor 11, SANYE catheter propeller device 14, cross fin rudder arrangement 15, communication antenna 16, Big Dipper terminal 17, inertial measuring unit 18, sounding instrument 19, altimeter 20, vector hydrophone 21, A all directional hydrophone 22, B all directional hydrophone 23, C all directional hydrophone 24, underwater sound modem 25 and magnetometer 26 circuit respectively.
Sounding instrument 19 is for Depth control, and altimeter 20 is for water-bed collision prevention.When underwater research vehicle is positioned at the water surface, utilize Big Dipper terminal 17 to position, utilize communication antenna 16 to carry out radio communication with other naval vessels, underwater research vehicle and remote command control centre.When underwater research vehicle is positioned under water, utilize inertial measuring unit 18 to carry out independent navigation, utilize underwater sound modem 25 and other naval vessels and underwater research vehicle to carry out subsurface communication, group net operation and collaborative detection.Subsurface communication function can allow underwater research vehicle without emerging, and is directly got in touch with command and control center by network node under water, enhances the disguise of underwater research vehicle.
The mission payload of underwater research vehicle is made up of ships radiated noise signal detection system and magnetic signal detection system.Ships radiated noise signal detection system includes vector hydrophone 21, A all directional hydrophone 22, B all directional hydrophone 23 and C all directional hydrophone 24.Vector hydrophone 21 is arranged on the front end of stem kuppe 1, away from interference, for measuring the direction of noise source；A all directional hydrophone 22, B all directional hydrophone 23 and C all directional hydrophone 24 are for being monitored the radiated noise on naval vessel, identify and find range.Owing to the self noise of underwater research vehicle is the lowest, it is also possible to for the measurement of ambient sea noise, provide data supporting for complicated Marine environment modeling, it is simple to the microenvironment change that detection calm type naval vessel causes.Magnetic signal detection system includes magnetometer 26, for naval vessel magnetic signal is measured and assessed.
Underwater research vehicle is the unmanned underwater kit of hybrid propulsion type, has conventional autonomous underwater vehicle and the advantage of underwater aerodone concurrently.When underwater research vehicle needs high maneuverability, utilize impeller driven, SANYE catheter propeller device 14 for advancing, the horizontal fin rudder of cross fin rudder arrangement 15 for latent deep controlling, the vertical fins rudder of cross fin rudder arrangement 15 is for Heading control.When underwater research vehicle needs high-acruracy survey or requires lasting highly concealed type, utilize buoyancy-driven, allow underwater research vehicle gather data under glide pattern.Regulating mechanism of buoyancy includes the outer leather bag 7 of elasticity, elastic interior leather bag 8, normally closed solenoid valve 9 and mini electric pump 10, for regulating displacement of volume and the buoyancy of underwater research vehicle, it is achieved the dive of underwater research vehicle and floating.Pitching adjusting mechanism includes servomotor 11, lead-screw drive mechanism 12 and lithium ion battery bag 13, for regulating the angle of pitch of underwater research vehicle, makes underwater research vehicle attitude regulation for bowing one's head, make underwater research vehicle attitude regulation for holding head high during floating during dive.The lift produced on the horizontal fin rudder of cross fin rudder arrangement 15 component in the horizontal direction orders about underwater research vehicle and travels forward, and the vertical fins rudder of cross fin rudder arrangement 15 is used for Heading control.
Obviously, those skilled in the art can carry out various change and modification without departing from the spirit and scope of the present invention to invention.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to change and including modification include these.
Claims (6)
- null1. the UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal，It is characterized in that: include stem kuppe (1)、Anterior pressure hull (2)、Middle part pressure hull (3)、Rear portion pressure hull (4)、Afterbody kuppe (5)、Acquisition and control system (6)、Elastic outer leather bag (7)、Leather bag (8) in elastic、Normally closed solenoid valve (9)、Mini electric pump (10)、Servomotor (11)、Lead-screw drive mechanism (12)、Lithium ion battery bag (13)、SANYE catheter propeller device (14)、Cross fin rudder arrangement (15)、Communication antenna (16)、Big Dipper terminal (17)、Inertial measuring unit (18)、Sounding instrument (19)、Altimeter (20)、Vector hydrophone (21)、A all directional hydrophone (22)、B all directional hydrophone (23)、C all directional hydrophone (24)、Underwater sound modem (25)、Magnetometer (26)；Described stem kuppe (1) is mechanically connected with altimeter (20) and vector hydrophone (21) respectively；Anterior pressure hull (2) is mechanically connected with acquisition and control system (6), inertial measuring unit (18) and magnetometer (26) respectively；Middle part pressure hull (3) is mechanically connected with servomotor (11), lead-screw drive mechanism (12) and lithium ion battery bag (13) respectively；Rear portion pressure hull (4) is mechanically connected with leather bag in elasticity (8), normally closed solenoid valve (9) and mini electric pump (10) respectively；Afterbody kuppe (5) leather bag (7) outer with elasticity, SANYE catheter propeller device (14), cross fin rudder arrangement (15), sounding instrument (19) and underwater sound modem (25) respectively are mechanically connected；The right horizontal fin of cross fin rudder arrangement (15) is mechanically connected with B all directional hydrophone (23), left horizontal fin is mechanically connected with C all directional hydrophone (24), and upper vertical fins is mechanically connected with communication antenna (16), Big Dipper terminal (17) and A all directional hydrophone (22) respectively.
- 2. according to a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal described in claim 1, it is characterised in that: described stem kuppe (1), anterior pressure hull (2), middle part pressure hull (3), rear portion pressure hull (4) and afterbody kuppe (5) they are the agent structure of underwater research vehicle；Stem kuppe (1) and afterbody kuppe (5) are non-pressure-resistance structure, semiellipsoid profile, select polypropylene material；Pressure hull is made up of described anterior pressure hull (2), middle part pressure hull (3) and rear portion pressure hull (4) three sections, is cylindrical shape, aluminium alloy material.
- 3. according to a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal described in claim 2, it is characterised in that: described polypropylene and aluminium alloy are non-magnetic material, can improve the accuracy of electronic equipment；Agent structure adjacent compartment section is connected by sealing member and internal-flange bolt.
- 4. according to a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal described in claim 1, it is characterized in that: described servomotor (11) is mechanically connected with one end of lead-screw drive mechanism (12), the other end of lead-screw drive mechanism (12) is mechanically connected with lithium ion battery bag (13), for regulating the angle of pitch of underwater research vehicle.
- 5. according to a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal described in claim 1, it is characterised in that: the outer leather bag (7) of described elasticity is connected with leather bag in elasticity (8) pipeline by normally closed solenoid valve (9) and mini electric pump (10) respectively；In elastic outer leather bag (7) and elasticity, leather bag (8) is filled with anti-icing fluid force feed, for regulating the buoyancy of underwater research vehicle.
- 6. according to a kind of UNMANNED UNDERWATER VEHICLE detected for ship-radiated noise and magnetic signal described in claim 1, it is characterised in that: described lithium ion battery bag (13) is connected with acquisition and control system (6) circuit；Acquisition and control system (6) respectively with normally closed solenoid valve (9), mini electric pump (10), servomotor (11), SANYE catheter propeller device (14), cross fin rudder arrangement (15), communication antenna (16), Big Dipper terminal (17), inertial measuring unit (18), sounding instrument (19), altimeter (20), vector hydrophone (21), A all directional hydrophone (22), B all directional hydrophone (23), C all directional hydrophone (24), underwater sound modem (25) and magnetometer (26) circuit connect.
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| CN201610405736.6A CN105947154A (en) | 2016-06-12 | 2016-06-12 | Unmanned underwater carrier for radiation noise and magnetic signal detection for ship |
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| CN201610405736.6A CN105947154A (en) | 2016-06-12 | 2016-06-12 | Unmanned underwater carrier for radiation noise and magnetic signal detection for ship |
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Cited By (10)
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| CN106394836A (en) * | 2016-11-21 | 2017-02-15 | 中国科学院大气物理研究所 | Small submarine |
| CN107178375A (en) * | 2017-06-02 | 2017-09-19 | 中国航发南方工业有限公司 | Unmanned submariner car |
| CN109080775A (en) * | 2018-10-15 | 2018-12-25 | 刘广 | A kind of sea-freight loading capsule and loading capsule train of transporting by sea |
| CN109353478A (en) * | 2018-08-31 | 2019-02-19 | 杭州电子科技大学 | A kind of combination drive underwater glider |
| CN109634151A (en) * | 2018-12-27 | 2019-04-16 | 中国舰船研究设计中心 | A kind of method of adjust automatically ship acoustics state |
| CN109798878A (en) * | 2019-01-30 | 2019-05-24 | 杭州电子科技大学 | Wave monitor in a kind of float type marine based on vector sensor |
| CN111024217A (en) * | 2019-12-27 | 2020-04-17 | 武昌船舶重工集团有限公司 | Ship underwater self-noise monitoring method |
| CN111137423A (en) * | 2020-01-20 | 2020-05-12 | 清华大学 | Sonar underwater detection equipment with self-pressure relief device for dynamic and static diving belt |
| CN114018396A (en) * | 2021-10-22 | 2022-02-08 | 中国舰船研究设计中心 | Low-frequency underwater sound measurement system and layout method |
| CN114954870A (en) * | 2022-04-26 | 2022-08-30 | 哈尔滨工程大学 | Flexible composite antenna rudder wing system for portable AUV |
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| CN109353478A (en) * | 2018-08-31 | 2019-02-19 | 杭州电子科技大学 | A kind of combination drive underwater glider |
| CN109080775A (en) * | 2018-10-15 | 2018-12-25 | 刘广 | A kind of sea-freight loading capsule and loading capsule train of transporting by sea |
| CN109080775B (en) * | 2018-10-15 | 2019-09-20 | 刘广 | A kind of sea-freight loading capsule and loading capsule train of transporting by sea |
| CN109634151A (en) * | 2018-12-27 | 2019-04-16 | 中国舰船研究设计中心 | A kind of method of adjust automatically ship acoustics state |
| CN109634151B (en) * | 2018-12-27 | 2024-03-22 | 中国舰船研究设计中心 | Method for automatically adjusting acoustic state of ship |
| CN109798878A (en) * | 2019-01-30 | 2019-05-24 | 杭州电子科技大学 | Wave monitor in a kind of float type marine based on vector sensor |
| CN111024217A (en) * | 2019-12-27 | 2020-04-17 | 武昌船舶重工集团有限公司 | Ship underwater self-noise monitoring method |
| CN111024217B (en) * | 2019-12-27 | 2021-08-24 | 武昌船舶重工集团有限公司 | Ship underwater self-noise monitoring method |
| CN111137423A (en) * | 2020-01-20 | 2020-05-12 | 清华大学 | Sonar underwater detection equipment with self-pressure relief device for dynamic and static diving belt |
| CN114018396A (en) * | 2021-10-22 | 2022-02-08 | 中国舰船研究设计中心 | Low-frequency underwater sound measurement system and layout method |
| CN114954870A (en) * | 2022-04-26 | 2022-08-30 | 哈尔滨工程大学 | Flexible composite antenna rudder wing system for portable AUV |
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