CN109357688A - A kind of underwater integrated navigation system test cabin device - Google Patents
A kind of underwater integrated navigation system test cabin device Download PDFInfo
- Publication number
- CN109357688A CN109357688A CN201811324340.4A CN201811324340A CN109357688A CN 109357688 A CN109357688 A CN 109357688A CN 201811324340 A CN201811324340 A CN 201811324340A CN 109357688 A CN109357688 A CN 109357688A
- Authority
- CN
- China
- Prior art keywords
- main body
- navigation system
- body module
- cabin
- piggyback pod
- 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
- 238000012360 testing method Methods 0.000 title claims abstract description 30
- 238000009434 installation Methods 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims abstract description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 230000010354 integration Effects 0.000 abstract 1
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The present invention discloses a kind of underwater integrated navigation system test cabin device, the unpowered sail body of device three-body, respectively main body module and two lateral body cabins, it is attached by hydrofoil, there are three sealing cabins inside main body module, it is head seal cabin respectively, middle part seal hatch and tail portion sealed compartment, it is attached between each cabin by watertight cable, wherein, main inertial navigation system is installed inside head seal cabin, main control computer is installed inside the sealed compartment of middle part, data collecting instrument and underwater electrical connector, tested inertial navigation system and data logger are installed inside the sealed compartment of tail portion, two lateral body cabins are as power cabin for installing battery and power-supply controller.The test cabin device, which is one, to pull the carrier navigated by water in the water surface, all test products and equipment can be mounted on cabin, can keep stable navigation posture, be capable of providing enough buoyancy and load installation space to meet navigation system integration test demand.
Description
Technical field
The invention belongs to ship domains, and in particular to a kind of underwater integrated navigation system test cabin device.
Background technique
The more mature underwater research vehicle of technology is broadly divided into three kinds at this stage: one is operators to pass through on lash ship
Navigation system remote control operation (ROV), one is manned vehicle (HOV), the third is self-control submarine navigation device (UUV).Generally
ROV complex structural designs, cost is high, has the function of observation, measurement, detection, installs etc..But it is simple for demand, only
Need to provide underwater integrated navigation system comprehensive test platform, which is mounted on one for all test products and equipment
In experimental cabin, navigation stability that the project of can satisfy is proposed, system under test (SUT) load installation space, product power supply, base
The demands such as calibration information offer, data record are undoubtedly using ROV and are wasted one's talent on a petty job.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of underwater integrated navigation system test cabin device, the experimental cabin
Device can keep stable navigation posture, be capable of providing enough buoyancy and load installation space, and specific technical solution is as follows:
A kind of underwater integrated navigation system tests cabin device, which is characterized in that the device includes main body module part and symmetrical
It is fixedly connected on the piggyback pod part of the main body module part two sides, the main body module part includes bottom bracket, how general
Tachymeter, main body module shell, head seal cabin, middle part sealed compartment, tail portion sealed compartment, GPS receiver, antenna holder, antenna are strangled,
The head seal cabin, middle part sealed compartment, tail portion sealed compartment are sequentially arranged in the main body module shell, and described
GPS receiver and antenna holder are fixed on the top of the main body module shell, and the antenna is fixed on the antenna
On bracket, the bottom bracket and Doppler anemometer are each attached to the bottom of the main body module shell；The head
Main inertial navigation system is installed, installation main control computer, data collecting instrument and water inside the middle part sealed compartment inside sealed compartment
Touch plug-in unit, tested inertial navigation system is installed inside the tail portion sealed compartment and data logger, the device in three cabins pass through water
Close cable connection；
The piggyback pod part includes piggyback pod shell, the battery that the piggyback pod enclosure interior is arranged in and power supply
Control circuit, the spiral current meter that the piggyback pod housing bottom is arranged in, the battery are that all electrical components supply
Electricity.
Further, the main body module part is fixedly connected with piggyback pod part by connecting hydrofoil.
Further, the GPS receiver is two, is arranged symmetrically in the two sides of the antenna holder, described
The distance of the top setting of main body module shell described in distance, guarantees the antenna being fixed thereon not by electronics in the middle part of antenna holder
The interference of device.
Further, the main body module shell and piggyback pod shell are streamlined.
Further, the main body module shell and piggyback pod shell are made of carbon fiber, and the bottom bracket is
Steel bracket.
Further, the upper surface, left and right surface of the main body module shell, be provided with several in front surface and hang
Ring.
Further, the main body module shell is non-tight structure, and the piggyback pod shell is sealing structure.
Beneficial effects of the present invention are as follows:
(1) on test cabin device contour structures, the advantage for making full use of trimaran stability strong, in towing trial process
Middle experimental cabin rolling and surging amplitude are small, can satisfy main body module needs navigation stable state, avoid in length and breadth cradle angle spend greatly to instrument
The destruction of device；
(2) inner space for making full use of two sides piggyback pod, realizes the balanced arrangement of battery pack, and reduces battery to observing and controlling
The interference of system；
(3) installation relation between each test products and equipment is relatively stable, and deflection deformation is small, is conducive to improve test
Accuracy；
(4) surface particles use carbon fiber structural, have the characteristics that intensity height, light weight, while rationally designing hanging ring, branch
Frame adapts to the functional requirements such as platform lifting, placement, carrying and towing.
Detailed description of the invention
Fig. 1 is the overall structure diagram that underwater integrated navigation system of the invention tests cabin device；
The structural schematic diagram in cabin based on Fig. 2；
In figure, 1- piggyback pod shell；2- main body module shell；3- Doppler anemometer；4- spiral current meter；The bottom 5- branch
Frame；6- battery；7- connection hydrofoil；8-GPS receiver；9- antenna holder；10- antenna；11- head seal cabin；Sealing in the middle part of 12-
Cabin；The tail portion 13- sealed compartment.
Specific embodiment
Below according to attached drawing and preferred embodiment the present invention is described in detail, the objects and effects of the present invention will become brighter
White, below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein specific
Embodiment is only used to explain the present invention, is not intended to limit the present invention.
As shown in Figs. 1-2, underwater integrated navigation system of the invention tests cabin device, carries for underwater unpowered navigation
Body, by test vessel towing in surface navigation, which uses wet structures, the i.e. underwater integrated navigation system experimental cabin
Apparatus surface shell is non-tight structure, and inside is equipped with the normal work that several sealed electronic cabins guarantee electronic equipment and product
Make.The test cabin device can keep stable navigation posture, be capable of providing enough buoyancy and load installation space, surface particles
Carbon fibre material is used to mitigate weight, while improving intensity.
The device includes main body module part and is symmetrically fixedly connected on the piggyback pod part of main body module part two sides, main body module
Part is close including bottom bracket 5, Doppler anemometer 3, main body module shell 2, head seal cabin 11, middle part sealed compartment 12, tail portion
Batten down 13, GPS receiver 8, antenna holder 9, antenna 10, head seal cabin 11, middle part sealed compartment 12, tail portion sealed compartment 13 are successively
It is arranged in main body module shell 2, and GPS receiver 8 and antenna holder 9 are fixed on the top of main body module shell 2, antenna 10 is solid
It is scheduled on antenna holder 9, bottom bracket 5 and Doppler anemometer 3 are each attached to the bottom of main body module shell 2；Head seal cabin
Main inertial navigation system is installed in 11 inside, installs main control computer, data collecting instrument and underwater electrical connector inside middle part sealed compartment 12,
Tested inertial navigation system and data logger are installed, the device in three cabins is connected by watertight cable inside tail portion sealed compartment 13；
Piggyback pod part include piggyback pod shell 1, the battery 6 that piggyback pod enclosure interior is set and power-supplying circuit,
The spiral current meter 4 of piggyback pod housing bottom is set, and battery 6 is that all electrical components are powered.Based on piggyback pod part
Cabin provides buoyancy, improves the stability of single unit system.
Main body module part is fixedly connected with piggyback pod part by connecting hydrofoil 7.
GPS receiver 8 is two, is arranged symmetrically in the two sides of antenna holder 9,9 middle part of antenna holder is apart from main body module shell
The distance of the top setting of body 2, guarantees the antenna 10 being fixed thereon not by the interference of electronic device.
Main body module shell 2 and piggyback pod shell 1 are streamlined, when with reduction navigation fluid resistance.
Main body module shell 2 and piggyback pod shell 1 are made of carbon fiber, and bottom bracket 5 is steel bracket.
The upper surface of main body module shell 2, left and right surface are provided with several hanging rings in front surface, for hanging for platform
Dress.Bilateral arranges handle, is used for manual handling.Head is provided with the towing hitch point of experimental cabin, for tow vessel in testing
Towing navigation.
As one of embodiment, a length of 1010mm of main body module, width 300mm, a height of 300mm, main body module is flat
Advection cable architecture is opened wide up and down and below, using wet structures, head seal cabin, middle part seal hatch and tail portion sealed compartment
It is watertight cabin.Head seal cabin and tail portion sealed compartment are cube shells that length, width and height are 250mm, and middle part seal hatch is
Long and a height of 250mm, width are cube shell of 200mm, and main body module shell uses cambered surface transition, the steelframe bearing that bottom is arranged,
As the support that test cabin device ground is placed, to avoid damage test cabin shell and test product.
The a length of 1520mm of two sides piggyback pod, width 240mm, a height of 200mm, it is generally streamlined, resistance can be effectively reduced
Power, in order to guarantee watertightness, battery and power-supplying circuit are first placed in piggyback pod and arrange cable, then piggyback pod
Opening portion is secured by sealant.Every side piggyback pod accumulator capacity is 40Ah, amounts to 80Ah, it is sufficient to guarantee entire platform
The continuous normal work of at least 1h.
It will appreciated by the skilled person that being not used to limit the foregoing is merely the preferred embodiment of invention
System invention, although invention is described in detail referring to previous examples, for those skilled in the art, still
It can modify to the technical solution of aforementioned each case history or equivalent replacement of some of the technical features.It is all
Within the spirit and principle of invention, modification, equivalent replacement for being made etc. be should be included within the protection scope of invention.
Claims (7)
1. a kind of underwater integrated navigation system tests cabin device, which is characterized in that the device includes main body module part and symmetrically consolidates
Surely it is connected to the piggyback pod part of the main body module part two sides, the main body module part includes bottom bracket (5), how general
Le tachymeter (3), main body module shell (2), head seal cabin (11), middle part sealed compartment (12), tail portion sealed compartment (13), GPS connect
Receive device (8), antenna holder (9), antenna (10), the head seal cabin (11), middle part sealed compartment (12), tail portion sealed compartment
(13) it is sequentially arranged in the main body module shell (2), and the GPS receiver (8) and antenna holder (9) is fixed on institute
On the top for the main body module shell (2) stated, the antenna (10) is fixed on the antenna holder (9), the bottom
Bracket (5) and Doppler anemometer (3) are each attached to the bottom of the main body module shell (2)；The head seal cabin
(11) internal that main inertial navigation system is installed, installation main control computer inside the middle part sealed compartment (12), data collecting instrument and
Underwater electrical connector, the tail portion sealed compartment (13) is internal to install tested inertial navigation system and data logger, the device in three cabins
It is connected by watertight cable.
The piggyback pod part includes piggyback pod shell (1), the battery (6) that the piggyback pod enclosure interior is arranged in and supplies
Electric control circuit, the spiral current meter (4) that the piggyback pod housing bottom is arranged in, the battery (6) are all electricity
Gas power elements.
2. underwater integrated navigation system according to claim 1 tests cabin device, which is characterized in that the main body module portion
Divide and is fixedly connected with piggyback pod part by connecting hydrofoil (7).
3. underwater integrated navigation system according to claim 1 tests cabin device, which is characterized in that the GPS receiver
Device (8) is two, the two sides of the antenna holder (9) is arranged symmetrically in, in the middle part of the antenna holder (9) described in distance
The distance of the top setting of main body module shell (2), guarantees the antenna (10) being fixed thereon not by the interference of electronic device.
4. underwater integrated navigation system according to claim 1 tests cabin device, which is characterized in that the main body module shell
Body (2) and piggyback pod shell (1) are streamlined.
5. underwater integrated navigation system according to claim 1 tests cabin device, which is characterized in that the main body module shell
Body (2) and piggyback pod shell (1) are made of carbon fiber, and the bottom bracket (5) is steel bracket.
6. underwater integrated navigation system according to claim 1 tests cabin device, which is characterized in that the main body module shell
The upper surface of body (2), left and right surface are provided with several hanging rings in front surface.
7. underwater integrated navigation system according to claim 1 tests cabin device, which is characterized in that the main body module shell
Body (2) is non-tight structure, and the piggyback pod shell (1) is sealing structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324340.4A CN109357688A (en) | 2018-11-08 | 2018-11-08 | A kind of underwater integrated navigation system test cabin device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324340.4A CN109357688A (en) | 2018-11-08 | 2018-11-08 | A kind of underwater integrated navigation system test cabin device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109357688A true CN109357688A (en) | 2019-02-19 |
Family
ID=65344655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811324340.4A Pending CN109357688A (en) | 2018-11-08 | 2018-11-08 | A kind of underwater integrated navigation system test cabin device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109357688A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849420A (en) * | 2021-02-03 | 2021-05-28 | 中国工程物理研究院总体工程研究所 | Regional subdivision sealing structure |
| CN114020017A (en) * | 2021-11-01 | 2022-02-08 | 上海交通大学 | Intelligent underwater vehicle test method and test device based on navigation attitude sensing |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101570247A (en) * | 2009-03-27 | 2009-11-04 | 岳楚渔 | Three-body type submarine |
| CN102862667A (en) * | 2012-09-26 | 2013-01-09 | 浙江大学 | Mixed type underwater navigation detector |
| CN103910053A (en) * | 2014-04-24 | 2014-07-09 | 珠江水利委员会珠江水利科学研究院 | Unmanned observation control ship and unmanned observation control system |
| CN105644743A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point observation type underwater robot with three-body configuration |
| CN108082399A (en) * | 2017-12-14 | 2018-05-29 | 河北淳博航空科技有限公司 | A kind of unmanned boat |
| CN208921140U (en) * | 2018-11-08 | 2019-05-31 | 浙江大学 | A kind of underwater integrated navigation system test cabin device |
-
2018
- 2018-11-08 CN CN201811324340.4A patent/CN109357688A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101570247A (en) * | 2009-03-27 | 2009-11-04 | 岳楚渔 | Three-body type submarine |
| CN102862667A (en) * | 2012-09-26 | 2013-01-09 | 浙江大学 | Mixed type underwater navigation detector |
| CN103910053A (en) * | 2014-04-24 | 2014-07-09 | 珠江水利委员会珠江水利科学研究院 | Unmanned observation control ship and unmanned observation control system |
| CN105644743A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point observation type underwater robot with three-body configuration |
| CN108082399A (en) * | 2017-12-14 | 2018-05-29 | 河北淳博航空科技有限公司 | A kind of unmanned boat |
| CN208921140U (en) * | 2018-11-08 | 2019-05-31 | 浙江大学 | A kind of underwater integrated navigation system test cabin device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849420A (en) * | 2021-02-03 | 2021-05-28 | 中国工程物理研究院总体工程研究所 | Regional subdivision sealing structure |
| CN112849420B (en) * | 2021-02-03 | 2022-12-13 | 中国工程物理研究院总体工程研究所 | Regional subdivision sealing structure |
| CN114020017A (en) * | 2021-11-01 | 2022-02-08 | 上海交通大学 | Intelligent underwater vehicle test method and test device based on navigation attitude sensing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202624586U (en) | Online sea water quality monitoring buoy | |
| CN208921140U (en) | A kind of underwater integrated navigation system test cabin device | |
| CN104512534B (en) | Main junction box structure of seafloor observation net | |
| CN109357688A (en) | A kind of underwater integrated navigation system test cabin device | |
| CN102826210B (en) | Autonomous underwater vehicle (AUV) deployment device | |
| CN106644583A (en) | Release type independent surface sediment-sampling device | |
| CN107014971B (en) | Underwater hiding-machine buoy base station with efficient charging and remote data transmission function | |
| CN107914844B (en) | A kind of portable observation type ROV | |
| CN108327858A (en) | A kind of high stability underwater measurement platform | |
| CN114243938B (en) | Non-contact charging system of submarine cable inspection AUV and guiding butt joint method thereof | |
| CN108791730B (en) | A kind of electronic charging equipment waterborne peculiar to vessel | |
| CN108407977A (en) | A kind of emergent buoyage in multi-functional deep-sea | |
| CN113320667A (en) | Modular underwater intelligent equipment platform | |
| CN206552211U (en) | Intelligent ship mast | |
| CN108750053A (en) | The long manned submariner device of tunnel underwater observation type | |
| CN111219169B (en) | Underwater maintainable dry working cabin | |
| CN208699031U (en) | The long manned submariner device of tunnel underwater observation type | |
| CN108225285B (en) | Towed underwater sound source system | |
| CN205992776U (en) | A kind of floating type water charging pile | |
| CN216468381U (en) | Towed body dragging system with adjustable underwater penetration | |
| AU2019285867B2 (en) | Underwater power supply system | |
| CN213083434U (en) | Movable multifunctional floating body | |
| CN202657223U (en) | ADCP (Acoustic Doppler Current Profile) detection ship | |
| CN206327551U (en) | Far-reaching extra large transportable buoy base is plugged into box oceanographic observation system | |
| CN203473228U (en) | Main junction box structure of seafloor observation net |
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 |