CN114488329A - An ocean towed low-resistance fixed-depth gravity and magnetic detection towed body - Google Patents

Abstract

A marine dragging type low-resistance constant-depth gravity-magnetic detection towed body is used in the field of marine gravity magnetic measurement. In order to reduce drag resistance and simulate the appearance of a torpedo, the torpedo-shaped propeller type marine structure comprises a bow module, a main control cabin module, a hydrofoil cabin module, a load cabin module, a tail cabin module and a gravimeter cabin module, wherein the modules are fixedly connected through flanges, and can be increased or decreased according to task requirements. The bow module is provided with a bearing head and a fixed connecting rod, the towing cable and the bearing head are vulcanized together, and the mother ship pulls the towed body to advance in water through the towing cable. The main control cabin is provided with a control communication module for receiving and transmitting the towed body attitude control command. The upper side of the hydrofoil cabin is provided with an antenna, the lower side of the hydrofoil cabin is provided with a DVL, and the two sides of the gravimeter cabin module are symmetrically provided with balance hydrofoils. The load cabin is provided with a detection device, and the tail cabin module comprises four tail wings which are arranged in a cross manner. The invention adopts a modular design, is convenient to assemble, has low drag resistance and good posture stability, solves the problem of poor posture stability of the towed body in the prior art, and improves the expandability of the towed body.

Description

An ocean towed low-resistance fixed-depth gravity and magnetic detection towed body

technical field

The invention relates to a marine towed low-resistance fixed-depth gravity-magnetic detection tow body, which belongs to the technical field of marine detection equipment.

Background technique

Marine exploration technology has become a key field of current international competition, among which marine gravity and magnetic measurement has a wide range of applications in military and civilian fields, such as resource detection, earth science research, target detection, port monitoring, geomagnetic matching navigation, and anti-submarine. In order to obtain the gravity and magnetic data (gravitational field and magnetic field data), a towed measurement method can be used, that is, the mother ship drags the towed body through the towed cable for detection. Traditional marine gravity and magnetic surveys are often carried out by carrying large scientific research ships or frame-type tow bodies. Large-scale scientific research ships can only travel along fixed routes, which cannot meet the needs of measurement flexibility and mobility; in addition, due to the frame-type tow body structure The limitation of the form leads to its poor scalability, and the sensor equipment is relatively simple, and the load can not be increased or decreased according to the fast and convenient. When the tugboat is working, the swing of the towing cable and the impact of the ocean current will affect the posture of the tow body. If the posture of the tow body is unstable or cannot lock the depth during operation, it will cause a large error in the measurement results. Ordinary frame type tow body has poor structural hydrodynamic performance. During the towing process, due to factors such as the ups and downs of the mother ship due to complex sea conditions, it often leads to large drag body resistance, unstable attitude, large changes in pitch and roll angle, and large changes in towing depth. However, high-precision gravity and magnetic data measurement relies on a stable drag body attitude, and at the same time, the drag body needs to be able to maintain a stable depth. This makes it difficult to obtain high-precision marine gravity and magnetic data for ordinary frame drag bodies.

SUMMARY OF THE INVENTION

The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, a marine towed low-resistance fixed-depth gravity-magnetic detection tow body is provided, which aims to solve the problems of the hydrodynamic performance and attitude of the tow body in the process of high-precision gravity and magnetic detection. Adjustment and stability issues, and track depth determination to meet the needs of high-precision gravity and magnetic detection.

The technical solution of the present invention is:

An ocean towed low-resistance fixed-depth-gravity-magnetic detection tow body, comprising: a bow module (3), a main control cabin module (5), an antenna cabin module (9), a load cabin module (11), and a tail cabin module (12) ), the gravimeter cabin module (23);

The bow module (3) includes a bow cabin, a load-bearing head (1) and a fixed connecting rod (2); the head of the bow cabin is ellipsoid, and one end of the fixed connecting rod (2) is connected to the axis of the bow cabin. The other end is connected with the load-bearing head (1), and the other end of the load-bearing head (1) is vulcanized with the towing cable;

The rear side of the bow cabin module (3) is connected with the main control cabin module (5) through a flange (4), wherein the main control cabin module (5) is composed of two sealing covers (15) at the fore and aft and a hollow cylindrical cabin. (15) The O-ring is used for sealing with the cabin, and a hollow sealed cabin is formed inside;

The rear end of the main control cabin module (5) is connected with the antenna cabin module (9) through a flange, the antenna cabin module (9) is a hollow cylindrical cabin structure, and an antenna assembly (16) is arranged on the upper side of the antenna cabin module (9), It includes a GPS antenna, a radio antenna, a Beidou antenna and a strobe light (8); an ellipsoidal shroud (7) is arranged on the outside of the antenna assembly to reduce fluid resistance; a counterweight is arranged at the bottom of the antenna cabin module (9) (17), used to adjust the center of gravity and buoyancy of the towed body; the antenna cabin module (9) is filled with floating body material (18) in the middle to provide the buoyancy required for the towed body in seawater; the antenna cabin module (9) is installed at the bottom DVL(21) is used for the navigation and positioning of the drag body;

The rear end of the antenna cabin module (9) is connected with the gravimeter cabin module (23) through a tapered flange (22), and the gravimeter cabin module (23) is a hollow cylindrical cabin structure, and the front and rear ends are provided with sealing covers, which are internally installed There is a gravimeter for detecting the gravitational field; carbon fiber horizontal wings (10) are installed symmetrically on both sides of the gravimeter cabin module (23) to improve the attitude stability of the drag body in water, and the mounting frame of the horizontal wings (10) is designed to be uniform Install the hole spacing, so that the center of gravity can be adjusted by adjusting the front and rear positions of the horizontal wings (10);

The rear end of the gravimeter cabin module (23) is connected to the load cabin module (11) through a tapered flange (22); the load cabin module (11) is also composed of two sealing covers at the fore and aft and a hollow cylindrical cabin, wherein the rear end is sealed A magnetometer protection tube (14) along the axial direction is arranged below the central axis of the cover;

The rear end of the load compartment module (11) is connected to the tail compartment module (12) through a flange, and the side walls of the tail compartment module (12) are provided with four crisscrossed empennages (13);

Hoop hoisting rings (6) are provided on the outer surfaces of the main control cabin module (5) and the load cabin module (11) at the upper and lower positions, which are used for lifting the tow body during sea trials.

Further, the main body of the marine towed depth-fixing gravity and magnetic detection tow body is designed to resemble a torpedo.

Further, control equipment components are installed inside the main control cabin module (5), including a main control computer and a data recorder.

Further, the sweep angle of the leading edge of the horizontal wing (10) is 45°, the sweep angle of the trailing edge is 50°, and the aspect ratio λ=6.

Further, the equipment in the load compartment module (11) includes a magnetometer sensor (20), a time-scale computer board, a water intake sensor and a high-precision inertial navigation (19), and the high-precision inertial navigation (19) is used to measure the pitch of the tow body Angle, roll angle and attitude data, the magnetometer sensor (20) is used to detect the geomagnetic field data, and the magnetometer sensor (20) is arranged inside the magnetometer protective cylinder (14); the time stamp computer board is used to set the time mark for the data , the water inlet sensor is used to monitor the water sealing state in the cabin.

Further, the shape of the tail module (12) is calculated and shaped by using the Myring line formula; the shape of the tail (13) is designed according to the NACA0012 symmetrical airfoil.

Further, two steering gears are installed inside the tail cabin module (12), the steering gears are connected with the tail wing (13) through the transmission shaft, and the tail wing (13) is adjusted by the steering gear to adjust the attitude of the drag body in real time, and keep the attitude stable, so that the drag body is stabilized. Track depth.

Further, the tail cabin module (12) specifically includes a connecting flange (25), a counterweight block (26), a tail cabin support rod (27), a support ring frame (28), a tail cabin rear section (29), a left tail wing (30), lower tail (31), right tail (32), upper tail (313), hydrofoil fixing frame (33), steering gear fixing frame (34), steering gear (35), transmission shaft (36) , positioning pin (37);

The steering gear (35) is connected with the left tail wing (30), the lower tail wing (31), the right tail wing (32) and the upper tail wing (313) through the transmission shaft (36). Attitude, control and lock the rotation angle of the tail through the steering gear (35), and cooperate with the horizontal wing (10) to realize the stability of the attitude of the drag body, the attitude adjustment and the depth of the drag body;

The steering gear (35) is fixed on the steering gear fixing frame (34), and the steering gear fixing frame (34) is fixed on the support ring frame (28), so as to ensure the stability of the steering gear under force; The hydrofoil fixing frame (33) is fixed by the transmission shaft (36), and the hydrofoil fixing frame (33) is then fixed on the support ring frame (28); the support ring frame (28) and the connecting flange (25) Connected by the tail cabin support rod (27), so that the support ring frame (27) and the connecting flange (25) are integrated to ensure the stability of the hydrofoil fixing frame (33) and the steering gear fixing frame (34);

The aft cabin module (12) is divided into a front section of the tail cabin and a rear section of the tail cabin (29), which are connected by a support ring frame (28) to form an integral tail cabin shroud, which ensures the structural strength of the overall tail cabin; The pin (37) ensures the alignment of the forward section of the aft compartment with the rear section of the aft compartment;

The counterweight (26) is used to balance the center of gravity and the center of buoyancy.

Further, the shells of the bow module (3) and the stern module (12) are made of ABS resin, the density is the same as that of water and the buoyancy in water is equal to gravity; the main control cabin module (5), the antenna cabin module ( 9) The shells of the load compartment module (11) and the gravimeter compartment module (23) are made of 6061 aluminum alloy, which is anodized after processing, and the surface is sprayed with polyurea to prevent seawater corrosion.

Further, the sealing cover surfaces of the main control cabin module (5), the load cabin module (11) and the gravimeter cabin module (23) are provided with watertight connectors, which are used for devices between cabin ends to communicate and transmit data.

The beneficial effects of the present invention compared with the prior art are:

(1) The tow body adopts the shape of imitation torpedo, which has good hydrodynamic performance, low resistance and low noise during towing navigation; the main body is made of ABS resin and aluminum alloy material, which has high strength and provides safety and reliability for the equipment in the cabin. work environment.

(2) The present invention adopts modular design, is easy to assemble, and has good drag posture stability, solves the problem of poor posture stability of the drag body in the prior art, and improves the expandability of the drag body.

(3) The antenna assembly is located directly above the drag body, and is protected by an ellipsoidal shroud, which is convenient for communication and positioning, and has safe and reliable performance.

(4) The magnetometer sensor is installed in the magnetometer protection tube at the end of the drag body, which reduces the interference of electromagnetic equipment and can effectively improve the measurement accuracy.

(5) The tow body has excellent hydrodynamic performance. The overall design of the tow body is streamlined with low water resistance, which reduces the pulling force on the tow cable and reduces the influence of water resistance on the posture of the tow body, which is convenient for the self-control of the tow body posture. The front shroud and tail shroud of the drag body are calculated by Myring line shape, and the optimized streamline shape is obtained through CFD computational fluid dynamics simulation analysis. The middle cabin is designed with a revolving body and is connected with the fore and aft cabins through flanges, forming a slender cylindrical design as a whole, so as to ensure the uniformity and smoothness of the water flow on the surface of the drag body.

(6) The tow body has good stability, flexible attitude adjustment, and can achieve track depth determination. The drag body obtains the real-time attitude through high-precision inertial navigation and feeds it back to the main control computer. There are two steering gears installed inside the tail module. The main control computer controls the rotation angles of the two steering gears according to the attitude of the tow body. The steering gear is connected to the tail through the transmission shaft, so that the tail can be adjusted by the steering gear. The attitude of the tow body can be adjusted in real time. Two carbon fiber horizontal wings can maintain the stable attitude of the tow body, achieve track depth determination, and meet the needs of high-precision gravity and magnetic detection.

Description of drawings

Fig. 1 is the structural representation of the present invention;

FIG. 2 is a schematic diagram of the internal structure of the present invention.

Figure 3 is a diagram of the tail cabin attitude adjustment mechanism of the present invention;

4 is a vertical cross-sectional view of the tail cabin attitude adjustment mechanism of the present invention;

5 is a horizontal cross-sectional view of the tail cabin attitude adjustment mechanism of the present invention.

Detailed ways

The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

The invention provides a marine towed low-resistance fixed-depth-gravity magnetic detection tow body. The whole machine is designed with a modular concept, and modules can be increased or decreased as required; the external torpedo-proof shape design can greatly reduce the resistance in water; There are two horizontal wings, and the tail is equipped with four tail wings to make the tow body have good stability in the water.

As shown in FIG. 1 , a marine towed low-resistance fixed-depth-gravity magnetic detection tow body proposed by the present invention includes a bow module 3 , a main control cabin module 5 , an antenna cabin module 9 , a load cabin module 11 , and a tail cabin module 12 and gravimeter cabin module 23;

The bow module 3 includes a bow cabin, a load-bearing head 1 and a fixed connecting rod 2; the head of the bow cabin is ellipsoid, one end of the fixed connecting rod 2 is connected to the axis of the bow cabin, and the other end is connected to the load-bearing head 1 is connected, and the other end of the load-bearing head 1 is vulcanized together with the towing cable; when working, the towed body is pulled forward by the towing cable.

The rear side of the bow cabin module 3 is connected with the main control cabin module 5 through the flange 4, wherein the main control cabin module 5 is composed of two sealing covers 15 at the fore and aft and a hollow cylindrical cabin, and an O-ring is passed between the sealing cover 15 and the cabin. It is sealed, and a hollow sealed cabin is formed inside;

The rear end of the main control cabin module 5 is connected to the antenna cabin module 9 through a flange, the antenna cabin module 9 is a hollow cylindrical cabin structure, and an antenna assembly 16 is arranged on the upper side of the antenna cabin module 9, including a GPS antenna, a radio antenna, a Beidou antenna and Strobe light 8; an ellipsoidal shroud 7 is arranged on the outside of the antenna assembly to reduce fluid resistance; a counterweight 17 is arranged at the bottom of the antenna cabin module 9 to adjust the center of gravity and buoyancy of the drag body; the antenna cabin module 9. The floating body material 18 is filled in the middle to provide the required buoyancy of the drag body in seawater; the bottom of the antenna cabin module 9 is installed with DVL21 to improve the navigation and positioning of the drag body. DVL is Doppler Velocimeter, its function is to improve the navigation and positioning accuracy of the towed body.

Control equipment components are installed inside the main control cabin module 5, including a program-controlled power supply, a main control computer, and a data recorder.

The rear end of the antenna cabin module 9 is connected with the gravimeter cabin module 23 through the tapered flange 22. The gravimeter cabin module 23 is a hollow cylindrical cabin structure, and the front and rear ends are provided with sealing covers, and a gravimeter is installed inside for detecting gravity. The carbon fiber horizontal wings 10 are installed symmetrically on both sides of the gravimeter cabin module 23 to improve the attitude stability of the drag body in water. center of gravity adjustment;

Preferably, the sweep angle of the leading edge of the horizontal wing 10 is 45°, the sweep angle of the trailing edge is 50°, and the aspect ratio λ=6.

The rear end of the gravimeter compartment module 23 is connected to the load compartment module 11 through the conical flange 22 . The load compartment module 11 is also composed of two sealing covers at the fore and aft and a hollow cylindrical cabin, wherein a magnetometer protection cylinder 14 along the axial direction is arranged below the central axis of the rear sealing cover;

The rear end of the load bay module 11 is connected to the tail bay module 12 through a flange, and the side wall of the tail bay module 12 is provided with four criss-crossing empennages 13;

A hoop hoisting ring 6 is provided on the outer surfaces of the main control cabin module 5 and the load cabin module 11 at the upper and lower positions, which are used for hoisting the tow body during sea trials.

The surface of the sealing cover of the main control cabin is provided with installation holes for watertight connectors. The equipment in the main control cabin realizes data transmission and control instructions through watertight cables and antennas, high-precision inertial navigation, and magnetometers.

The rear side of the gravimeter cabin is connected to the load cabin module through a tapered flange. The load cabin is also sealed by the front and rear two sealing covers and the middle hollow cylindrical cabin through an O-shape to form a sealed cabin. The interior of the cavity is installed to provide the tow body. High-precision inertial navigation for information and a magnetometer for measuring geomagnetic field data; the magnetometer protection tube extends from the lower part of the tail tank along the axis of the drag body.

The shape of the aft cabin module 12 is calculated and shaped using the Myring line formula. The rear end of the magnetic cabin module is connected to the tail cabin module through a flange, and the tail cabin module is provided with four cross-installed tail fins, which are designed according to the NACA0012 symmetrical airfoil;

As shown in FIGS. 3 , 4 and 5 , the tail cabin module 12 specifically includes a connecting flange 25 , a counterweight block 26 , a tail cabin support rod 27 , a support ring frame 28 , a tail cabin rear section 29 , a left tail fin 30 , and a lower tail fin 31 , right tail 32, upper tail 313, hydrofoil fixing frame 33, steering gear fixing frame fixing 34, steering gear 35, transmission shaft 36, positioning pin 37;

The four crisscrossed fins 13 refer to the left fin 30 , the lower fin 31 , the right fin 32 , and the upper fin 313 .

The steering gear 35 is connected with the left wing 30 through the transmission shaft 36, the drag body obtains the real-time attitude through the high-precision inertial navigation 19, and the steering gear 35 is used to control and lock the rotation angle of the tail wing, and cooperate with the horizontal wing 10 to realize the drag body stability and attitude. Adjust and drag the body to set the depth. The steering gear 35 is fixed on the steering gear fixing frame 34, and the steering gear fixing frame 34 is fixed on the support ring frame 28, so as to ensure the stability of the steering gear under force. The upper wing 13 and the lower wing 31 are both fixed to the hydrofoil fixing frame 33 through the transmission shaft 36 , and the hydrofoil fixing frame 33 is then fixed on the support ring frame 28 . The support ring frame 28 and the connecting flange 25 are connected through the tail cabin support rod 27 , so that the support ring frame 27 and the connecting flange 25 are integrated, thereby ensuring the stability of the hydrofoil fixing frame 33 and the steering gear fixing frame 34 . The counterweight 26 is used to balance the center of gravity and the center of buoyancy.

The tail cabin module 12 is divided into a tail cabin front section and a tail cabin rear section 29, which are connected by a support ring frame 28 to form an integral tail cabin shroud, which ensures the structural strength of the overall tail cabin. At the same time locating pins 37 ensure the alignment of the forward section of the tailgate with the rear section of the tailgate.

Preferably, the bow module and 12 stern modules are made of ABS, and the density is similar to that of water. In water, the buoyancy is equal to gravity. Considering the streamlined shape processing technology, the tail cabin adopts front and rear segmented processing, which solves the problem of the large overall size of the tail cabin. , the problem of overall processing difficulties.

Preferably, the main control cabin module, the hydrofoil cabin module and the magnetic cabin module are all made of 6061 aluminum alloy, the outer diameter of the cabin is 470mm, the length is 700mm, and the wall thickness is 8mm. After processing, it is anodized and can withstand underwater 500 meters. High pressure, in addition, the surface is sprayed with polyurea to prevent seawater corrosion.

The parts not described in detail in the present invention belong to the common knowledge of those skilled in the art.

Claims (10)

1. An ocean drag type low-resistance constant-depth gravity-magnetic detection towed body is characterized by comprising: the device comprises a bow module (3), a main control cabin module (5), an antenna cabin module (9), a load cabin module (11), a tail cabin module (12) and a gravimeter cabin module (23);

the bow module (3) comprises a bow cabin body, a bearing head (1) and a fixed connecting rod (2); the head of the bow cabin body is ellipsoidal, one end of the fixed connecting rod (2) is connected with the axis of the bow cabin body, the other end of the fixed connecting rod is connected with the bearing head (1), and the other end of the bearing head (1) is vulcanized with the towing cable;

the rear side of the bow module (3) is connected with a main control cabin module (5) through a flange (4), wherein the main control cabin module (5) consists of a head sealing cover and a tail sealing cover (15) and a hollow cylindrical cabin body, the sealing covers (15) and the cabin body are sealed through O-shaped rings, and a hollow sealing cabin body is formed inside the cabin body;

the rear end of the main control cabin module (5) is connected with the antenna cabin module (9) through a flange, the antenna cabin module (9) is of a hollow cylindrical cabin body structure, and an antenna assembly (16) comprising a GPS antenna, a radio station antenna, a Beidou antenna and a stroboscopic lamp (8) is arranged on the upper side of the antenna cabin module (9); an ellipsoidal flow guide sleeve (7) is arranged on the outer side of the antenna component and used for reducing fluid resistance; the bottom of the antenna cabin module (9) is provided with a balancing weight (17) for adjusting the gravity center and the floating center of the towed body; the middle of the antenna cabin module (9) is filled with floating body materials (18) for providing buoyancy required by the towed body in seawater; the DVL (21) is arranged at the bottom of the antenna cabin module (9) and used for navigation and positioning of the towed body;

the rear end of the antenna cabin module (9) is connected with a gravimeter cabin module (23) through a conical flange (22), the gravimeter cabin module (23) is of a hollow cylindrical cabin structure, sealing covers are arranged at the front end and the rear end of the gravimeter cabin module, and a gravimeter is installed inside the gravimeter cabin module and used for detecting a gravity field; the carbon fiber horizontal wings (10) are symmetrically arranged on two sides of the gravimeter cabin module (23) and used for improving the posture stability of the towed body in water, and the mounting frames of the horizontal wings (10) are designed to be uniform in mounting hole pitch, so that the center of gravity can be adjusted by adjusting the front and rear positions of the horizontal wings (10);

the rear end of the gravity meter cabin module (23) is connected with the load cabin module (11) through a conical flange (22); the load cabin module (11) is also composed of a head sealing cover, a tail sealing cover and a hollow cylindrical cabin body, wherein a magnetometer protecting cylinder (14) along the axial direction is arranged below a central axis of the rear sealing cover;

the rear end of the load cabin module (11) is connected with the tail cabin module (12) through a flange, and four tail wings (13) which are arranged in a cross manner are arranged on the side wall of the tail cabin module (12);

and the upper sides of the outer surfaces of the main control cabin module (5) and the load cabin module (11) are provided with hoop hoisting rings (6) for hoisting the towed body in a sea test.

2. The marine towed low-resistance fixed-depth heavy magnetic detection towed body according to claim 1, characterized in that: the appearance main body of the marine towing type fixed-depth heavy-magnetic detection towed body is designed into a shape of a simulated torpedo.

3. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the main control cabin module (5) is internally provided with a control equipment assembly which comprises a main control computer and a data recorder.

4. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the horizontal wing (10) has a leading edge sweep angle of 45 degrees, a trailing edge sweep angle of 50 degrees and an aspect ratio lambda of 6.

5. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the equipment in the load cabin module (11) comprises a magnetometer sensor (20), a time scale computer board, a water inlet sensor and a high-precision inertial navigation system (19), wherein the high-precision inertial navigation system (19) is used for measuring the pitch angle and roll angle attitude data of the towed body, the magnetometer sensor (20) is used for detecting geomagnetic field data, and the magnetometer sensor (20) is arranged in a magnetometer protection cylinder (14); the time scale computer board is used for setting time marks aiming at the data, and the water inlet sensor is used for monitoring the water sealing state in the cabin body.

6. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the shape of the tail cabin module (12) is calculated and shaped by adopting a Myring linear formula; the profile of the empennage (13) is designed according to NACA0012 symmetrical airfoil profile.

7. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: two steering engines are arranged in the tail cabin module (12), the steering engines are connected with the tail wings (13) through transmission shafts, the posture of the towed body is adjusted in real time through the steering engines by adjusting the tail wings (13), the posture is kept stable, and the towed body is enabled to be deep in flight path.

8. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the tail cabin module (12) specifically comprises a connecting flange (25), a balancing weight (26), a tail cabin supporting rod (27), a supporting ring frame (28), a tail cabin rear section (29), a left tail wing (30), a lower tail wing (31), a right tail wing (32), an upper tail wing (313), a hydrofoil fixing frame (33), a steering engine fixing frame (34), a steering engine (35), a transmission shaft (36) and a positioning pin (37);

the steering engine (35) is connected with the left tail wing (30), the lower tail wing (31), the right tail wing (32) and the upper tail wing (313) through the transmission shaft (36), the towed body obtains a real-time posture through the high-precision inertial navigation (19), the steering engine (35) is used for controlling and locking the rotating angle of the tail wing, and the towed body posture is stable, posture is adjusted and the towed body is fixed in depth through being matched with the horizontal wing (10);

the steering engine (35) is fixed on the steering engine fixing frame (34), and the steering engine fixing frame (34) is fixed on the supporting ring frame (28), so that the stress stability of the steering engine is ensured; the four tail wings are all fixed with a hydrofoil fixing frame (33) through a transmission shaft (36), and the hydrofoil fixing frame (33) is fixed on the supporting ring frame (28); the support ring frame (28) is connected with the connecting flange (25) through a tail cabin support rod (27), so that the support ring frame (27) and the connecting flange (25) are integrated, and the stability of the hydrofoil fixing frame (33) and the steering engine fixing frame (34) is ensured;

the tail cabin module (12) is divided into a front tail cabin section and a rear tail cabin section (29) which are connected through a supporting ring frame (28) to form an integral tail cabin air guide sleeve, so that the structural strength of the integral tail cabin is ensured; meanwhile, the positioning pin (37) ensures the alignment of the front section of the tail cabin and the rear section of the tail cabin;

the balancing weight (26) is used for balancing the center of gravity and the floating center of the towed body.

9. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: the bow module (3) and the tail cabin module (12) are made of ABS resin, the density and the water are the same, and the buoyancy in water is equal to the gravity; the main control cabin module (5), the antenna cabin module (9), the load cabin module (11) and the gravimeter cabin module (23) are all made of 6061 aluminum alloy, anodic oxidation treatment is carried out after processing, and polyurea is sprayed on the surface to prevent seawater corrosion.

10. The marine towed low-resistance constant-depth gravity-magnetic detection towed body according to claim 1, wherein: and watertight connectors are arranged on the surfaces of the sealing covers of the main control cabin module (5), the load cabin module (11) and the gravimeter cabin module (23) and are used for equipment between cabin ends to communicate and transmit data.

Images