CN115180086A - Tracking and tracking monitoring platform for finite-area underwater on-orbit navigation comprehensive test - Google Patents
Tracking and tracking monitoring platform for finite-area underwater on-orbit navigation comprehensive test Download PDFInfo
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- CN115180086A CN115180086A CN202210890666.3A CN202210890666A CN115180086A CN 115180086 A CN115180086 A CN 115180086A CN 202210890666 A CN202210890666 A CN 202210890666A CN 115180086 A CN115180086 A CN 115180086A
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- 238000012360 testing method Methods 0.000 title claims abstract description 47
- 238000012544 monitoring process Methods 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 94
- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 238000010191 image analysis Methods 0.000 claims abstract description 3
- 238000005259 measurement Methods 0.000 claims abstract description 3
- 230000003287 optical effect Effects 0.000 claims abstract description 3
- 230000001133 acceleration Effects 0.000 claims description 6
- 240000005374 Rumex hydrolapathum Species 0.000 claims description 3
- 235000001437 Rumex hydrolapathum Nutrition 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012795 verification Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a tracking and monitoring platform for a comprehensive test of limited-area underwater on-orbit navigation.A gate type tracking mechanism spans on a dock wall of a limited-area test dock and runs through a gate type mobile trolley to match the running state of a tracking aircraft; a motion monitoring system is configured, and optical measurement, three-dimensional motion model capture and motion video image analysis are adopted, so that high-precision acquisition of the running attitude and motion parameter signals of the aircraft is realized; the door type moving trolley is controlled by the motion monitoring system, and the running speed of the door type moving trolley is adjusted in real time according to the feedback signal of the acquisition node array. The invention can record the motion attitude and the motion parameter change of the aircraft under different test working conditions with high precision, can control the motion speed of the door type moving trolley and the aircraft to achieve the tracking matching degree, and ensures that the power supply system supplies power for the navigation body safely, thereby supporting the safe and effective implementation of the limited-area underwater on-orbit navigation comprehensive test.
Description
Technical Field
The invention relates to the field of comprehensive tests of underwater on-orbit navigation, in particular to a tracking and monitoring platform for the comprehensive test of underwater on-orbit navigation in a limited area.
Background
Technical researches on comprehensive performances such as propulsion efficiency, operation attitude, vibration noise and the like of a navigation device need to be verified in a simulation test environment. In order to meet the similarity of various performances of the test model and the actual aircraft, starting verification of a large-scale test model is a key technical condition; the comprehensive performance verification test of the large aircraft model in the limited water area is a currently feasible technical measure.
The method is characterized in that a large-scale aircraft model comprehensive verification test in a finite field is carried out, the motion range of a test model is far larger than that of a pool test, the motion amplitude of the model is larger, and the posture change is more disordered, so that the monitoring requirement on the running state of the model is more rigorous, and a motion state monitoring system with complete monitoring functions needs to be reasonably configured.
Disclosure of Invention
The invention provides a tracking and monitoring platform for a limited-area underwater on-orbit navigation comprehensive test, which can monitor the motion state of the limited-area large-scale vehicle model underwater on-orbit navigation comprehensive test, collect the motion attitude and the motion parameter change of a vehicle under different test working conditions, and support the safe and effective operation of the limited-area underwater on-orbit navigation comprehensive test.
The technical scheme of the invention is as follows: the utility model provides a there is track tracking monitoring platform for orbit navigation combined test under water of limited area, includes gate-type tracking mechanism and gate-type travelling car:
the gate type tracking mechanism spans on a dock wall of the confined test dock, runs through a gate type mobile trolley and matches and tracks the running state of an aircraft;
the gate type tracking mechanism is provided with a motion monitoring system, and optical measurement, three-dimensional motion model capture and motion video image analysis are adopted to realize high-precision acquisition of the running attitude and motion parameter signals of the aircraft;
the door type moving trolley is controlled by a motion monitoring system, and the running speed of the door type moving trolley is adjusted in real time according to the feedback signal of the acquisition node array, so that the running of the door type moving trolley and the running of a vehicle reach the tracking matching degree;
the gate type tracking mechanism is provided with a power supply system, and is matched with the speed tracking of an aircraft, so that safe power supply can be realized under various test working conditions.
Further, the door type tracking and tracking mechanism consists of a door type mechanism main beam, a door type mechanism auxiliary beam, a door type mechanism supporting leg, a power supply cable and an inclined supporting beam; the middle of the main beam of the door type mechanism is connected with an auxiliary beam of the door type mechanism, and an inclined supporting beam is additionally arranged between the auxiliary beam of the door type mechanism and the main beam of the door type mechanism; and two sides of the main beam of the door type mechanism are respectively connected with the door type moving trolley through the landing legs of the door type mechanism.
Furthermore, the gate-type moving trolley consists of a running motor, a mechanism frame, mechanism wheels, a mechanism trolley running track and a mechanism leg base, wherein the mechanism wheels are arranged on the mechanism leg base through wheel shafts, and the wheel shafts of the mechanism wheels are connected with the running motor through the mechanism frame.
Furthermore, signal acquisition instruments of the motion monitoring system are symmetrically arranged on the gate type tracking and tracking mechanism and cooperate with a reference positioning signal acquisition node arranged on a dock wall and a motion positioning, vibration acceleration, pitch angle, deflection angle and roll angle signal acquisition node array arranged on an aircraft to jointly complete signal acquisition work of the motion monitoring system.
Furthermore, the reference positioning signal acquisition nodes are symmetrically and uniformly distributed on two sides of the finite field test dock wall, are used for building a local area high-precision positioning network, and the number of the local area high-precision positioning network is 4-16, and is determined according to the length of the finite field test dock wall and the spacing distance of the reference positioning signal acquisition nodes.
Furthermore, the motion positioning, vibration acceleration, pitch angle, deflection angle and roll angle signal acquisition nodes are arranged on the navigation body to form a signal acquisition node array, the number of the signal acquisition node array is 2-16, and the signal acquisition node array is determined according to the number of the test working condition signal acquisition nodes'
Further, the array signal of the reference positioning signal acquisition node is transmitted to a signal acquisition instrument of a motion monitoring system on the door type tracking mechanism in a wireless transmission mode.
Furthermore, the signal acquisition instruments of the motion monitoring system are symmetrically arranged on the door type tracking mechanism, the number of the signal acquisition instruments is 2-8, and the signal acquisition instruments are determined according to the number of signal acquisition nodes and signal acquisition device channels.
Furthermore, the power supply system power supply cable passes through the main beam of the door type mechanism and is in soft restraint, and allowance is reserved on the auxiliary beam of the door type mechanism, so that the power supply system power supply cable and a cable interface of the navigation body are free from external force, and power supply safety is guaranteed.
The tracking and monitoring platform for the limited-area underwater on-orbit navigation comprehensive test has the advantages and beneficial effects that:
1) Arranging reference positioning signal acquisition nodes on two sides of a dock wall of a finite field test dock, and constructing a local high-precision positioning network to ensure high-precision signal acquisition of motion parameters of the aircraft;
2) Signal acquisition nodes such as motion positioning, vibration acceleration, inclination angles (pitch angle, deflection angle and roll angle) and the like are arranged on the aircraft to form a signal acquisition node array, so that the signal acquisition is carried out on the motion attitude and the motion parameter change of the aircraft in an all-around manner, and the data collection and analysis of a comprehensive test are facilitated;
3) The tracking and monitoring platform achieves the tracking and synchronization degree by depending on the running of the door type mobile trolley and the aircraft, is different from the acquisition of wireless signals by a signal acquisition device at a fixed point, the synchronous running acquisition is less influenced by factors such as distance and the like, and the error of signal acquisition is smaller;
4) The tracking and tracking monitoring platform and the aircraft run synchronously, so that the aircraft can be safely powered while the state is monitored; the problem of the power of limited region navigation experiment thorny is solved, greatly reduced the cost of experimental navigation ware structure and functional design.
Drawings
FIG. 1 is a schematic view of a tracking and monitoring platform of a comprehensive test site for limited-area underwater on-orbit navigation;
FIG. 2 is a top view of a tracking monitoring platform;
FIG. 3 is a left side view of the tracking monitoring platform;
FIG. 4 is a left side view of the gantry movement mechanism cart;
FIG. 5 is a front view of a door travel mechanism cart;
in the figure: 1-finite field test water dock; 2-an aircraft; 3-supporting the platform; 4-wheel-rail system; 5-door tracking mechanism; 6-door type moving trolley; 5 (a) -door mechanism main beam; 5 (B) -door mechanism auxiliary beam; 5 (C) -gantry legs; 5 (D) -power supply cable; 5 (E) -an inclined support beam; 6-door type moving trolley; 6 (A) -running the motor; 6 (B) -mechanism frame; 6 (C) -mechanism wheel; 6 (D) -a mechanism trolley running track; 6 (E) -mechanism leg base.
Detailed Description
The present invention is further described in the following detailed description with reference to the drawings and examples, which should be understood as being illustrative only and not as limiting the scope of the invention, and various equivalent modifications of the invention will fall within the protection scope of the present application after reading the content of the present specification.
As shown in FIGS. 1,2 and 3, a tracking and monitoring platform for a comprehensive test of limited-area underwater on-orbit navigation mainly comprises a door type tracking mechanism 5 and a door type moving trolley 6; the gate type tracking mechanism 5 runs on a dock wall of the finite field test dock 1 in a crossing mode, tracks and matches with the running state of the aircraft 2, and achieves the effects of high-precision acquisition of running postures and motion parameter signals of the navigation body, safe power supply and the like.
In this embodiment, the finite field test dock 1 has a length of 150m, a width of 26m, and a depth of 10m; 1 reference positioning signal acquisition nodes are arranged on the dock walls on the two sides at intervals of 40m, and the total number of the reference positioning signal acquisition nodes is 6;
in the embodiment, the aircraft 2 is an actual aircraft scaling model and can meet the similarity requirement of various performances of a test model and the actual aircraft; the vehicle 2 is provided with 24 motion positioning, vibration acceleration and inclination angle (pitch angle, deflection angle and roll angle) signal acquisition node arrays in total;
in the embodiment, the supporting platform 3 is used for fixing the aircraft 2, so that the aircraft 2 is connected to the wheel track system 4 to realize the underwater on-track navigation of the aircraft;
in the embodiment, the wheel-track system 4 can realize the adjustment of the initial speed of the underwater in-track vehicle and the brake control of the in-track vehicle in the advancing process, and can overcome the influence of underwater positive buoyancy and side tilting force by limiting the matching of the motion wheel set and the underwater operation track, thereby ensuring the stable operation state of the in-track vehicle in the underwater navigation;
in this embodiment, the gate tracking mechanism 5 includes: a door type mechanism main beam 5 (A), a door type mechanism auxiliary beam 5 (B), a door type mechanism supporting leg 5 (C), a power supply cable 5 (D) and an inclined supporting beam 5 (E); the middle of the door type mechanism main beam 5 (A) is connected with a door type mechanism auxiliary beam 5 (B), and an inclined supporting beam 5 (E) is additionally arranged between the door type mechanism auxiliary beam 5 (B) and the door type mechanism main beam 5 (A). Two sides of the door type mechanism main beam 5 (A) are respectively connected with a door type moving trolley 6 through door type mechanism supporting legs 5 (C).
In this embodiment, the door tracking mechanism 5 is provided with a motion monitoring system and a power supply system; the motion monitoring system comprises 4 signal acquisition instruments and 32 channels which are symmetrically arranged on a main beam 5 (A) of the door type mechanism; the power supply cable penetrates through the main beam 5 (A) of the door type mechanism and is in soft restraint, and the movable allowance of 6m is reserved on the auxiliary beam 5 (B) of the door type mechanism, so that the power supply safety is ensured;
preferably, the gantry main beam 5 (a) is in the form of a triangular support as shown in fig. 2 and 3, and the frame size is 28800mm × 1700mm × 1100mm;
preferably, the door mechanism auxiliary beam 5 (B) is in the form of a triangular support as shown in fig. 2 and 3, and the frame size is 600mm × 24000mm × 970mm;
preferably, the gantry legs 5 (C) are in the form of diagonal braces as shown in fig. 3, with frame dimensions of 600mm × 500/1400mm × 1440mm, diagonal brace angle 72 °;
in this embodiment, the door-type moving cart 6, as shown in fig. 4 and 5, includes: a motion motor 6 (A), a mechanism frame 6 (B), mechanism wheels 6 (C), a mechanism trolley running track 6 (D) and a mechanism leg base 6 (E); the mechanism wheels 6 (C) are arranged on the mechanism supporting leg base 6 (E) through wheel shafts, and the wheel shafts of the mechanism wheels 6 (C) are connected with the movement motor 6 (A) through the mechanism frame 6 (B).
Preferably, 4 running motors 6 (A) with 3 phases of 380V50Hz power supplies, 7.5kW power supplies and 0-200 m/min running speed ranges are selected for the door type moving trolley 6;
preferably, the frame size of the portal type moving trolley mechanism frame 6 (B) is 7200mm multiplied by 375mm multiplied by 550mm, the portal type moving trolley mechanism frame is driven by 4 running motors 6 (A), and 4 mechanism wheels 6 (C) are matched;
preferably, the diameter of the door type moving trolley mechanism wheel 6 (C) is phi 400mm, and the designed maximum/minimum wheel pressure is 35/32.1kN;
preferably, the running track 6 (D) of the mechanism trolley adopts a P38 steel rail and double tracks, and the length of the track is 140m;
preferably, the mechanism leg base 6 (E) has a frame size of 500mm × 476mm × 114mm, 4 in total, for correspondingly mounting the portal mechanism legs 5 (C) of the portal movement mechanism;
so far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the accompanying drawings.
It will be apparent to those skilled in the art that various changes and modifications can be made in the features of the invention without departing from the spirit and scope of the invention, and such changes and modifications will fall within the scope of the claims of the invention and their equivalents.
Claims (9)
1. The utility model provides a there is track tracking monitoring platform for orbital navigation combined test under water in limited area which characterized in that: including gate-type tracking mechanism and gate-type travelling car:
the gate type tracking mechanism spans on a dock wall of the confined test dock, runs through a gate type mobile trolley and matches and tracks the running state of an aircraft;
the gate type tracking mechanism is provided with a motion monitoring system, and optical measurement, three-dimensional motion model capture and motion video image analysis are adopted to realize high-precision acquisition of the running attitude and motion parameter signals of the aircraft;
the door type moving trolley is controlled by a motion monitoring system, and the running speed of the door type moving trolley is adjusted in real time according to the feedback signal of the acquisition node array, so that the running of the door type moving trolley and the running of a vehicle reach the tracking matching degree;
the gate-type tracking mechanism is provided with a power supply system, and is matched with the speed tracking of an aircraft, so that safe power supply can be realized under various test working conditions.
2. The tracking, tracking and monitoring platform for the comprehensive test of the limited-area underwater on-orbit navigation, according to claim 1, is characterized in that: the gate type tracking mechanism consists of a gate type mechanism main beam, a gate type mechanism auxiliary beam, a gate type mechanism supporting leg, a power supply cable and an inclined supporting beam; the middle of the main beam of the door type mechanism is connected with an auxiliary beam of the door type mechanism, and an inclined supporting beam is additionally arranged between the auxiliary beam of the door type mechanism and the main beam of the door type mechanism; and two sides of the main beam of the door type mechanism are respectively connected with the door type moving trolley through the landing legs of the door type mechanism.
3. The tracking, tracking and monitoring platform for the comprehensive test of the limited-area underwater on-orbit navigation, according to claim 1, is characterized in that: the gate-type moving trolley consists of a running motor, a mechanism frame, mechanism wheels, a mechanism trolley running track and a mechanism leg base, wherein the mechanism wheels are arranged on the mechanism leg base through wheel shafts, and the wheel shafts of the mechanism wheels are connected with the moving motor through the mechanism frame.
4. The tracking, tracking and monitoring platform for the comprehensive test of the limited-area underwater on-orbit navigation as claimed in claim 1, characterized in that: the signal acquisition instruments of the motion monitoring system are symmetrically arranged on the gate type tracking and tracking mechanism and are matched with a reference positioning signal acquisition node arranged on a dock wall and a motion positioning, vibration acceleration, pitch angle, deflection angle and roll angle signal acquisition node array arranged on an aircraft to jointly complete the signal acquisition work of the motion monitoring system.
5. The tracking and tracking platform for the comprehensive test of the limited-area underwater on-orbit navigation, which is characterized in that: the reference positioning signal acquisition nodes are symmetrically and uniformly distributed on two sides of the finite field test water dock wall, are used for building a local high-precision positioning network, and the number of the local high-precision positioning network is 4-16, and is determined according to the length of the finite field water dock wall and the spacing distance of the reference positioning signal acquisition nodes.
6. The tracking and tracking platform for the comprehensive test of the limited-area underwater on-orbit navigation as claimed in claim 4, characterized in that: the motion positioning, vibration acceleration, pitch angle, deflection angle and roll angle signal acquisition nodes are arranged on the navigation body to form a signal acquisition node array, the number of the signal acquisition node array is 2-16, and the signal acquisition node array is determined according to the number of the signal acquisition nodes under the test working condition.
7. The tracking and tracking platform for the comprehensive test of the limited-area underwater on-orbit navigation as claimed in claim 4, characterized in that: and the array signal of the reference positioning signal acquisition node is transmitted to a signal acquisition instrument of a motion monitoring system on the portal tracking mechanism in a wireless transmission mode.
8. The tracking and tracking platform for the comprehensive test of the limited-area underwater on-orbit navigation, according to claim 1, is characterized in that: the signal acquisition instruments of the motion monitoring system are symmetrically arranged on the gate type tracking mechanism, the number of the signal acquisition instruments is 2-8, and the signal acquisition instruments are determined according to the number of signal acquisition nodes and signal acquisition device channels.
9. The tracking and tracking platform for the comprehensive test of the limited-area underwater on-orbit navigation, according to claim 1, is characterized in that: the power supply system power supply cable penetrates through the main beam of the door type mechanism and is in soft restraint, and allowance is reserved on the auxiliary beam of the door type mechanism, so that the power supply system power supply cable and a cable interface of the navigation body are free from external force, and power supply safety is guaranteed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210890666.3A CN115180086B (en) | 2022-07-27 | 2022-07-27 | Tracking and monitoring platform for limited-domain underwater on-orbit navigation comprehensive test |
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| CN202210890666.3A CN115180086B (en) | 2022-07-27 | 2022-07-27 | Tracking and monitoring platform for limited-domain underwater on-orbit navigation comprehensive test |
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| CN115180086B CN115180086B (en) | 2024-06-07 |
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| CN107576328A (en) * | 2017-08-22 | 2018-01-12 | 西北工业大学 | A kind of automatic Tracking monitoring system of water surface for submarine navigation device |
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| KR20200100935A (en) * | 2019-02-19 | 2020-08-27 | 목포해양대학교 산학협력단 | Test bed for Autonomous ship and its test method |
| CN111857165A (en) * | 2020-07-28 | 2020-10-30 | 浙江大学 | Trajectory tracking control method of underwater vehicle |
| CN218431667U (en) * | 2022-07-27 | 2023-02-03 | 中国船舶重工集团公司第七0四研究所 | Tracking, tracking and monitoring platform for comprehensive test of underwater on-orbit navigation in limited area |
-
2022
- 2022-07-27 CN CN202210890666.3A patent/CN115180086B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06201819A (en) * | 1993-01-07 | 1994-07-22 | Mitsubishi Precision Co Ltd | Method and device for evaluating track of underwater sailing body |
| CN104648613A (en) * | 2015-03-18 | 2015-05-27 | 哈尔滨工程大学 | Ship model maneuverability test device based on laser guide technology |
| CN107576328A (en) * | 2017-08-22 | 2018-01-12 | 西北工业大学 | A kind of automatic Tracking monitoring system of water surface for submarine navigation device |
| CN109634307A (en) * | 2019-01-15 | 2019-04-16 | 大连海事大学 | A kind of compound Track In Track control method of UAV navigation |
| KR20200100935A (en) * | 2019-02-19 | 2020-08-27 | 목포해양대학교 산학협력단 | Test bed for Autonomous ship and its test method |
| CN111220354A (en) * | 2020-03-09 | 2020-06-02 | 大连理工大学 | Underwater dragging test device |
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| CN218431667U (en) * | 2022-07-27 | 2023-02-03 | 中国船舶重工集团公司第七0四研究所 | Tracking, tracking and monitoring platform for comprehensive test of underwater on-orbit navigation in limited area |
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