CN2701752Y - Underwater receiving device - Google Patents
Underwater receiving device Download PDFInfo
- Publication number
- CN2701752Y CN2701752Y CN 200420031735 CN200420031735U CN2701752Y CN 2701752 Y CN2701752 Y CN 2701752Y CN 200420031735 CN200420031735 CN 200420031735 CN 200420031735 U CN200420031735 U CN 200420031735U CN 2701752 Y CN2701752 Y CN 2701752Y
- Authority
- CN
- China
- Prior art keywords
- cable
- winch
- gps
- pressure
- resistant cabin
- 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.)
- Expired - Lifetime
Links
- 238000004891 communication Methods 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 33
- 239000000463 material Substances 0.000 claims description 7
- 229920001971 elastomer Polymers 0.000 claims description 4
- 239000011152 fibreglass Substances 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 229920006311 Urethane elastomer Polymers 0.000 claims description 3
- 239000004020 conductor Substances 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 229920002994 synthetic fiber Polymers 0.000 claims description 3
- 238000004804 winding Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model discloses an underwater receiving device. The system consists of a GPS antenna pressure-resistant cabin, a traction and communication cable and a winding and unwinding winch, wherein the GPS antenna pressure-resistant cabin is connected with the winch through the traction and communication cable; the pressure-resistant shell of the GPS antenna pressure-resistant cabin is spherical, the inner wall of a lower hemisphere is provided with a boss, the two-axis swing table is installed on the boss of the lower hemisphere, and the GPS antenna and the GPS receiver are both installed on an inner swing frame of the two-axis swing table; the GPS receiver is electrically connected with a conductive slip ring inside the winch through a cable; the driving motor, the speed reducing mechanism and the winch drum in the winch part are all fixed on the machine base, the cable is wound on the winch drum, the watertight connector at the lower end of the cable is connected with a brush lead of a conductive sliding ring in the winch drum, and a ring lead of the conductive sliding ring is connected to a main control computer of the aircraft. The utility model discloses under the prerequisite of guaranteeing underwater vehicle navigation accuracy, can increase substantially its stealthy nature and security, guarantee the smooth completion of navigation ware mission.
Description
Technical field
The utility model relates to the integrated navigation technology of marine environment medium-long range submarine navigation device.Specifically a kind of by using global positioning system (GPS) to carry out the receiving device under water of precision navigation location for long-range submarine navigation device.
Background technology
Navigationsystem is to guarantee the water surface or underwater sailing body safety, the accurate indispensable system of navigation.Except the shore-based navigation system of being made up of equipment such as traditional beacon light, bank base radio navigation stations, more common navigationsystem has two kinds of GPS and inertial navigation systems etc. at present.Inertial navigation system is not owing to need to carry out handshaking with the external world, and self-organizing system generally is used for submarine navigation device.Be particularly useful for having the submarine navigation device that maybe can't receive gps signal of stealthy requirement, as the relatively poor submersible under water of rough water quality when the surface navigation, the long-range submersible that under the ice face, navigates by water etc.But because inertial navigation system self has certain accumulated error, when aircraft was carried out the navigation of longer distance, even use the inertial navigation system of degree of precision, this error also may be increased to and can not satisfy the degree that navigation accuracy requires.It is covering the whole world that GPS comprises that other similar global position systems have, and the characteristics that navigation and positioning accuracy is high are most popular, the navigationsystem that field of application is the widest.But because the frequency of gps signal is very high, in water, almost can not transmit, limit its application in the aircraft under water.
For increasing the navigation accuracy of submarine navigation device, make it to have concurrently the advantage of inertial navigation system and GPS, more common way is to adopt GPS to add the integrated navigation system of inertial navigation at present, be that submarine navigation device utilizes self-contained inertial navigation system autonomous navigation in the most of the time, every navigation a period of time, aircraft floats to water surface reception gps signal, utilizes the locating information of GPS to proofread and correct and eliminate aircraft accumulated error for the previous period.
This way is effective in most of times, but for stealthy demand or the relatively poor submarine navigation device of water surface rough water quality are arranged, come-up all has certain risk each time.As running into severe sea condition when the last floatation surface, may cause the serious consequence of device damage even sinking.
The utility model content
Need submarine navigation device regularly or irregularly to float to receive the deficiency of gps signal, the purpose of this utility model to provide a kind ofly to make submarine navigation device need not to float to receive the receiving device under water of gps signal to the water surface in order to overcome integrated navigation system that present GPS adds inertial navigation to the water surface.
To achieve these goals, the utility model solves the technical scheme that its technical matters adopts and is: by the gps antenna pressure-resistant cabin, and traction and communication cable, releasing winch three parts are formed, and the gps antenna pressure-resistant cabin links to each other with winch by traction and communication cable; Wherein: gps antenna pressure-resistant cabin part is made up of pressure-resistant cabin housing, diaxon tilter, GPS receiving wire, GPS receiver, pressure shell is spherical, divide episphere and lower semisphere two parts, the lower semisphere inwall is provided with boss, the diaxon tilter is installed on the lower semisphere boss, the diaxon tilter is made up of interior swing frame and outer swing frame, and gps antenna and GPS receiver are installed on the interior swing frame of diaxon tilter, and the GPS receiver is electrically connected by cable and winch in-to-in conducting slip ring;
Traction and communication cable part are made up of pressure-resistant cabin end underwater electrical connector, cable, winch end underwater electrical connector, the two ends of cable are equipped with water tight joint, one end is the underwater electrical connector that links to each other with the gps antenna pressure-resistant cabin, an end for the underwater electrical connector that line links to each other that brushes out of conducting slip ring;
The winch part is made up of the ring lead-in wire that the brush of drive motor, turbine and worm decelerator, winch support, conducting slip ring went between, twisted drum, conducting slip ring, conducting slip ring, drive motor, speed reduction gearing and strand drum all are fixed on the support, cable is wrapped on the strand drum, the underwater electrical connector of cable lower end links to each other with the brush lead-in wire that twists the conducting slip ring in rousing, and the ring lead-in wire of conducting slip ring is connected to the main control computer of aircraft;
The beneficial effects of the utility model are: under the prerequisite that guarantees the submarine navigation device navigation accuracy, can increase substantially its stealth and safety, guarantee finishing smoothly of aircraft mission.
Description of drawings
Fig. 1 is that structure of the present utility model is formed scheme drawing.
Fig. 2 is a swing frame structure for amplifying scheme drawing among Fig. 1.
The specific embodiment
Below in conjunction with following examples and accompanying drawing in detail the utility model is described in detail.
As shown in Figure 1, the utility model is to install a gps antenna receiving device additional on the aircraft under water.Described receiving device draws and communication cable by comprising the gps antenna pressure-resistant cabin, winch three parts, and the gps antenna pressure-resistant cabin links to each other with releasing winch by traction and communication cable.
Wherein: gps antenna pressure-resistant cabin part (is the OEM plate by pressure-resistant cabin housing 1, diaxon tilter 2, GPS receiving wire 3, GPS receiver, be the commercial product of prior art) 4 compositions, pressure shell 1 is spherical, divide episphere and lower semisphere two parts, by the good glass-reinforced plastic material of gps signal transmitance is made; Lower semisphere 15 inwalls are provided with boss, diaxon tilter 2 is installed on the lower semisphere boss 16, GPS receiving wire 3 and GPS receiver 4 are installed on the interior swing span of diaxon tilter 2, the center-of-gravity position of diaxon tilter 2 after together with 4 combinations of top mounted component GPS receiving wire 3 and GPS receiver is positioned at the bottom of two oscillating axles (structure: the diaxon tilter is made up of swing frame 18 and outer swing frame 17 during design, gps antenna and GPS receiver 4 are installed on the interior swing frame of diaxon tilter, GPS receiving wire 3 up, GPS receiver 4 below), when the effect lower swing of pressure shell 1 at stormy waves, the interior swing span of diaxon tilter 2 will keep its attitude constant substantially under the effect of gravity, promptly keep the sensing of GPS receiving wire 3 constant substantially, thereby guarantee the reliability of GPS receiving wire 3 received signals.Seal with O type rubber seal between the upper and lower hemispheres, after all parts Installation and Debugging are finished, upper and lower hemispheres is fitted together, form a complete pressure-resistant cabin with screw.GPS receiving wire 3 is sent to GPS receiver 4 with the signal that receives during real work, and GPS receiver 4 is sent to the main control computer of aircraft by cable 6 and winch in-to-in conducting slip ring 13 after with the signal conditioning that receives.
Traction and communication cable part are made up of pressure-resistant cabin end underwater electrical connector 5, cable 6, winch end underwater electrical connector 10, all there is water tight joint at the two ends of cable 6, one end be underwater electrical connector 5, one ends that link to each other with the gps antenna pressure-resistant cabin for the underwater electrical connector 10 that line links to each other that brushes out of conducting slip ring 13.The oversheath of cable 6 is made to guarantee its water tightness under higher hydraulic condition by poly-urethane rubber.
Winch part is made up of the ring lead-in wire 14 of the brush lead-in wire 11 of drive motor 8, turbine and worm decelerator 7, winch support 9, conducting slip ring, conducting slip ring 13, strand drum 12, conducting slip ring, drive motor 8, reductor 7 and twist drum 12 and all be fixed on the support 9.When receiving device need discharge or reclaim the gps antenna pressure-resistant cabin, drive motor 8 drove reductor 7, and reductor 7 drives strand drum 12, thereby finished cable 6 releases that will be wrapped on the strand drum 12 or the function that reclaims.
The utility model principle:
Be installed in gps antenna receiving device on the submarine navigation device and be gps antenna pressure-resistant cabin by bodily light, releasing winch, communication and folding and unfolding cable three parts are formed, when aircraft utilized self inertial navigation equipment to provide navigation information to navigate by water under water, the gps antenna pressure-resistant cabin was fixed on the aircraft by the cable 6 that is wrapped on the winch strand drum 12.When aircraft need calibrate or revise the navigation error of self, winch discharged cable 6, and the gps antenna pressure-resistant cabin is under the effect of self positive buoyancy, and floating to the water surface receives gps signal.As long as the capacity of the length of cable and winch strand drum 12 allows, this moment, the aircraft body can be under water the position of the degree of depth arbitrarily.The gps signal that the main control computer utilization of aircraft receives carries out error correction to self course and position.Because the gps antenna pressure-resistant cabin is compared with the aircraft body, volume is wanted little several number magnitude, the general floating debris of its form and the water surface much at one, its globosity has good structural strength and rough water quality, even water surface sea situation is very abominable, also there is the ruined possibility of pressure-resistant cabin hardly, can greatly improves the stealth effect and the safety of aircraft.
Because the sensing of the reception of GPS receiving wire 3 and the material of antenna casing and antenna is closely related, so the housing of gps antenna pressure-resistant cabin adopts the unscreened glass-reinforced plastic material of gps signal is made, inside is equipped with a diaxon tilter 2.Because diaxon tilter 2 is made up of interior swing frame and outer swing frame, under stabilized conditions, two oscillating axles of diaxon tilter 2 are positioned at same plane, and the center of gravity of diaxon tilter 2 is positioned at the below of oscillating axle, have constituted one " tumbler " device.Gps antenna and GPS receiver 4 are installed on the interior swing frame of diaxon tilter in addition, even have under the situation of stormy waves on the sea like this, diaxon tilter 2 still can keep antenna towards basically straight up, be not subjected to the influence of water surface wave with the sensing that guarantees GPS receiving wire 3, under any circumstance can both receive signal by failure-free.With GPS receiver 4 also to be installed in reason in the pressure-resistant cabin be GPS receiver 4 with main control computer between communicate by letter and be generally the RS232 interface, generally be connected between GPS receiving wire 3 and the GPS receiver 4 by coaxial cable, compare between the two, no matter be the permission length of communication cable, or the reliability of communication, the former is better than the latter.
The signal that communication cable 6 between gps antenna pressure-resistant cabin and the releasing winch is received GPS receiver 4 passes to the aircraft main control computer, and this root cable also is the heaving pile of gps antenna pressure-resistant cabin folding and unfolding except the effect of playing the signal transmission.Therefore both require his internal core to satisfy the requirement of communicating by letter, and required him to have enough tenacities and elasticity again, guaranteed the safety that pressure-resistant cabin discharges and reclaims.
For guaranteeing drive motor and the conducting slip ring positiver sealing during environmental work under water, the releasing winch sealing mechanism is adopted oil-filled collocation structure.The ring of conducting slip ring lead-in wire 14 links to each other with the main control computer of aircraft, the brush lead-in wire 11 of conducting slip ring be wrapped in the gps antenna communication cable 6 of strand on bulging and link to each other.Speed reduction gearing 7 adopts the worm and gear structure, adopt the speed reduction gearing of this structure to reduce to the desirability except making motor speed, main purpose is to utilize the reverse auto-lock function of this speed reduction gearing, guarantee that the gps antenna pressure-resistant cabin can not be under the effect of other factors such as self positive buoyancy or wave, the pulling winch avoids the antenna pressure-resistant cabin to break away from the aircraft come-up without reason under non-control condition.
In addition, the oversheath of described cable 6 can be made by government rubber or silaatic; The internal core of cable 6 except that the cable conductor that data communication needs, add in the centre of cable cross-section one run through whole cable spin the synthetic fibre fiber so that it had both had enough tenacities, lower proportion is arranged and elasticity preferably when twining again.
Claims (5)
1. receiving device under water is characterized in that: by the gps antenna pressure-resistant cabin, and traction and communication cable, releasing winch three parts are formed, and the gps antenna pressure-resistant cabin links to each other with winch by traction and communication cable; Wherein: gps antenna pressure-resistant cabin part is by pressure-resistant cabin housing (1), diaxon tilter (2), GPS receiving wire (3), GPS receiver (4) is formed, pressure shell (1) is spherical, divide episphere and lower semisphere two parts, lower semisphere (15) inwall is provided with boss (16), diaxon tilter (2) is installed on the lower semisphere boss (16), the diaxon tilter is made up of interior swing frame (18) and outer swing frame (17), gps antenna and GPS receiver (4) are installed on the interior swing frame (18) of diaxon tilter, and GPS receiver (4) is electrically connected by cable (6) and winch in-to-in conducting slip ring (13);
Traction and communication cable part are made up of pressure-resistant cabin end underwater electrical connector (5), cable (6), winch end underwater electrical connector (10), the two ends of cable (6) are equipped with water tight joint, one end is the underwater electrical connector (5) that links to each other with the gps antenna pressure-resistant cabin, an end for the underwater electrical connector (10) that line (11) links to each other that brushes out of conducting slip ring (13);
The winch part is made up of the brush lead-in wire (11) of drive motor (8), turbine and worm decelerator (7), winch support (9), conducting slip ring, the ring lead-in wire (14) that strand is roused (12), conducting slip ring (13), conducting slip ring, drive motor (8), speed reduction gearing (7) and strand drum (12) all are fixed on the support (9), cable (6) is wrapped on the strand drum (12), the underwater electrical connector of cable lower end (10) links to each other with the brush lead-in wire (11) that strand is roused the conducting slip ring in (12), and the ring lead-in wire (14) of conducting slip ring (13) is connected to the main control computer of aircraft.
2. according to the described receiving device under water of claim 1, it is characterized in that: wherein GPS receiving wire (3) is installed in interior swing frame (18) top, and GPS receiver (4) is installed in interior swing frame (18) below.
3. according to the described receiving device under water of claim 1, it is characterized in that: wherein be provided with sealing arrangement between the upper and lower hemispheres.
4. according to the described receiving device under water of claim 1, it is characterized in that: wherein pressure shell (1) adopts glass-reinforced plastic material, and the oversheath of cable (6) adopts the poly-urethane rubber material, also can adopt government rubber or silaatic.
5. according to the described receiving device under water of claim 1, it is characterized in that: wherein the internal core of cable (6) except that the cable conductor of data communication needs, add in the centre of cable cross-section one run through whole cable spin the synthetic fibre fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420031735 CN2701752Y (en) | 2004-05-26 | 2004-05-26 | Underwater receiving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420031735 CN2701752Y (en) | 2004-05-26 | 2004-05-26 | Underwater receiving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2701752Y true CN2701752Y (en) | 2005-05-25 |
Family
ID=34772531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420031735 Expired - Lifetime CN2701752Y (en) | 2004-05-26 | 2004-05-26 | Underwater receiving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2701752Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100343688C (en) * | 2004-05-26 | 2007-10-17 | 中国科学院沈阳自动化研究所 | underwater global positioning system receiving device |
| CN102030091A (en) * | 2010-11-15 | 2011-04-27 | 青岛北海船舶重工有限责任公司 | Automatic controller of inflatable correcting device on trow |
| CN101723071B (en) * | 2008-10-15 | 2012-07-11 | 中国船舶重工集团公司第七一○研究所 | Device for receiving and releasing cable cart underwater |
| CN103183111A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN103552676A (en) * | 2013-11-15 | 2014-02-05 | 河南师范大学 | Buoy type submarine periscope and communication device |
| CN106741766A (en) * | 2016-11-18 | 2017-05-31 | 宁波市镇海丹发机械科技有限公司 | Midget submarine self-floating signal receiving device |
| CN106741768A (en) * | 2016-11-18 | 2017-05-31 | 宁波市镇海丹发机械科技有限公司 | The plug-in storehouse separator of midget submarine |
| CN106741760A (en) * | 2016-11-18 | 2017-05-31 | 宁波市镇海丹发机械科技有限公司 | Store seperation formula Multi-functional miniature submarine |
| CN108177743A (en) * | 2017-12-11 | 2018-06-19 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of ROV load carriers of full circle swinging |
| CN113978621A (en) * | 2021-11-05 | 2022-01-28 | 西北工业大学 | Stability augmentation device for water surface buoy |
-
2004
- 2004-05-26 CN CN 200420031735 patent/CN2701752Y/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100343688C (en) * | 2004-05-26 | 2007-10-17 | 中国科学院沈阳自动化研究所 | underwater global positioning system receiving device |
| CN101723071B (en) * | 2008-10-15 | 2012-07-11 | 中国船舶重工集团公司第七一○研究所 | Device for receiving and releasing cable cart underwater |
| CN102030091A (en) * | 2010-11-15 | 2011-04-27 | 青岛北海船舶重工有限责任公司 | Automatic controller of inflatable correcting device on trow |
| CN103183111A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN103183111B (en) * | 2011-12-28 | 2016-08-17 | 中国科学院沈阳自动化研究所 | A kind of underwater robot recovery traction apparatus |
| CN103552676A (en) * | 2013-11-15 | 2014-02-05 | 河南师范大学 | Buoy type submarine periscope and communication device |
| CN106741766A (en) * | 2016-11-18 | 2017-05-31 | 宁波市镇海丹发机械科技有限公司 | Midget submarine self-floating signal receiving device |
| CN106741768A (en) * | 2016-11-18 | 2017-05-31 | 宁波市镇海丹发机械科技有限公司 | The plug-in storehouse separator of midget submarine |
| CN106741760A (en) * | 2016-11-18 | 2017-05-31 | 宁波市镇海丹发机械科技有限公司 | Store seperation formula Multi-functional miniature submarine |
| CN108177743A (en) * | 2017-12-11 | 2018-06-19 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of ROV load carriers of full circle swinging |
| CN108177743B (en) * | 2017-12-11 | 2019-06-14 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of ROV load carrier of full circle swinging |
| CN113978621A (en) * | 2021-11-05 | 2022-01-28 | 西北工业大学 | Stability augmentation device for water surface buoy |
| CN113978621B (en) * | 2021-11-05 | 2023-02-10 | 西北工业大学 | Stability augmentation device for water surface buoy |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20040526 |
|
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20040526 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |