CN201716421U - Small underwater vehicle combined navigation device - Google Patents
Small underwater vehicle combined navigation device Download PDFInfo
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- CN201716421U CN201716421U CN2010202409782U CN201020240978U CN201716421U CN 201716421 U CN201716421 U CN 201716421U CN 2010202409782 U CN2010202409782 U CN 2010202409782U CN 201020240978 U CN201020240978 U CN 201020240978U CN 201716421 U CN201716421 U CN 201716421U
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- 239000013307 optical fiber Substances 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 239000012736 aqueous medium Substances 0.000 description 1
- 238000005284 basis set Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
本实用新型公布了一种小型水下航行器组合导航装置，所述装置由光纤罗经、多普勒速度仪、水下卫星信号收发器、多串口卡和导航计算机组成，其中光纤罗经通过多串口卡为导航计算机提供横摇角、纵摇角和航向角信息，多普勒速度仪通过多串口卡为导航计算机提供水下航行器相对海底的速度信息，当导航一段时候后，导航计算误差较大，水下航行器在无需浮出水面接收卫星定位信号的情况下，通过水下卫星信号收发器直接在水下接收卫星定位信号。本实用新型装置体积小、重量轻、精度稳定性高，可以用于以海底资源勘探、海底测量、海底抢险为目的的水下航行器。
The utility model discloses a combined navigation device for a small underwater vehicle. The device is composed of an optical fiber compass, a Doppler velocity meter, an underwater satellite signal transceiver, a multi-serial port card and a navigation computer, wherein the optical fiber compass passes through the multi-serial port The card provides the navigation computer with roll angle, pitch angle and heading angle information. The Doppler velocity meter provides the navigation computer with the speed information of the underwater vehicle relative to the seabed through the multi-serial port card. After a period of navigation, the navigation calculation error is relatively small. Large, the underwater vehicle directly receives the satellite positioning signal underwater through the underwater satellite signal transceiver without surfacing to receive the satellite positioning signal. The utility model has the advantages of small volume, light weight and high precision stability, and can be used for underwater vehicles for the purpose of seabed resource exploration, seabed measurement and seabed emergency rescue.
Description
Technical field
The utility model designs a kind of scale underwater vehicle combined navigation system and device, is specially adapted to the submarine navigation device of purpose such as speedily carry out rescue work of resource exploration, subsea survey, seabed under water.
Background technology
The small-scale underwater vehicle device is having broad application prospects aspect the military and civilian ocean development, therefore work that the small-scale underwater vehicle device can finish that ocean resources exploration, subsea survey, seabed are salvaged, speedily carried out rescue work etc. must have remote, long-time, precise navigation ability.Be subjected to the influence of factors such as the restriction of aircraft own vol, weight, energy service condition and the singularity of aqueous medium, military disguise, realize that the precision navigation of submarine navigation device is a difficult task.
Navigation can be used inertial navigation system, sonar navigation system, satellite navigation system and Doppler navigation system usually for submarine navigation device.Usually can adopt the ship's classification basis set of global position system and acoustic positioning system and water acoustic navigation positioning system become to realize integrated navigation under water under the global coordinates system, this scheme becomes loose coupling method.Promptly by water surface ship link global position system and underwater sound system, global position system is measured the global space position of ship, the sound ray positioning system is measured the relative coordinate of submarine target and ship under water, by coordinate transform, finds the solution submarine target volume coordinate in the world.All global position systems and underwateracoustic wire system combined system all belong to loosely coupled system.Correspondingly with it exactly satellite navigation and location system is directly designed as the part of acoustic positioning system, be fully integratible into acoustic positioning system inside.Global position system not only needs to provide the locus, also needs to provide other relevant information, in case global position system can not be worked, acoustic positioning system can not work alone, and it is integrated that this pattern is called tight coupling.Satellite system and satellite intelligence buoyage all is the tight coupling integrated system under water.
The utility model content
The utility model purpose is to provide a kind of small-scale underwater vehicle combined navigation device at the defective that prior art exists.
The utility model adopts following technical scheme for achieving the above object:
The utility model small-scale underwater vehicle combined navigation device, by the optical fiber compass, the doppler velocity instrument, satellite-signal transceiver under water, multi-serial-port card and navigational computer are formed, wherein the optical fiber compass provides roll angle by multi-serial-port card for navigational computer, pitch angle and course angle information, the doppler velocity instrument provides the velocity information in the relative seabed of submarine navigation device for navigational computer by multi-serial-port card, after navigation is one section the time, the navigation calculating error is bigger, submarine navigation device is under the situation of receiving satellite positioning signals that need not to emerge, by the direct receiving satellite positioning signals under water of satellite-signal transceiver under water.
The described transceiver of satellite-signal under water is installed on the submarine navigation device, and the satellite-signal transceiver is connected by the underwater acoustic communication link with the radiocoustic position finding base station of known location under water.
The utility model device volume is little, in light weight, precision stability is high, and can be used for speedily carrying out rescue work with seabed resources exploration, subsea survey, seabed is the submarine navigation device of purpose.
Description of drawings
Fig. 1 is submarine navigation device navigation part pie graph.
Number in the figure: optical fiber compass 1, doppler velocity instrument 2, satellite-signal transceiver 3, multi-serial-port card 4, navigational computer 5 under water.
Fig. 2 is the overall pie graph of the utility model hardware system.
Number in the figure: satellite constellation 6, difference satellite base station 7, satellite buoyage 8, underwater navigation transceiver 9, ship base data control center 10, sea Radio Communications Link 11, underwater acoustic communication link 12.
Embodiment
As shown in Figure 1, the small-sized independent combined navigation under water of the utility model device, by optical fiber compass 1, doppler velocity instrument 2, satellite-signal transceiver 3, multi-serial-port card 4 and navigational computer PC1045 form, wherein optical fiber compass 1 provides roll angle by multi-serial-port card 4 for navigational computer 5, pitch angle and course angle information, doppler velocity instrument 2 provides the velocity information in the relative seabed of submarine navigation device for navigational computer 5 by multi-serial-port card 4, after navigation is one section the time, the navigation calculating deviation accumulation is bigger, submarine navigation device is under the situation of receiving satellite positioning signals that need not to emerge, by the direct receiving satellite positioning signals under water of satellite-signal transceiver 3 under water, saved that aircraft emerges and Diving Time, thereby saved the energy, improved the availability of submarine navigation device.
As shown in Figure 2, the described transceiver of satellite-signal under water 3 is installed on the submarine navigation device 7, and satellite-signal transceiver 3 is connected by underwater acoustic communication link 8 with the radiocoustic position finding base station 6 of known location under water.
The method for correcting position of described small-scale underwater vehicle combined navigation device may further comprise the steps:
1) in advance at the radiocoustic position finding base station 6 of predetermined maritime area layout known position information, described positional information comprises longitude, latitude and elevation information;
2) transceiver of satellite-signal under water 3 on the submarine navigation device 7 forms underwater acoustic communication link 8 to radiocoustic position finding base station system 6 emission hydrolocation signals;
3) submarine navigation device ship base data control center calculates the sonar signal of each sonar position reference system 6 position of submarine navigation device.
Described radiocoustic position finding base station 6 is positioned at seabed, sea or seawater central authorities.
When the utility model is specifically implemented, respectively with optical fiber compass, doppler velocity instrument, under water the satellite-signal transceiver, connect by multi-serial-port card, multi-serial-port card is connected with navigational computer in the mode of PC104 bus again, forms combined navigation device under water.The submarine navigation device dive stage navigates by velocity information and attitude angle course information that optical fiber compass and doppler velocity instrument provide, obtain the positional information of submarine navigation device, after navigation a period of time, when cumulative errors are big, the positional information that utilizing satellite-signal receiver under water to receive satellite the provides correction of resetting.
Claims (2)
1. small-scale underwater vehicle combined navigation device, it is characterized in that by optical fiber compass (1), doppler velocity instrument (2), satellite-signal transceiver (3) under water, multi-serial-port card (4) and navigational computer (5) are formed, wherein optical fiber compass (1) provides roll angle by multi-serial-port card (4) for navigational computer (5), pitch angle and course angle information, doppler velocity instrument (2) provides the velocity information in the relative seabed of submarine navigation device for navigational computer (5) by multi-serial-port card (4), after navigation is one section the time, the navigation calculating error is bigger, submarine navigation device is under the situation of receiving satellite positioning signals that need not to emerge, by the direct receiving satellite positioning signals under water of satellite-signal transceiver (3) under water.
2. according to the small-scale underwater vehicle combined navigation device described in the claim 1, it is characterized in that the described transceiver of satellite-signal under water (3) is installed on the submarine navigation device (7), satellite-signal transceiver (3) is connected by underwater acoustic communication link (8) with the radiocoustic position finding base station (6) of known location under water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202409782U CN201716421U (en) | 2010-06-25 | 2010-06-25 | Small underwater vehicle combined navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202409782U CN201716421U (en) | 2010-06-25 | 2010-06-25 | Small underwater vehicle combined navigation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201716421U true CN201716421U (en) | 2011-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010202409782U Expired - Fee Related CN201716421U (en) | 2010-06-25 | 2010-06-25 | Small underwater vehicle combined navigation device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907462A (en) * | 2010-06-25 | 2010-12-08 | 南京信息工程大学 | Integrated navigation device and position correction method for small underwater vehicle |
| CN102231082A (en) * | 2011-04-08 | 2011-11-02 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN105988128A (en) * | 2015-03-20 | 2016-10-05 | 福特全球技术公司 | Vehicle location accuracy |
-
2010
- 2010-06-25 CN CN2010202409782U patent/CN201716421U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907462A (en) * | 2010-06-25 | 2010-12-08 | 南京信息工程大学 | Integrated navigation device and position correction method for small underwater vehicle |
| CN102231082A (en) * | 2011-04-08 | 2011-11-02 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN102231082B (en) * | 2011-04-08 | 2013-06-12 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN105988128A (en) * | 2015-03-20 | 2016-10-05 | 福特全球技术公司 | Vehicle location accuracy |
| CN105988128B (en) * | 2015-03-20 | 2022-02-25 | 福特全球技术公司 | Vehicle positioning accuracy |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110119 Termination date: 20120625 |