CN101706574A - Dual-fin array sonar equipment - Google Patents

Abstract

The invention relates to dual-fin array sonar equipment, which comprises a hydrophone array, an array bracket and a guide hood. The dual-fin array sonar equipment is characterized in that: the array bracket is fixed on the back or belly of the shell of an underwater unmanned vehicle; all array elements of the hydrophone array are fixedly arranged on the array bracket; the hydrophone array comprises two parallel single-line arrays; the two parallel single-line arrays have the array elements which are arranged in a mode of mirror symmetry along the axial line of the back or belly of the shell of the underwater unmanned vehicle; the guide hood is connected with underwater unmanned vehicle shell; and the hydrophone array and the array bracket are positioned in a cavity formed between the guide hood and the underwater unmanned vehicle shell. Through a dual-dorsal fin array, a fish bone like bracket and a conformal guide design, the dual-fin array sonar equipment improves the installation suitability of a passive detection sonar on an underwater unmanned vehicle and overcomes the problem of blurry left and right boards of the single-line arrays so as to enable the underwater unmanned vehicle to judge the left and right boards of a target without driving of an engine.

Description

A kind of dual-fin array sonar equipment

Technical field

The invention belongs to sonar equipment field, particularly a kind of single fin arrayed sonar equipment that is used for miniaturization underwater movement platform.

Background technology

Miniaturization underwater movement platform mainly comprises unmanned aircraft and underwater towing test platform under water.Wherein, unmanned under water aircraft (UUV, Underwater Unmanned Vehicle) owing to self have maneuverability flexibly, good disguised and bigger technical characterstics such as endurance, make it in modern marine operation system, have considerable status.UUV is called as naval's " force multiplier ", be widely used in the modern naval battle, have remarkable advantages such as hidden, motor-driven aspect the remote object detection especially, but UUV is compared to naval vessels, the less space of its size is limited, and therefore how the detection sonar to be installed on UUV is UUV remote probe problem demanding prompt solution always.At present, the sonar that UUV joined is mainly based on imaging sonar and the navigation sonar that is installed in side of a ship downside, the Forward-looking Sonar that is installed in bow, and it is actually rare really to be used to the UUV sonar surveyed.In recent years, visible passive detection sonar type has two kinds in the document, and a kind of SACLANTCEN of being cooperates the prenasal battle array of installing at Odyssey UUV with MIT, full battle array totally 8 array element at interval the 10cm working frequency range at 8-16kHz.This system is used to carry out the imaging clearance at first, is used to carry out main passive target detection test in recent years.Another kind be U.S. NURC in 2008 in order to adapt to the needs of the antisubmarine network warfare, SLITA towed array (31mm external diameter) is installed on the Ocean Explorer AUV test UUV towed array performance.But this amphitypy sonar all has significant disadvantages, no matter because be prenasal battle array or towed array, the capital has a strong impact on fluid property, maneuverability and the speed of UUV, owing to all adopt dismounting external hanging type mounting means, the work complexity is big, is unfavorable for release and the recovery of UUV in addition.

Summary of the invention

The purpose of this invention is to provide a kind of unmanned aircraft of imitative fin design that adopts under water with surveying the sonar equipment, by two dorsal fin formulas structure the formation, herring-bone form support, conformal diversion Design, improve the suitable dress on the unmanned under water aircraft of passive detection sonar, reduced array to the influence of fluid property, maneuverability and the speed of unmanned aircraft under water, easy for installation and be easy to the release and the recovery of unmanned aircraft under water, and install other load additional; Simultaneously, utilize the two-wire array structure to overcome the port and starboard ambiguity problem of single line array, make unmanned aircraft need not the motor-driven port and starboard that just can judge target under water.

For achieving the above object, unmanned under water aircraft provided by the invention comprises two dorsal fin formula hydrophone arrays 1, two array bracket 2 and fixator 3, conformal kuppe 4, watertight interface unit 5 and signal processor 6 with two dorsal fin battle array sonar systems, and total system constitutes as shown in Figure 1.Two single line arrays about described pair of dorsal fin formula hydrophone array is divided into, and each single line array is made up of half-wavelength, equally spaced cylinder or (partly) spherical nautical receiving set 7, and along unmanned aircraft axis left-right symmetric under water and by quarter-wave battle array spacing arrangement, and be fixed on two array brackets and form, wherein array length overall, nautical receiving set array element number and two-wire array spacing are by the length and the decision of array frequency of operation of unmanned aircraft under water.

In the technique scheme, the described pair of array bracket and fixator are between two dorsal fin formula hydrophone arrays and unmanned under water aircraft, wherein array bracket is a symmetrical pair of fishbone structure, main framing is divided into left array bracket 8 and right array bracket 9, fix two groups of hydrophone arrays respectively, i.e. left side battle array 10 and right battle array 11, and about connect by horizontal solid fence 12 between two main framings; Spur shape end links to each other with unmanned aircraft under water by fixator, main framing hollow in addition, array cable 13 is therefrom derived. and fixator is a groove structure, and have circular hole in the middle of the slotted vane at fixator two ends, agree with the projection 14 that matches on the unmanned aircraft shell under water, fix by cross bolts 15 and supporting nut 16.

In the technique scheme, described conformal kuppe, according to fin line style design, and both sides have the ellipticity slotted eye and carry out water conservancy diversion.Conformal kuppe utilizes to be worn bolt 17 and is fixed on the projection on the unmanned under water aircraft shell in the circular aperture of both sides.

In the technique scheme, described watertight interface unit, form by multicore connector 18, double-deck watertight O circle 19 and outside pullover 20, be connected by the underwater electrical connector that is installed in unmanned aircraft front end or rear end under water, finish the work that analog data transmissions that two dorsal fin formula hydrophone arrays are gathered enters unmanned aircraft inside under water with the watertight interface unit is complementary.For easy to maintenance, general about two linear arrays each with a watertight interface unit.

In the technique scheme, described signal processor comprises digital collection unit 21, data processing unit 22 and accuses interface unit 23, be installed on unmanned aircraft inside under water, have miniaturization, low-power consumption characteristics, can finish digital collection to dorsal fin formula simulated data that hydrophone array is gathered, with remote object detection, port and starboard resolution, hi-Fix be tracked as the signal Processing of purpose, and provide detection of a target information to the information transmission work of the command and control system of unmanned aircraft under water.Wherein, the digital collection unit is responsible for the multichannel analog data that dorsal fin formula hydrophone array is gathered are carried out signal condition and digital collection; Data processing unit carries out signal Processing to the multi-channel digital array data, to finish passive detection, hi-Fix and the tracking to remote object; Accuse interface unit, be connected by data port that send the detection of a target information that signal processor obtained to command and control system, auxiliary its finished corresponding task mission with the command and control system of unmanned aircraft under water.

Unmanned under water aircraft provided by the invention comprises the steps: with the installation and the work of two dorsal fin battle array sonars

1) two dorsal fin formula hydrophone arrays are fixed on respectively on the left and right sides main framing of two array brackets, and the array cable is drawn by the hollow main framing respectively;

2) fixator of two array brackets by being installed in support spur shape end fixed with unmanned aircraft under water;

3) the conformal kuppe of fin shape is installed on two array brackets, is fixed on the unmanned under water aircraft shell with support;

4) two dorsal fin formula hydrophone arrays multichannel analog data of being gathered are sent to the signal processor that is installed on unmanned aircraft inside under water by the watertight interface unit;

5) signal processor with the multichannel analog data nurse one's health with digitizing after, carry out the digital sonar signal Processing, finish passive detection, port and starboard resolution, hi-Fix and tracking to remote object, and by data-interface target information is passed to the command and control system that is positioned at unmanned aircraft inside under water, the auxiliary task mission of finishing whole unmanned aircraft under water.

Compared with prior art, the present invention has following advantage:

1, two dorsal fin formula nautical receiving sets are structured the formation and are designed and install, and have reduced the shared space of sonar array effectively, make things convenient for the sonar detection array to be installed on the less unmanned aircraft of relative volume under water.

2, two dorsal fin formula sonar arrays are installed on about the back or belly axis of unmanned aircraft under water, help discharging the load-carrying ability of both sides, make unmanned aircraft can carry more useful load under water, thereby finish more mission task, also help the release and the recovery of unmanned aircraft under water simultaneously.

3, two dorsal fin formula sonar array structures have overcome the port and starboard ambiguity problem of single line array, make unmanned aircraft need not the motor-driven port and starboard that just can judge target under water.

4, the two array bracket structures of herring-bone form improve the constant intensity of sonar array, have also reduced expending of immobilization material simultaneously.

5, meet the conformal kuppe design of fin line style, reduced sonar array the influence of fluid property, maneuverability and the speed of unmanned aircraft under water.

6, miniaturization, low power consumption for signal processor are convenient to be installed in unmanned aircraft inside under water, by prolonging its bottom time.

6, the present invention both had been applicable to unmanned aircraft systems under water, comprising: remote control submarine navigation device (ROV) and autonomous submarine navigation device (AUV) also are applicable to other underwater towing test platform.

Description of drawings

Below, describe embodiments of the invention in conjunction with the accompanying drawings in detail, wherein:

Fig. 1 represents the two dorsal fin battle array sonar system structural drawing of unmanned aircraft under water, and wherein a is a side view, and b is a vertical view;

Fig. 2 represents two dorsal fin formula hydrophone array structural drawing, and wherein a is a side view, and b is a vertical view;

Fig. 3 represents two array brackets and fixer structure figure, and wherein a is a side view, and b is a front view;

Fig. 4 represents that two array brackets are fixed on mounting structure figure on the unmanned aircraft under water by fixator;

Fig. 5 represents conformal kuppe structural drawing, and wherein a is a vertical view, and b is a side view, and c is a front view;

Fig. 6 represents that conformal kuppe is fixed on the mounting structure figure on the unmanned aircraft under water;

Fig. 7 represents watertight interface unit structural drawing, and wherein a is a side view, and b is a front view;

Fig. 8 represents the signal processor structural drawing;

Fig. 9 represents two-wire array port and starboard target resolution principle schematic;

Figure 10 represents that two dorsal fin battle array sonars are installed on the system construction drawing of unmanned aircraft belly under water, and wherein a is a side view, and b is a vertical view).

Embodiment

Below in conjunction with accompanying drawing and specific embodiment the present invention is done to describe further.

Embodiment 1

The two dorsal fin battle array sonar systems of the unmanned under water aircraft of present embodiment, the main body array portion is installed in unmanned aircraft back under water, distribute by the axis left-right symmetric, outlet enters unmanned aircraft inside under water before the array cable, total system constitutes as shown in Figure 1, comprises two dorsal fin formula hydrophone arrays, two array bracket and five parts such as fixator, conformal kuppe, watertight interface unit and signal processor.

On this installation site, the unmanned under water aircraft that this enforcement provides comprises the steps: with the installation and the work of two dorsal fin battle array sonars

1) two dorsal fin formula hydrophone arrays are fixed on respectively on the left and right sides main framing of two array brackets, and the array cable is drawn by the hollow main framing respectively;

2) main framing of two array brackets is installed in unmanned aircraft back under water, distribute by the axis left-right symmetric, and the fixator by being installed in support spur shape end is fixed with unmanned aircraft under water;

3) the conformal kuppe of fin shape is installed on two array brackets, is fixed on the unmanned under water aircraft shell with support;

4) two dorsal fin formula hydrophone arrays multichannel analog data of being gathered are sent to the signal processor that is installed on unmanned aircraft inside under water by the watertight interface unit.

5) signal processor with the multichannel analog data nurse one's health with digitizing after, carry out the digital sonar signal Processing, finish passive detection, port and starboard resolution, hi-Fix and tracking to remote object, and by data-interface target information is passed to the command and control system that is positioned at unmanned aircraft inside under water, the auxiliary task mission of finishing whole unmanned aircraft under water.

Below narrate the detail of each step of present embodiment.

Two single line arrays about two dorsal fin formula hydrophone arrays are divided in the described step (1), and each single line array is made up of half-wavelength, equally spaced cylinder or (partly) spherical nautical receiving set, and along unmanned aircraft axis left-right symmetric under water and by quarter-wave battle array spacing arrangement, and be fixed on two array brackets and form, its structure as shown in Figure 2, wherein array length overall, nautical receiving set array element number and two-wire array spacing are by the length and the decision of array frequency of operation of unmanned aircraft under water.

If the length L of unmanned aircraft under water, the upper limiting frequency of array operating frequency range is f, and then the array length overall can be expressed as:

l＝αL(1)

Wherein, α is a scale-up factor, generally gets between 0.7～1.

And if half-wavelength is equidistantly structured the formation, i.e. array element distance d=c/2f, then nautical receiving set array element number is:

$N=\frac{2\mathrm{lf}}{c}+1---\left(2\right)$

Here, c is the speed of sound in water.

And the battle array spacing H=c/4f between two linear arrays.

Two array brackets and fixator are between two dorsal fin formula hydrophone arrays and unmanned under water aircraft in the described step (2), wherein array bracket is a symmetrical pair of fishbone structure, about main framing is divided into two, fix two groups of hydrophone arrays respectively, and about connect by horizontal solid fence between two main framings; Spur shape end links to each other with unmanned aircraft under water by fixator, main framing hollow in addition, and the array cable is therefrom derived, and its structure is as shown in Figure 3; Fixator is a groove structure, and has a circular hole in the middle of the slotted vane at fixator two ends, agrees with the projection that matches on the unmanned aircraft shell under water, fixes by cross bolts, and its mounting structure as shown in Figure 4.

Conformal kuppe in the described step (3), according to fin line style design, and both sides have the ellipticity slotted eye and carry out water conservancy diversion, and its structure is as shown in Figure 5.Conformal kuppe utilizes wears bolt on the projection on the unmanned aircraft shell under water in the circular aperture of both sides, its structure as shown in Figure 6.

Watertight interface unit in the described step (4), by multicore connector, double-deck watertight O circle and outside pullover the composition, its structure as shown in Figure 7, be connected with the underwater electrical connector that the watertight interface unit is complementary by being installed in unmanned aircraft front end under water, finish the work that analog data transmissions that two dorsal fin formula hydrophone arrays are gathered enters unmanned aircraft inside under water.For easy to maintenance, general about two linear arrays each with a watertight interface unit

Signal processor comprises the digital collection unit in the described step (5), data processing unit and charge interface unit, its structure as shown in Figure 8, be installed on unmanned aircraft front end under water, has miniaturization, the low-power consumption characteristics, can finish digital collection to dorsal fin formula simulated data that hydrophone array is gathered, survey with remote object, hi-Fix and the signal Processing that is tracked as purpose, and provide detection of a target information to the information transmission work of the command and control system of unmanned aircraft under water. wherein, the digital collection unit is responsible for the multichannel analog data that dorsal fin formula hydrophone array is gathered are carried out signal condition and digital collection; Data processing unit carries out signal Processing to the multi-channel digital array data, to finish passive detection, hi-Fix and the tracking to remote object; Accuse interface unit, be connected by data port that send the detection of a target information that signal processor obtained to command and control system, auxiliary its finished corresponding task mission with the command and control system of unmanned aircraft under water.

In sonar signal was handled, there was the problem of port and starboard ambiguity in single linear array, if the port and starboard of resolution target must allow carrier motor-driven, comes the port and starboard of resolution target by the change direction of spatial beams.And the present invention can carry out two battle array processing by signal processor directly to obtain target port and starboard result by the array structure of two dorsal fin formulas, and its principle is as follows:

For array number be N, uniformly-spaced d structures the formation and two gusts of twin-line array A and the B that spacing is H, if having the orientation is the far field source target (is reference direction with side of a ship side direction) of θ, and the time series of signal can be expressed as s (t), temporarily ignores The noise, as shown in Figure 9, t _iThe output of A battle array passage n constantly can be expressed as:

$x_n^A\left(t_i\right)=s[t_i-\frac{(n-1)d}{c}\cos \mathrm{\θ}]---\left(3\right)$

If with the A battle array serves as that then the output of synchronization B battle array passage n can be expressed as with reference to battle array:

$x_n^B\left(t_i\right)=s[t_i-\frac{(n-1)d}{c}\cos \mathrm{\θ}-\frac{H}{c}\sin \mathrm{\θ}]---\left(4\right)$

If signal is a narrow band signal, and angular frequency is ω ₀, j is the imaginary part symbol, then formula (3) and (4) can be rewritten as:

$x_n^A\left(t_i\right)=\mathrm{Aexp}\left[j{\mathrm{\ω}}_0(t_i-\frac{(n-1)d}{c}\cos \mathrm{\θ})\right]---\left(5\right)$

$x_n^B\left(t_i\right)=\mathrm{Aexp}\left[j{\mathrm{\ω}}_0(t_i-\frac{(n-1)d}{c}\cos \mathrm{\θ}-\frac{H}{c}\sin \mathrm{\θ})\right]---\left(6\right)$

And form and can obtain by the narrow-band beam of two-wire array:

$B(t_i,{\mathrm{\ω}}_0,\mathrm{\θ})=\underset{m=1}{\overset{2}{\mathrm{\Σ}}}\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{x}_n^m\left(t_i\right)\exp [j{\mathrm{\ω}}_0(n-1)d\cos \mathrm{\θ}/c+j{\mathrm{\ω}}_0(m-1)H\sin \mathrm{\θ}/c]---\left(7\right)$

The narrow-band beam of single relatively array forms:

$B(t_i,{\mathrm{\ω}}_0,\mathrm{\θ})=\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{x}_n\left(t_i\right)\exp [j{\mathrm{\ω}}_0(n-1)d\cos \mathrm{\θ}/c]---\left(8\right)$

The wave beam that can obtain 0 to 360 degree by formula (7) is differentiated, and can only differentiate 0 to 180 degree by formula (8), therefore utilizes two battle arrays can solve single line battle array target port and starboard ambiguity problem.

Embodiment 2

The two dorsal fin battle array sonar systems of the unmanned under water aircraft of present embodiment, the main body array portion is installed in unmanned aircraft belly under water, distribute by the axis left-right symmetric, outlet enters unmanned aircraft inside under water behind the array cable, total system constitutes as shown in Figure 9, comprises two dorsal fin formula hydrophone arrays, two array bracket and five parts such as fixator, conformal kuppe, watertight interface unit and signal processor.

On this installation site, the unmanned under water aircraft that this enforcement provides comprises the steps: with the installation and the work of two dorsal fin battle array sonars

1) two dorsal fin formula hydrophone arrays are fixed on respectively on the left and right sides main framing of two array brackets, and the array cable is drawn by the hollow main framing respectively;

2) main framing of two array brackets is installed in unmanned aircraft belly under water, distribute by the axis left-right symmetric, and the fixator by being installed in support spur shape end is fixed with unmanned aircraft under water;

3) the conformal kuppe of fin shape is installed on two array brackets, is fixed on the unmanned under water aircraft shell with support;

4) two dorsal fin formula hydrophone arrays multichannel analog data of being gathered are sent to the signal processor that is installed on unmanned aircraft inside under water by the watertight interface unit.

5) signal processor with the multichannel analog data nurse one's health with digitizing after, carry out the digital sonar signal Processing, finish passive detection, port and starboard resolution, hi-Fix and tracking to remote object, and by data-interface target information is passed to the command and control system that is positioned at unmanned aircraft inside under water, the auxiliary task mission of finishing whole unmanned aircraft under water.

Below narrate the detail of each step of present embodiment.

Two single line arrays about two dorsal fin formula hydrophone arrays are divided in the described step (1), and each single line array is made up of half-wavelength, equally spaced cylinder or (partly) spherical nautical receiving set, and along unmanned aircraft axis left-right symmetric under water and by quarter-wave battle array spacing arrangement, and be fixed on two array brackets and form, its structure as shown in Figure 2, wherein array length overall, nautical receiving set array element number and two-wire array spacing, by the length and the decision of array frequency of operation of unmanned aircraft under water, how to calculate with embodiment 1.

Two array brackets and fixator are between two dorsal fin formula hydrophone arrays and unmanned under water aircraft in the described step (2), wherein array bracket is a symmetrical pair of fishbone structure, about main framing is divided into two, fix two groups of hydrophone arrays respectively, and about connect by horizontal solid fence between two main framings; Spur shape end links to each other with unmanned aircraft under water by fixator, main framing hollow in addition, and the array cable is therefrom derived, and its structure is as shown in Figure 3; Fixator is a groove structure, and has a circular hole in the middle of the slotted vane at fixator two ends, agrees with the projection that matches on the unmanned aircraft shell under water, fixes by cross bolts, and its mounting structure as shown in Figure 4.

Conformal kuppe in the described step (3), according to fin line style design, and both sides have the ellipticity slotted eye and carry out water conservancy diversion, and its structure is as shown in Figure 5.Conformal kuppe utilizes wears bolt on the projection on the unmanned aircraft shell under water in the circular aperture of both sides, its structure as shown in Figure 6.

Watertight interface unit in the described step (4), by multicore connector, double-deck watertight O circle and outside pullover the composition, its structure as shown in Figure 7, be connected with the underwater electrical connector that the watertight interface unit is complementary by being installed in unmanned aircraft front end under water, finish the work that analog data transmissions that two dorsal fin formula hydrophone arrays are gathered enters unmanned aircraft inside under water.For easy to maintenance, general about two linear arrays each with a watertight interface unit

Signal processor comprises digital collection unit, data processing unit and charge interface unit in the described step (5), its structure as shown in Figure 8, be installed on unmanned aircraft front end under water, have miniaturization, low-power consumption characteristics, can finish digital collection to dorsal fin formula simulated data that hydrophone array is gathered, with remote object detection, hi-Fix be tracked as the signal Processing of purpose, and provide detection of a target information to the information transmission work of the command and control system of unmanned aircraft under water.Wherein, the digital collection unit is responsible for the multichannel analog data that dorsal fin formula hydrophone array is gathered are carried out signal condition and digital collection; Data processing unit carries out signal Processing to the multi-channel digital array data, to finish passive detection, hi-Fix and the tracking to remote object; Accuse interface unit, be connected by data port that send the detection of a target information that signal processor obtained to command and control system, auxiliary its finished corresponding task mission with the command and control system of unmanned aircraft under water.Wherein, signal processor carries out the principle of target port and starboard resolution processing with embodiment 1.

It should be noted last that, more than only unrestricted in order to explanation theoretical principle of the present invention and technical scheme.Those of ordinary skill in the art should be appreciated that technical scheme of the present invention is made amendment or is equal to replacement that do not break away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (9)

1. dual-fin array sonar equipment, comprise hydrophone array, array bracket and kuppe, it is characterized in that, described array bracket is fixed on the back or the belly of unmanned aircraft shell under water, each array element of described hydrophone array is fixedly mounted on the described array bracket, described hydrophone array comprises two parallel single line arrays, and described two single line arrays are along the back of unmanned aircraft shell or the axis mirror image of belly are laid array element symmetrically under water, described kuppe is connected with unmanned aircraft shell under water, and in the cavity that between described kuppe and unmanned under water aircraft shell, forms of described hydrophone array and array bracket.

2. dual-fin array sonar equipment according to claim 1, it is characterized in that, described array bracket is two fishbone supports, comprise main framing, left spur and right spur, described main framing comprises two fixedly connected and parallel spines, wherein the left side spine connects left spur, and the right side spine connects right spur; Described main framing, left spur and right spur all paste back or the belly at described unmanned aircraft shell under water, the fixator of described array bracket by being positioned at the spur end is fixed together with unmanned aircraft shell under water, the axis of the left and right side spine of described main framing and left and right side spine parallel with unmanned aircraft axis under water is symmetrical arranged, have a plurality of pedestals of arranging along axis on the described left and right side spine, be used for fixing each nautical receiving set that described hydrophone array is installed.

3. dual-fin array sonar equipment according to claim 2 is characterized in that, the equal hollow of left and right side spine of described array bracket is used to hold the cable of hydrophone array.

4. dual-fin array sonar equipment according to claim 1, it is characterized in that, described kuppe is the conformal kuppe of Pisces fin-shaped, the described fixator of the spur end by being positioned at described array bracket is fixedlyed connected with unmanned aircraft shell under water, the profile of the conformal kuppe of described Pisces fin-shaped has two fin peaks, corresponds respectively to two single line arrays of hydrophone array.

5. dual-fin array sonar equipment according to claim 4 is characterized in that, described kuppe both sides have the oval slotted eye that a row is used for water conservancy diversion.

6. dual-fin array sonar equipment according to claim 1 is characterized in that, every single line array of described hydrophone array is made up of equally spaced cylindric, spherical or hemispherical nautical receiving set; The array element distance of every single line array is half of nautical receiving set operation wavelength, and spacing is 1/4th of a nautical receiving set operation wavelength between the battle array between two single line arrays.

7. dual-fin array sonar equipment according to claim 2 is characterized in that, described fixator is a groove structure, and has a circular hole in the middle of the slotted vane at fixator two ends, agrees with the projection that matches on the unmanned aircraft shell under water, fixes by cross bolts.

8. dual-fin array sonar equipment according to claim 1 is characterized in that described dual-fin array sonar equipment also comprises watertight interface unit and signal processor; Described watertight interface unit is installed in the front end or the rear end of unmanned aircraft shell under water, described signal processor is positioned at the inside of described unmanned aircraft shell under water, and the cable of described hydrophone array passes described unmanned aircraft shell under water by described watertight interface unit and is electrically connected with described signal processor.

9. dual-fin array sonar equipment according to claim 8, it is characterized in that, described watertight interface unit comprises multicore connector, double-deck watertight O circle and outside pullover, and described watertight interface unit is connected with described unmanned under water aircraft shell by the underwater electrical connector with the watertight interface unit is complementary that is installed in unmanned aircraft front end or rear end under water.

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