CN202869471U - Device for measuring submergence depth and heave amplitude of near-surface aircraft - Google Patents

Abstract

The utility model discloses a device for measuring the submergence depth and the heave amplitude of a near-surface aircraft, which comprises an ultrasonic submergence-depth measuring instrument, an attitude sensor, two liquid level sensors and a data processing unit. The two liquid level sensors arranged on the central axis of the aircraft are positioned at the head and tail ends of the aircraft respectively and are used for measuring the submergence depths of the head and tail ends of the aircraft. The ultrasonic submergence-depth measuring instrument arranged at the middle part of the near-surface aircraft is used for measuring the distance between the upper surface of the aircraft and the water surface. The attitude sensor is arranged at the buoyant centre of the aircraft and is used for measuring the pitch angle and the vertical speed of the aircraft. The data processing unit arranged inside the control cabin of the aircraft is used for acquiring and processing the data measured by all the sensors and the ultrasonic submergence-depth measuring instrument in real time.

Description

A kind of nearly navigation unit by water is dived dark and is hung down and swings measurement mechanism

Technical field

Utility model relates to the latent dark and vertical measurement mechanism that swings of a kind of nearly navigation unit by water.

Background technology

Nearly water surface depth survey and wave disturb treatment technology to become technological difficulties, adopts pressure sensor is measured diving of aircraft has good effect in deepwater field deeply, in case in more shallow waters (the near water surface), pressure transducer enters into the dead band state, be easy to cause the distortion of measurement data, the impact of wave under the simultaneously nearly high sea situation of the water surface, caused by a relatively large margin the variation of having of measurement data, process for the control system of back and to have brought trouble, general depth measurement method is to carry out digital filtering by artificial experience to process on the basis of original depth data, and its algorithm is only suitable for the processing in regular wave.

Except being undertaken the depth survey by pressure transducer, can also adopt the acoustic measurement mode on the engineering, with respect to pressure transducer, velocity variations causes that the variation meeting of aircraft sea-keeping produces a dynamic pressure to pressure transducer and disturbs, and the latent instrument of ultrasound can adapt to the variation of aircraft speed, but measuring, acoustically in the hydrostatic territory good effect is arranged, and when running into wave and disturbing, the nearly water surface in ocean can produce more bubble, can cause very large interference to acoustic equipment, cause the distortion of measurement data.

Summary of the invention

In view of this, the utility model provides a kind of nearly navigation unit by water to dive deeply and the vertical measurement mechanism that swings, this device is in conjunction with the advantage of liquid level sensor and the latent instrument of ultrasound, take liquid level sensor as main, the latent instrument of ultrasound is auxiliary, wave is carried out pre-estimation and processing, and the attitude sensor of the nearly navigation unit by water of combination is realized the latent dark and vertical measurement of swinging of nearly navigation unit by water to further correction and the compensation of both data simultaneously.

Nearly navigation unit by water of the present utility model is dived deeply and the vertical measurement mechanism that swings comprises two liquid level sensors, attitude sensor, the latent instrument of ultrasound and data processing unit; Described two liquid level sensors are arranged in the head and the tail of nearly navigation unit by water, are used for measuring diving deeply of nearly navigation unit by water head and the tail two ends; The latent instrument of described ultrasound is arranged in the centre position of nearly navigation unit by water, is used for measuring the distance of nearly navigation unit by water upper surface and the water surface; Described attitude sensor is arranged in the position, centre of buoyancy of nearly navigation unit by water, is used for measuring the angle of pitch and the vertical velocity of nearly navigation unit by water.The described control cabinet that is positioned at nearly navigation unit by water gathers the also measurement data of the latent instrument of processing pressure sensor, attitude sensor and ultrasound.

Described attitude sensor is comprised of gyroscope and turn meter.

Beneficial effect:

(1) since the duty of nearly navigation unit by water be divided under water and water surface two states, very easily be subject to the impact that wave disturbs in its nearly water surface depth survey process, the utility model carries out first the preliminary surveying of the degree of depth with liquid level sensor, then utilize the latent instrument of ultrasound to remedy the dead band of liquid level sensor, the recycling attitude sensor is calibrated and compensation of undulation depth survey pitching and the vertical speed of sail body, and then realizes the latent dark and vertical Measurement accuracy that swings of nearly navigation unit by water.

(2) in this system ultrasonic sensor is arranged in the medium position of nearly navigation unit by water, to reduce sail body pitching and roll passage to the impact of its measurement, the acoustics frequency of its selection has been avoided the frequency of operation of nearly other underwater sound equipment of the water surface, and other acoustic signals are carried out filtering process, can judge accurately the wave interference strength when the true and validity by Monitoring Data like this.

Description of drawings

Fig. 1 is the schematic diagram of device that the utility model adopts.

Embodiment

Below in conjunction with the accompanying drawing embodiment that develops simultaneously, the utility model is described in detail.

Present embodiment provides a kind of nearly navigation unit by water to dive deeply and the vertical measurement mechanism that swings, this device combination multiple sensors, and the several data of measuring carried out fusion treatment, wave is analyzed judgement, thus true dive dark and vertical swing of the nearly navigation unit by water of Measurement accuracy under high sea situation and complex environment.

This measurement mechanism comprises ultrasound dive instrument, attitude sensor, two liquid level sensors and data processing unit.

Wherein two liquid level sensors are positioned on the axis of nearly navigation unit by water, and lay respectively at stem and afterbody at nearly navigation unit by water.Two liquid level sensors are respectively applied to measure diving deeply of aircraft head and the tail two ends.

The ultrasound instrument of diving is arranged in the centre position of nearly navigation unit by water, when reducing aircraft pitching and roll on the impact of its measurement result.Ultrasound is dived instrument for the distance of measuring between nearly navigation unit by water upper surface and the water surface, thereby has been confirmed whether wave.The latent instrument of ultrasound adopts the acoustic measurement method, its principle of work is: launch the certain frequency acoustical signal and reflect behind the water surface again outside nearly navigation unit by water housing, when in case wave agitation formation cavity occurring, therefore its measuring-signal meeting distortion is easy to differentiate aircraft from the latent instrument DATA REASONING data of ultrasound and whether meets with wave.The acoustics frequency that the latent instrument of ultrasound is selected should be avoided the frequency of operation of nearly other underwater sound equipment of the water surface, and other acoustic signals are carried out filtering process, (wave is larger guaranteeing measurement data can accurately to judge the interference strength of wave in authentic and valid like this, the air bubble of its seawater surface is more, and ultrasound is dived the mistake of instrument, and to catch rate higher).

Attitude sensor is arranged in the position, centre of buoyancy of nearly navigation unit by water.Attitude sensor in the present embodiment is comprised of gyroscope and turn meter, is used for measuring the angle of pitch and the vertical velocity of nearly navigation unit by water.

Data processing unit is positioned at the control cabinet of nearly navigation unit by water, the measurement data of the latent instrument of data processing unit collection and processing pressure sensor, attitude sensor and ultrasound.

The employing said apparatus is dived dark to nearly navigation unit by water and the measuring method of swinging of hanging down is:

Step 1: attitude sensor, two liquid level sensors and ultrasound are dived after instrument receives the data acquisition instruction of data processing unit, and measurement data is sent to data processing unit in real time; And attitude sensor is identical with the output frequency of two liquid level sensors, all greater than the dive output frequency of instrument of ultrasound.

Step 2: ultrasound of the every reception of data processing unit is dived after the measurement data of instrument, and the attitude sensor that front and back two have been collected constantly, four groups of data of two liquid level sensors are carried out pre-service; Described pretreated data comprise the aircraft angle of pitch, the vertical velocity that attitude sensor is measured; Diving of the aircraft head and the tail two ends of two groups of liquid level sensor measurements is dark;

Preprocessing process is:

201: data processing unit removes minimum and maximum value with above-mentioned 4 groups of data according to bubble sort: be about to every group of data and remove maximal value and minimum value after arranged sequentially by size;

202: data processing unit utilizes the median digital filtering to obtain preprocessed data: the intermediate value of the remaining data after the step 201 of namely learning from else's experience is processed, obtain 4 primary datas, be respectively the latent dark H1 of aircraft stem, the latent dark H2 of afterbody, aircraft angle of pitch α, the vertical velocity v of aircraft.

Step 3: data processing unit by pretreated data to external world marine environment judge

301: data processing unit calculates the latent dark actual deviation Δ H in aircraft head and the tail two ends: Δ H=H1-H2;

302: the latent dark desirable deviation PH in aircraft head and the tail two ends did not compare when the actual deviation Δ H that data processing unit is latent dark with the aircraft head and the tail two ends that calculate and sea had wave, described PH=L * sin α, and wherein L is the length of aircraft; If (Δ H-PH)/PH, thinks tentatively then that wave is arranged greater than 1/3, enter step 304; Otherwise tentatively thinking does not have wave, directly enters step 402;

304: further be confirmed whether wave by the latent instrument of ultrasound:

Data processing unit is confirmed whether wave according to the output of the latent instrument of the current time ultrasound that collects: the current output distortion of instrument if ultrasound is dived proves that then aircraft just meets with wave, enters step 4; The instrument output valid data H3 if ultrasound is dived, then proof does not have wave, directly enters step 402.

Step 4: Data Fusion, calculate the true of aircraft and dive deeply

401: judge the position of aircraft in wave by pretreated vertical velocity v:

If (vertical velocity is 0 to the absolute value of the vertical velocity v of aircraft during the nothing wave, when aircraft makes progress vertical velocity on the occasion of, vertical velocity was negative value when aircraft was downward) less than setting value, then explanation this moment, wave was less, the dark variation not quite of diving of aircraft, this moment, the true dark H that dives of aircraft was:

$H=\frac{H1+H2}{2}-\mathrm{\ΔH}3$

Δ H3 is the variable quantity of the constantly latent instrument output of ultrasound of front and back two in the formula; (the ultrasound data volume that instrument catches in the situation in mistake of diving has certain error, so the difference of twice measured value is exactly for cancellation error deviation amount before and after getting)

If the absolute value of the vertical velocity v of aircraft, illustrates then that the aircraft measurement data not only is subject to the impact of wave more than or equal to setting value, also be subject to the impact of aircraft attitude data, this moment, the true dark H that dives was:

$H=\frac{H1+H2}{2}-\mathrm{\ΔH}3-L\sin \mathrm{\α}-\mathrm{vt}$

In the formula: t is the time of latent twice output gap of instrument of ultrasound.

402. get the valid data H3 of the latent instrument current time output of ultrasound, aircraft true dived and deeply directly obtains after the output H3 by instrument current time that the latent dark H1 at pretreated aircraft head and the tail two ends and H2 and ultrasound are dived is weighted processing, and namely the true latent dark H of aircraft is:

$H=\frac{\frac{H1+H2}{2}+H3}{2}$

Hang down and to swing value and be the front and back two nearly navigation unit by water constantly dark difference of diving, by said method obtain different constantly nearly navigation unit by water true dive dark after, adopting the depth value of current time to deduct the depth value in a moment is exactly the vertical value of swinging of nearly navigation unit by water.

In sum, more than be preferred embodiment of the present utility model only, be not be used to limiting protection domain of the present utility model.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.

Claims (2)

1. a nearly navigation unit by water is dived dark and is hung down and swings measurement mechanism, it is characterized in that, comprises two liquid level sensors, attitude sensor, the latent instrument of ultrasound and data processing unit; Described two liquid level sensors are arranged in the head and the tail of nearly navigation unit by water, are used for measuring diving deeply of nearly navigation unit by water head and the tail two ends; The latent instrument of described ultrasound is arranged in the centre position of nearly navigation unit by water, is used for measuring the distance of nearly navigation unit by water upper surface and the water surface; Described attitude sensor is arranged in the position, centre of buoyancy of nearly navigation unit by water, is used for measuring the angle of pitch and the vertical velocity of nearly navigation unit by water; Described data processing unit is positioned at the control cabinet of nearly navigation unit by water, gathers the also measurement data of the latent instrument of processing pressure sensor, attitude sensor and ultrasound.

2. a kind of nearly navigation unit by water as claimed in claim 1 is dived dark and is hung down and swings measurement mechanism, it is characterized in that described attitude sensor is comprised of gyroscope and turn meter.

Images