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Combined velocity measuring system suitable for micro UUV

A micro-sized, speed-measuring technology, applied in measuring devices, fluid velocity measurement, velocity/acceleration/impact measurement, etc., can solve the problem that Doppler speedometer is not suitable for speed measurement, and achieve light weight, simple method and low cost Effect

Active Publication Date: 2016-08-10
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing Doppler velocimeter is not suitable for speed measurement when the micro-vehicle is sailing at a large depth, thereby providing a combined speed measurement system suitable for micro-miniature UUV

Method used

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  • Combined velocity measuring system suitable for micro UUV
  • Combined velocity measuring system suitable for micro UUV
  • Combined velocity measuring system suitable for micro UUV

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specific Embodiment approach 1

[0021] Specific implementation mode one: refer to figure 1 This embodiment is described in detail. A combined speed measurement system suitable for micro-miniature UUV described in this embodiment includes a high-frequency acoustic Doppler speed measurement instrument 1, two sets of water wheel speed measurement devices 2, and two relative speed calculators 3 , data fusion module 4 and ocean current information Kalman filter 5;

[0022] Two groups of water wheel speed measuring devices 2 have the same structure, and each group of water wheel speed measuring devices 2 corresponds to a relative speed calculator 3; The input end, the UUV of a relative speed calculator 3 and the relative speed output end of the ocean are connected to the relative speed input end 1 of the data fusion module 4, and the UUV and the relative speed output end of the other relative speed calculator 3 are connected to the data fusion module Relative velocity input terminal 2 of 4, the ground velocity ou...

specific Embodiment approach 2

[0023] Specific implementation mode two: refer to figure 2 Describe this embodiment in detail. This embodiment is a further description of a combined speed measurement system suitable for micro UUV described in Embodiment 1. In this embodiment, the top of the UUV is provided with a groove, and two sets of water wheels The velocity measuring devices 2 are fixed in the groove on the top of the UUV, and the high-frequency acoustic Doppler velocity measuring instrument 1 is fixed at the bottom of the UUV.

specific Embodiment approach 3

[0024] Specific implementation mode three: refer to Figure 3 to Figure 5 Describe this embodiment in detail. This embodiment is a further description of a combined speed measuring system suitable for micro-miniature UUV described in the second embodiment. In this embodiment, the water wheel speed measuring device 2 includes a water turbine and a speed measuring motor 2- 4. The water turbine includes a water wheel driving plate 2-1, a support base 2-2, a water wheel rotating shaft 2-3, a driving gear 2-5 and a driven gear 2-6;

[0025] The support base 2-2 is fixed in the groove on the top of the UUV, and one end of the water wheel rotation shaft 2-3 is rotatably fixed on the support base 2-2 through the bearing box, and one end of the water wheel rotation shaft 2-3 is along the circumferential direction Evenly fix a plurality of water wheel drive plates 2-1, the other end of the water wheel rotating shaft 2-3 is fixed with a driving gear 2-5, the driving gear 2-5 meshes with ...

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Abstract

The invention discloses a combined velocity measuring system suitable for a micro UUV, and relates to the combined velocity measuring technology for a micro unmanned underwater vehicle (UUV). The invention aims to solve the problem that a conventional Doppler velocity log (DVL) is not suitable for velocity measurement when a micro underwater vehicle performs underwater navigation at a great depth. Two groups of water wheel velocity measuring devices are of the same structure, and used for measuring ocean current velocities in a length direction and in a width direction of the UUV respectively. Output ends of the two groups of water wheel velocity measuring devices are both connected with input ends of relative velocity calculators. Output ends of the relative velocity calculators are connected with relative velocity input ends of a data fusion module. An output end of a high-frequency acoustic DVL is connected with a ground velocity input end of the data fusion module. An output end of the data fusion module is connected with an input end of an ocean current information Kalman filter which outputs ocean current information. The invention has the characteristics of being simple in structure, low in cost, small in size, light in weight, high in reliability, and capable of real-time calculation of time-varying ocean current information. The invention is suitable for measuring ocean current information.

Description

technical field [0001] The invention relates to a combined speed measurement technology of a miniature underwater unmanned vehicle (UUV). Background technique [0002] Micro unmanned underwater vehicle (UUV) has the characteristics of small size, low cost, low noise, strong maneuverability, etc., and has unique advantages for special tasks such as early warning and tracking. However, nonlinear, strong time-varying, and unpredictable ocean current disturbances have always brought great obstacles to the rapid development of micro-UUVs and the improvement of control accuracy. At present, most UUVs use a single Doppler velocimeter (DVL) as a speed and flow measurement device. The low-frequency DVL has a large distance to the bottom, but its volume and weight are large, which is not suitable for micro-small aircraft. The bottom action distance is small, but the velocity of the UUV relative to the water flow can be measured through the principle of acoustic scattering, and it is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01P5/08G01P5/24
CPCG01P5/08G01P5/241
Inventor 严浙平姜岸左张宏瀚陈涛张勋王璐
Owner HARBIN ENG UNIV
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