Expandable sliding sleeve type photoelectric surrounding view detecting buoy carried on underwater carrier and detecting method ofexpandable sliding sleeve type photoelectric surrounding view detecting buoy

Abstract

The invention discloses an expandable sliding sleeve type photoelectric surrounding view detecting buoy carried on an underwater carrier and a detecting method of the expandable sliding sleeve type photoelectric surrounding view detecting buoy. The expandable sliding sleeve type photoelectric surrounding view detecting buoy carried on the underwater carrier can reinforce the stealthiness of remoteenvironment situation real-time perception of the underwater carrier and increase / improve the detecting distance and positioning accuracy of the underwater carrier for a water surface target and an aerial target. The buoy achieves real-time two-way communication with a UUV through optical fibers, can obtain the environment situation of a water area where the buoy is located, passes surrounding view reconnaissance images back to the UUV, can extract the target within visible light or infrared wave sections from water surface and aerial background images, real-timely resolves the azimuthal angle and pitching angle of the target under the ENU coordinate system relative to the UUV by utilizing the three-dimensional attitude angle of the photoelectric surrounding view detecting buoy, the rotary angle of an azimuthal mechanism, the rotary angle of a pitching mechanism and the transverse and longitudinal video deviation quantity of the target, and uploads the azimuthal angle and pitching angle to the UUV through an optical fiber transmission module. The photoelectric detecting distanceand guiding accuracy are improved by an order magnitude compared with traditional sonar.

Description

technical field [0001] The invention belongs to the technical field of photoelectric detection, and relates to an extendable sliding sleeve type photoelectric peripheral detection buoy equipped with an underwater carrier, in particular to a UUV-suitable internal detection buoy capable of release, autonomous floating, underwater attitude change, and water surface attitude. A photoelectric perimeter detection buoy with stable, perimeter detection, autonomous positioning, and target indication functions. Background technique [0002] At present, in order to meet the needs of real-time perception of the long-distance environmental situation at sea and the acquisition of water surface and aerial images in the far-field sea area, underwater vehicles can only use their own sonar, photoelectric mast or periscope to detect water surface or air targets. The premise of the use of photoelectric masts and periscopes is that the underwater vehicle should be in a snorkel or periscope state...

AI Technical Summary

Problems solved by technology

The prerequisite for the use of photoelectric masts and periscopes is that the underwater vehicle must be in a snorkel or periscope state, which is easy to be found, and the periscope height is low and cannot be observed from a long distance

[0003] The usual method is that the underwater vehicle travels to the predetermined sea area to obtain it directly. Obviously, the disadvantage of this method is that it poses a threat to the safety of the underwater vehicle itself.

In addition, due to the large size of the underwater vehicle, the surface tracks and underwater waves trailing behind it during the voyage stretch for several kilometers and last for a long time, and the concealment is poor.

Therefore, the current real-time long-distance situational awareness of underwater vehicles and the acquisition of far-field sea surface and aerial images have poor concealment and a high degree of danger.

[0004] In addition, for the underwater vehicle in the underwater cruising state, due to the clutter of the underwater acoustic environment, driving noise, and reflection noise from the seabed topography, the sonar detection range and guidance accuracy are greatly limited, so that the wake self-guidance and passive acoustic self-guidance The detection distance of surface targets does not exceed 3km, and the guidance accuracy is only 5°~10°

That is to say, the detection range and positioning accuracy capabilities of underwater vehicles to detect and locate surface and air targets are insufficient

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