A calibration tool

Abstract

The embodiment of the present invention discloses a calibration tool, which is characterized in that it includes: a main bracket, a protective cover, a box body and a connecting component; the main bracket includes a first fixing frame, a second fixing frame and a vertical plate, the first fixing frame is fixed on one side of the vertical plate near the upper end position, and the second fixing frame is fixed on the other side of the vertical plate near the lower end position; the box body is fixed on the upper surface of the first fixing frame, and is used to cover the outside of the strapdown inertial navigation component; the protective cover is sleeved on the periphery of the first fixing frame; one end of the connecting component is fixed to the main bracket, and the other end passes through the protective cover, and the connecting component is used to connect to the hull to be measured. The strapdown inertial navigation component, Doppler odometer transducer and acoustic correlation odometer transducer are accurately positioned to improve the positioning accuracy of the navigation of the submersible.

Description

Technical Field

[0001] The present invention relates to the field of underwater vehicles, and in particular to a calibration tool. Background Art

[0002] The submersible can carry a variety of sensors and special equipment to perform specific missions and tasks, and can realize the integration of long-range detection, communication and navigation. With the speed and diving depth of large-diameter unmanned submersibles, the accuracy requirements for marine target detection are getting higher and higher. At present, the inertial navigation system is the main autonomous positioning method for submersibles. Its autonomous positioning accuracy continues to deteriorate as the underwater navigation time of the submersible increases. It is an effective method to correct the position of the submersible with the help of some precise calibration objects to improve the navigation accuracy of the submersible.

[0003] The navigation system includes autopilot, strapdown inertial navigation components, Doppler odometer, acoustic correlation odometer and other components. The accuracy and relative installation error of the strapdown inertial navigation components and Doppler velocimeter are the main factors affecting navigation accuracy. This is due to factors such as the machining accuracy, assembly accuracy of the strapdown inertial navigation components and Doppler transducer installation parts, and the deviation of the Doppler velocity axis relative to its own installation reference. After the navigation system components are assembled, there is an angle between the strapdown inertial navigation components and the forward velocity axis of the Doppler transducer. If this angle is not calibrated and compensated in the strapdown inertial navigation component software, it will inevitably cause the combined navigation position deviation of the carrier, affecting the navigation accuracy. At the same time, the scale factor deviation of the Doppler odometer will also affect the navigation accuracy.

[0004] There is currently no effective solution to the problem of low navigation and positioning accuracy of submersibles in the prior art. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a calibration tool, which fixes the strapdown inertial navigation component, the Doppler odometer and the acoustic correlation odometer to the calibration tool to calibrate the accuracy, thereby solving the problem of low navigation and positioning accuracy of the submersible.

[0006] In order to achieve the above-mentioned purpose, the present application provides a calibration tool, including: a main bracket, a protective cover, a box body and a connecting assembly; the main bracket includes a first fixing frame, a second fixing frame and a vertical plate, the first fixing frame is fixed on one side of the vertical plate near the upper end position, and the second fixing frame is fixed on the other side of the vertical plate near the lower end position; the box body is fixed on the upper surface of the first fixing frame, and is used to cover the outside of the strapdown inertial navigation assembly; the protective cover is sleeved on the periphery of the first fixing frame; one end of the connecting assembly is fixed to the main bracket, and the other end passes through the protective cover, and the connecting assembly is used to be connected to the hull to be measured.

[0007] Further optionally, the first fixing frame includes: a first fixing plate and a first reinforcing rib; the first fixing plate is vertically fixed to the vertical plate; there are at least three first reinforcing ribs, which are distributed in parallel on the lower surface of the first fixing plate, one side of the first reinforcing rib is connected to the lower surface of the first fixing plate, and the other side is connected to the vertical plate; the box body is fixed to the upper surface of the first fixing plate.

[0008] Further optionally, a first mounting hole is formed on the upper surface of the first fixing plate, for fixing the strapdown inertial navigation assembly on the first fixing plate.

[0009] Further optionally, the second fixing frame includes: the second fixing frame includes: a second fixing plate, a side plate and a second reinforcing rib; the second fixing plate is vertically fixed to the vertical plate; there are two side plates, which are respectively fixed on both sides of the second fixing plate; a plurality of second reinforcing ribs are provided at the angle formed by the side plate and the vertical plate and between the side plates.

[0010] Further optionally, the second fixing plate is provided with a plurality of second mounting holes for mounting various types of transducers.

[0011] Further optionally, the protective cover is a hollow semi-elliptical shape, and an opening edge thereof is connected to the main bracket via a connecting plate.

[0012] Further optionally, a sealing gasket is provided at the connection position between the box body and the first fixing frame.

[0013] Further optionally, a cable hole is opened on the side of the box body; the cable hole is equipped with a watertight cable socket, and the socket is connected to at least two watertight cables.

[0014] Further optionally, the connecting assembly includes a connecting seat and a connecting column; the connecting seat is fixed to the upper surface of the first fixing frame; and the connecting column is vertically fixed to the connecting seat.

[0015] The above technical solution has the following beneficial effects: a main bracket is set, a strapdown inertial navigation component, a Doppler odometer and an acoustic correlation odometer are fixed on the main bracket, and a box body and a protective cover are set outside the strapdown inertial navigation component to avoid the influence of water flow, facilitate active calibration of preset calibration points of the navigation system, and correct navigation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a schematic structural diagram of a calibration tool provided in an embodiment of the present invention;

[0018] Figure 2 is a schematic structural diagram of a main support provided by an embodiment of the present invention;

[0019] Figure 3 The present invention is a block diagram of the navigation system ship calibration system provided by an embodiment of the present invention.

[0020] Reference numerals: 1-main support 101-first fixing frame 1011-first fixing plate 1012-first reinforcing rib 102-second fixing frame 1021-second fixing plate 1022-side plate 1023-second reinforcing rib 1024-second mounting hole 103-vertical plate 2-protective cover 3-box body 4-connecting assembly 401-connecting column 402-connecting seat 5-connecting plate DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In the prior art, after the navigation system components are assembled, there is an angle between the strapdown inertial navigation component and the forward velocity axis of the Doppler transducer. If the angle is not calibrated and compensated in the strapdown inertial navigation component software, it will inevitably cause the combined navigation position deviation of the carrier and affect the navigation accuracy. At the same time, the scale factor deviation of the Doppler odometer will also affect the navigation accuracy.

[0023] In order to solve the above-mentioned problem of inaccurate precision, an embodiment of the present invention provides a calibration tool. Figure 1 A schematic diagram of the structure of the calibration tool provided in an embodiment of the present invention, such as Figure 1As shown, the calibration tooling includes: a main bracket 1, a protective cover 2, a box body 3 and a connecting component 4; the main bracket 1 includes a first fixing frame 101, a second fixing frame 102 and a vertical plate 103, the first fixing frame 101 is fixed on one side of the vertical plate 103 near the upper end position, and the second fixing frame 102 is fixed on the other side of the vertical plate 103 near the lower end position; the box body 3 is fixed on the upper surface of the first fixing frame 101, and is used to cover the outside of the strapdown inertial navigation component; the protective cover 2 is sleeved on the periphery of the first fixing frame 101; one end of the connecting component 4 is fixed to the main bracket 1, and the other end passes through the protective cover 2, and the connecting component 4 is used to be connected to the hull to be measured.

[0024] like Figure 1 As shown, the main bracket 1 includes a first fixing frame 101 and a second fixing frame 102 extending on both sides of the vertical plate 103 as the axis. The first fixing frame 101 and the second fixing frame 102 are respectively arranged on both sides of the vertical plate 103 and fixed on the vertical plate 103. Among them, the first fixing frame 101 is used to fix the strapdown inertial navigation component, and the second fixing frame 102 is used to fix the Doppler speedometer transducer (shallow water speedometer transducer) and the acoustic correlation speedometer transducer (i.e., deep water speedometer transducer). The vertical plate 103, as a component that plays a connecting and supporting role, is made of rigid material. In addition, in order to reduce the weight of the calibration tooling and reduce the water flow resistance, the vertical plate 103 is preferably set as a partially hollow structure.

[0025] Since the calibration tool is completely submerged in water when in use, the influence of water flow on the tool needs to be considered. A box body 3 is fixed on the upper surface of the first fixing frame 101. The box body 3 is hollow and contains a strapdown inertial navigation component. The box body 3 is made of high-density material and has a certain rigidity to prevent water flow from penetrating into the box body 3 and affecting the strapdown inertial navigation component.

[0026] A connecting assembly 4 is also fixed on the upper surface of the first fixing frame 101 , one end of the connecting assembly 4 is fixed to the first fixing frame 101 , and the other end is connected to the mounting frame of the hull to be tested, so that the calibration tooling and the hull to be tested sail synchronously.

[0027] As an optional implementation, Figure 2 Schematic diagram of the structure of the main support 1 provided in an embodiment of the present invention. Figure 2 As shown, the first fixing frame 101 includes: a first fixing frame plate 1011 and a first reinforcing rib 1012; the first fixing frame plate 1011 is vertically fixed to the vertical plate 103; there are at least three first reinforcing ribs 1012, which are distributed in parallel on the lower surface of the first fixing frame plate 1011, one side of the first reinforcing rib 1012 is connected to the lower surface of the first fixing frame plate 1011, and the other side is connected to the vertical plate 103; the box body 3 is fixed to the upper surface of the first fixing frame plate 1011.

[0028] like Figure 2 As shown, the first fixing frame 101 is composed of a first fixing frame plate 1011 and a first reinforcing rib 1012, and the first fixing frame plate 1011 is vertically fixed on one side of the vertical plate 103. In this embodiment, the first fixing frame plate 1011 is flush with the upper end surface of the vertical plate 103. A plurality of first reinforcing ribs 1012 are provided on the lower surface of the first fixing frame plate 1011, and the first reinforcing ribs 1012 are angle ribs, which are fixed at the vertical angle between the first fixing frame plate 1011 and the vertical plate 103 to fix the relative position of the first fixing frame plate 1011 and the vertical plate 103, ensure the rigidity of the first fixing frame plate 1011, and prevent the first fixing frame 101 from deforming when sailing underwater. As a preferred embodiment, there are three first reinforcing ribs 1012, which are parallelly distributed on the lower surface of the first fixing frame plate 1011, two of which are respectively fixed at the edge positions of the lower surface of the first fixing frame plate 1011, and the other is fixed at the middle position of the lower surface of the first fixing frame plate 1011. In addition, in order to reduce the weight of the calibration tooling and reduce the water flow resistance, the first fixing frame plate 1011 and the first reinforcing rib 1012 are preferably configured as a partially hollow structure.

[0029] As an optional implementation manner, a first mounting hole is formed on the upper surface of the first fixing frame plate 1011 , which is used to fix the strapdown inertial navigation assembly on the first fixing frame plate 1011 .

[0030] The upper surface of the first fixing frame plate 1011 is provided with a first mounting hole, and the first mounting hole is adapted to the strapdown inertial navigation assembly. The strapdown inertial navigation assembly is mounted on the first mounting hole to achieve the fixing of the strapdown inertial navigation assembly on the first fixing frame 101. After the strapdown inertial navigation assembly is installed, a box body 3 is sleeved on its outer side to achieve the protection of the box body 3 to the internal strapdown inertial navigation assembly during underwater navigation. In addition, the relative distance between the position of the first mounting hole and other transducers is a preset distance.

[0031] As an optional implementation, Figure 2 As shown, the second fixing frame 102 includes: a second fixing plate 1021, a side plate 1022 and a second reinforcing rib 1023; the second fixing plate 1021 is vertically fixed to the vertical plate 103; there are two side plates 1022, which are respectively fixed on both sides of the second fixing plate 1021; the angle formed by the side plate 1022 and the vertical plate 103 and a plurality of second reinforcing ribs 1023 are provided between the side plates 1022.

[0032] like Figure 2As shown, the second fixing frame 102 is composed of a second fixing plate 1021, a side plate 1022 and a second reinforcing rib 1023. The second fixing plate 1021 is vertically fixed to the vertical plate 103, and the second fixing plate 1021 is fixed to the side opposite to the first fixing frame 101. In this embodiment, the second fixing plate 1021 is flush with the lower end surface of the vertical plate 103. The side plates 1022 are right-angled triangle structures, and there are two of them, which are respectively fixed on both sides of the first fixing frame plate 1011, and the two side plates 1022 are parallel to each other. One right-angled side of each side plate 1022 is fixed to the upper surface of the first fixing frame plate 1011, and the other right-angled side is fixed to the vertical plate 103 to maintain the rigidity of the second fixing frame 102.

[0033] In addition, a second reinforcing rib 1023 is fixed at the vertical angle formed by the side plate 1022 and the vertical plate 103. In this embodiment, three second reinforcing ribs 1023 are arranged at each vertical angle formed by the side plate 1022 and the vertical plate 103, and the three second reinforcing ribs 1023 are distributed in parallel. As an optional embodiment, the second reinforcing rib 1023 is an angle rib.

[0034] A plurality of second reinforcing ribs 1023 are provided between the parallel side plates 1022. The second reinforcing ribs 1023 are vertically fixed between the two side plates 1022 and / or obliquely fixed between the two side plates 1022 to maintain the rigidity of the second fixing frame 102. As an optional embodiment, the second reinforcing ribs 1023 are angle ribs or round ribs. In addition, in order to reduce the weight of the calibrated tooling and reduce the water flow resistance, the second fixing plate 1021 and the second reinforcing ribs 1023 are preferably configured as a partially hollow structure.

[0035] As an optional implementation, Figure 2 As shown, the second fixing plate 1021 is provided with a plurality of second mounting holes 1024 for mounting various transducers.

[0036] The upper surface of the second fixing plate 1021 is provided with a second mounting hole 1024. There are at least two second mounting holes 1024, and the distance between the two mounting holes is set to a preset value as required, and the distance between the two mounting holes and the box body 3 is also set to a preset value as required. In this embodiment, mounting holes adapted to the shallow water log transducer and the deep water log transducer are provided so that the shallow water log transducer and the deep water log transducer can be mounted on the second fixing plate 1021. As a specific implementation, the second mounting hole 1024 with a diameter of Φ173 is used to fix the submersible log circulator, and the mounting hole with a diameter of Φ207 is used to fix the deep water log circulator. The watertight sockets of the two transducers are connected to the other two watertight cables, and the other ends of the watertight cables are respectively connected to the chassis of the Doppler log and the acoustic correlation log, and the log chassis is connected to the ship-borne inspection and control system to realize the power supply and communication of the transducer.

[0037] As an optional implementation, Figure 1 As shown, the protective cover 2 is a hollow semi-elliptical shape, and its opening edge is connected to the main bracket 1 through a connecting plate 5.

[0038] like Figure 1 As shown, on the basis of the above scheme, the outer side of the first fixing frame 101 is provided with a protective cover 2, which is semi-elliptical as a whole, with an outer surface in a streamlined shape and hollow inside. The end with a smaller diameter faces the heading direction, and the end with a larger diameter is open, and its opening edge is fixed to the main bracket 1 through a connecting plate 5. In this embodiment, the connecting plate 5 is a round frame, and a first protruding block extends inward from the inner side of the round frame. The vertical plate 103 is provided with a second protruding block extending to both sides, and the second protruding block is semicircular. The first protruding block is fixedly connected to the second protruding block to realize the connection between the main bracket 1 and the connecting plate 5. In addition, the diameter of the connecting plate 5 is consistent with the diameter of the opening of the protective cover 2, and its circumference is fixedly connected to the opening edge of the protective cover 2 to realize the connection between the connecting plate 5 and the protective cover 2. As an optional embodiment, the protective cover 2 is provided with a recess at the position where the connecting component 4 passes through, and the connecting plate 5 is provided with an opening at the position where the connecting component 4 passes through, so as to facilitate the passing of the connecting component 4.

[0039] As an optional implementation, a sealing gasket is provided at the connection position between the box body 3 and the first fixing frame 101 .

[0040] In order to prevent water from seeping into the box body 3 when the calibration tool is underwater, a sealing gasket is provided at the position where the box body 3 is connected to the first fixing frame 101 to reduce the possibility of external water flow entering.

[0041] As an optional implementation, a cable hole is opened on the side of the box body 3; the cable hole is equipped with a watertight cable socket, and the socket is connected to at least two watertight cables.

[0042] The strapdown inertial navigation assembly inside the box body 3 needs to be electrically connected to the shipboard inspection and control system outside the box body 3, so the cable needs to pass through the box body 3. For this purpose, a cable hole is opened on the side of the box body 3, and a socket is set at the position of the cable hole to allow the watertight cable to pass through. The watertight cable is the power supply and communication cable of the strapdown inertial navigation assembly, and the watertight cable can withstand a water pressure of not less than 2.4MPa to avoid the influence of water pressure on the cable during deep-water navigation.

[0043] As an optional implementation, the connection component 4 includes a connection seat 402 and a connection column 401 ; the connection seat 402 is fixed on the upper surface of the first fixing frame 101 ; the connection column 401 is vertically fixed to the connection seat 402 .

[0044] like Figure 1As shown, the connection seat 402 is fixed on the upper surface of the first fixing frame 101, the connection column 401 is fixed on the upper surface of the connection seat 402, and there are at least three connection columns 401, which are evenly arranged on the connection seat 402. The free end of the connection column 401 is fixed on the mounting frame of the hull to be tested. In actual testing, the entire calibration tool is completely submerged in water.

[0045] Figure 3 FIG. 1 is a structural block diagram of a navigation system ship calibration system provided by an embodiment of the present invention. Figure 3 As shown in the figure, the navigation system ship calibration is divided into the navigation accuracy calibration of the strapdown inertial navigation group and the Doppler log combined navigation, that is, the shallow water combined navigation calibration; the other is the navigation accuracy calibration of the strapdown inertial navigation group and the acoustic correlation log combined navigation, that is, the deep water combined navigation calibration. Each navigation system ship calibration can complete the accuracy calibration of one navigation mode.

[0046] The power supply system provides power for the Doppler odometer, acoustic correlation odometer and strapdown inertial navigation components; the function of the GPS positioning device is to actively calibrate the longitude and latitude of the location point in real time and accurately locate the location point, complete the active calibration of the navigation system's preset calibration points, and correct the navigation error; the main function of the shipboard inspection and control system is to complete the coordination of the navigation system calibration process, the start of the calibration program, and the judgment of the calibration.

[0047] When the calibration vessel is equipped with calibration equipment and sails to the preset point, the whole system is powered on, and the initial alignment of the inertial navigation component is completed through the GPS positioning device, the shipboard inspection and control system selects the navigation combination mode, issues the navigation system calibration command, and the calibration vessel maintains the same preset speed and sails in a straight line to the next target point, performs active calibration, and revises the assembly deviation of the navigation system. After the shipboard inspection and control system determines that the active calibration is successful, it performs the bow and stern active calibration of the next waypoint. Repeat the active calibration of three route sections in this way. If the three active calibrations are successful, the shipboard inspection and control system will issue a calibration success command to complete the accuracy calibration of the preset navigation combination mode.

[0048] The above technical solution has the following beneficial effects: by setting up the main bracket 1, the strapdown inertial navigation assembly, the Doppler log transducer and the acoustic correlation log transducer are accurately calibrated, the real-time correction of the position of the submersible in the underwater concealed working mode is solved, and the navigation system of the submersible is calibrated on a ship to improve the navigation accuracy of the submersible. A protective cover 2 is provided on the outside of the main bracket 1 to reduce the influence of the water flow on the strapdown inertial navigation assembly, the Doppler log transducer and the acoustic correlation log transducer during the test, and multiple reinforcing ribs are provided to strengthen the rigidity of the calibration tooling to avoid deformation due to water pressure.

[0049] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A calibration tool, characterized in that: include: Main bracket, protective cover, box body and connecting components; The main bracket includes a first fixing frame, a second fixing frame and a vertical plate, wherein the first fixing frame is fixed on one side of the vertical plate near the upper end, and the second fixing frame is fixed on the other side of the vertical plate near the lower end; The box body is fixed to the upper surface of the first fixing frame and is used to cover the outside of the strapdown inertial navigation assembly; The protective cover is sleeved on the periphery of the first fixing frame; One end of the connecting component is fixed to the main bracket, and the other end passes through the protective cover. The connecting component is used to be connected to the hull to be tested.

2. The calibration tool according to claim 1, characterized in that: The first fixing frame includes: a first fixing plate and a first reinforcing rib; The first fixing plate is vertically fixed to the vertical plate; There are at least three first reinforcing ribs, which are distributed in parallel on the lower surface of the first fixing plate, one side of the first reinforcing rib is connected to the lower surface of the first fixing plate, and the other side is connected to the vertical plate; The box body is fixed on the upper surface of the first fixing plate.

3. The calibration tool according to claim 2, characterized in that: A first mounting hole is formed on the upper surface of the first fixing plate, and is used to fix the strapdown inertial navigation assembly on the first fixing plate.

4. The calibration tool according to claim 1, characterized in that: The second fixing frame includes: a second fixing plate, a side plate and a second reinforcing rib; The second fixing plate is vertically fixed to the vertical plate; There are two side panels, which are respectively fixed on two sides of the second fixing plate; A plurality of the second reinforcing ribs are provided at the angle formed by the side plate and the vertical plate and between the side plates.

5. The calibration tool according to claim 4, characterized in that: The second fixing plate is provided with a plurality of second mounting holes for mounting various transducers.

6. The calibration tool according to claim 1, characterized in that: The protective cover is in a hollow semi-elliptical shape, and the opening edge of the protective cover is connected to the main bracket through a connecting plate.

7. The calibration tool according to claim 1, characterized in that: A sealing gasket is provided at the connection position between the box body and the first fixing frame.

8. The calibration tool according to claim 1, characterized in that: A cable hole is provided on the side of the box body; The cable hole is equipped with a watertight cable socket, and the socket is connected with at least two watertight cables.

9. The calibration tool according to claim 1, characterized in that: The connecting assembly includes a connecting seat and a connecting column; The connecting seat is fixed on the upper surface of the first fixing frame; The connecting column is vertically fixed to the connecting seat.

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