Anti-interference integrated deep water inertial navigation

Abstract

The present application relates to inertial navigation system technical field, particularly to an anti-interference integrated deepwater inertial navigation system, comprising an inertial navigation system, the inertive navigation system comprises a pressure hull, an inertial measurement unit inner frame, an anti-deformation pad, a Doppler log and a heat dissipation device; the top of the pressure hull is provided with an upper cover; the inertial measurement unit inner frame is installed in the pressure hull; the anti-deformation pad is installed between the base of the inertial measurement unit inner frame and the pressure hull; the Doppler log is connected with the pressure hull; the connection between the Doppler log and the pressure hull is sealed; and the heat dissipation devices are installed on the base of the inertial measurement unit inner frame.The present application realizes integrated design, integrated debugging and integrated calibration of the inertial navigation system and the Doppler log, so that the user is free from the calibration of the inertial navigation system and the Doppler log; when working in deep water, the influence of the deformation of the pressure hull on the inertial measurement unit inner frame caused by deep water pressure is greatly avoided, and the navigation information can be accurately output.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation system technology, and in particular to an anti-interference integrated deep-sea inertial navigation system. Background Technology

[0002] An inertial navigation system (INS) is an autonomous navigation device that continuously and in real-time provides information such as a vehicle's position, attitude, and velocity. Its key characteristic is its independence from external information and its immunity to weather conditions and various external interference factors. Initially used primarily by aerospace, ground, and maritime military users, inertial navigation and control systems are core technologies in modern defense systems, widely applied in aircraft, missiles, ships, submarines, tanks, and other defense applications. With decreasing costs and increasing demand, inertial navigation technology has expanded into commercial fields such as geodesy, resource exploration, geophysical surveying, marine exploration, railways, and tunnels, and is even widely used in robots, cameras, and children's toys.

[0003] Research on inertial navigation technology in China started relatively late, and related research institutions are also just beginning to explore it. Its main applications include seabed resource exploration, search and rescue, and military reconnaissance, with particularly high demand in military applications. The technologies involved mainly include temperature compensation technology, deep-sea high-pressure sealing technology, initial alignment technology, and SINS / DVL combined dead reckoning technology. The technical challenges include structural design under deep-sea high-pressure environments, data fusion algorithm design, and high-precision dynamic alignment algorithm design.

[0004] Currently, inertial navigation systems cannot achieve integrated design of inertial navigation and DVL (Doppler log). At the same time, when working in deep water, the pressure of deep water will cause slight deformation of the structure. The amount of deformation is transmitted to the inner frame of the IMU (Inertial Measurement Unit), which will cause the inertial navigation to be unable to output navigation information accurately. Secondly, in the deep water working environment, the closed working space makes it difficult for the inertial navigation to dissipate heat. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an anti-interference integrated deep-water inertial navigation system, which realizes the integrated design of inertial navigation and DVL (Doppler log), eliminates the need for users to calibrate the inertial navigation and Doppler log, can accurately output navigation information, and solves the problem of heat dissipation difficulty of inertial navigation caused by the enclosed working space.

[0006] To achieve the above and other related objectives, the present invention provides an anti-interference integrated deep-water inertial navigation system, comprising an inertial navigation system including:

[0007] The pressure chamber has a top cover installed on its roof;

[0008] The inertial measurement unit's internal frame is installed within the pressure chamber;

[0009] An anti-deformation pad is installed between the base of the inner frame of the inertial measurement unit and the pressure chamber;

[0010] A Doppler log is connected to the pressure chamber, and the connection between the Doppler log and the pressure chamber is sealed.

[0011] Multiple heat dissipation devices are mounted on the base of the inner frame of the inertial measurement unit.

[0012] In one embodiment of the present invention, the Doppler log is connected to the pressure chamber by bolts, and a positioning pin is provided between the Doppler log and the pressure chamber.

[0013] In one embodiment of the present invention, the connection between the Doppler log and the pressure chamber is provided with radial and axial seals, and the connection is sealed with an O-ring.

[0014] In one embodiment of the present invention, the heat dissipation device includes:

[0015] The heat sink is fixedly mounted on the base of the inner frame of the inertial measurement unit;

[0016] A fan is fixedly mounted on the heat sink.

[0017] A waist hole is provided on the heat sink, and the waist hole is used to pass through bolts to fix the heat sink to the base of the inner frame of the inertial measurement unit;

[0018] A clearance hole is provided on the heat sink.

[0019] In one embodiment of the present invention, an optical fiber gyroscope is mounted on the inner frame of the inertial measurement unit, and the outer surface of the optical fiber gyroscope is covered with a conductive material.

[0020] In one embodiment of the present invention, there are four heat dissipation devices, which are uniformly and symmetrically installed on the base of the inner frame of the inertial measurement unit.

[0021] In one embodiment of the present invention, the anti-deformation pad is made of nitrile rubber.

[0022] In one embodiment of the present invention, two positioning pins are provided, and the two positioning pins are symmetrically arranged between the Doppler log and the pressure chamber.

[0023] In one embodiment of the present invention, the conductive material is a conductive shielding tape or a conductive copper foil.

[0024] As described above, the anti-interference integrated deep-water inertial navigation system of the present invention has the following beneficial effects:

[0025] The anti-interference integrated deep-water inertial navigation system of this invention incorporates a high-precision Doppler log, realizing integrated design, debugging, and calibration of the inertial navigation and DVL (Doppler Volume Tracking) systems. It can be used directly after delivery to the user, eliminating the need for the user to calibrate the inertial navigation and Doppler log. At the same time, it is designed with anti-deformation pads, which greatly avoid the impact of pressure tank deformation caused by deep-water pressure on the internal frame of the inertial measurement unit during deep-water operation, enabling accurate output of navigation information.

[0026] The anti-interference integrated deep-water inertial navigation system of this invention achieves both conductive and convective heat dissipation in a closed underwater environment, resulting in good heat dissipation performance.

[0027] The anti-interference integrated deep-water inertial navigation system of this invention addresses the electromagnetic interference problem caused by high-power underwater equipment. It adopts an anti-electromagnetic interference design to ensure the normal operation of the inertial navigation system and greatly reduces the electromagnetic interference caused by high-power equipment to the structure. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the front view structure of an anti-interference integrated deep-water inertial navigation system provided in an embodiment of this application.

[0029] Figure 2 This is a cross-sectional structural diagram of an anti-interference integrated deep-water inertial navigation system provided in an embodiment of this application.

[0030] Figure 3 This is a schematic diagram of the installation and positioning of an anti-interference integrated deep-water inertial navigation system provided in an embodiment of this application.

[0031] Figure 4 This is a schematic diagram illustrating the anti-deformation design of an integrated anti-interference deep-water inertial navigation system provided in an embodiment of this application.

[0032] Figure 5 This is a schematic diagram of the heat dissipation device layout for an integrated anti-interference deep-sea inertial navigation system provided in an embodiment of this application.

[0033] Figure 6 This is a schematic diagram of a heat dissipation device for an integrated anti-interference deep-sea inertial navigation system provided in an embodiment of this application.

[0034] Figure 7 This is a schematic diagram of the installation of a heat dissipation device for an integrated anti-interference deep-sea inertial navigation system provided in an embodiment of this application.

[0035] Figure 8 This is a schematic diagram of an integrated anti-interference deep-sea inertial navigation system provided in an embodiment of this application to prevent electromagnetic interference.

[0036] Component designation explanation

[0037] 1. Inertial Navigation System

[0038] 2. Doppler log

[0039] 3. Positioning pins

[0040] 4 Anti-deformation pad

[0041] 5. Heat dissipation device

[0042] 6 heat sinks

[0043] 7 fans

[0044] 8. Waist holes

[0045] 9. Leaving hole

[0046] 10 Contact surfaces

[0047] 11. Conductive Materials

[0048] 12 Fiber Optic Gyroscopes

[0049] 13 Pressure Chamber

[0050] 14. Inertial Measurement Unit Internal Frame Detailed Implementation

[0051] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0052] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0053] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 1 This is a schematic diagram of the front view structure of an anti-interference integrated deep-water inertial navigation system provided in an embodiment of this application. Figure 2 This is a cross-sectional structural diagram of an anti-interference integrated deep-water inertial navigation system provided in an embodiment of this application. Figure 3 This is a schematic diagram of the installation and positioning of an anti-interference integrated deep-water inertial navigation system provided in an embodiment of this application. Figure 4 This is a schematic diagram illustrating the anti-deformation design of an integrated anti-interference deep-water inertial navigation system provided in an embodiment of this application. Figure 5 This is a schematic diagram of the heat dissipation device layout for an integrated anti-interference deep-sea inertial navigation system provided in an embodiment of this application. The integrated anti-interference deep-sea inertial navigation system of the present invention includes an inertial navigation system 1, which includes, but is not limited to, a pressure chamber 13, an inertial measurement unit inner frame 14, an anti-deformation pad 4, a Doppler logger 2, and heat dissipation devices 5. A top cover is installed on the top of the pressure chamber 13. The inertial measurement unit inner frame 14 is installed within the pressure chamber 13. The anti-deformation pad 4 is installed between the base of the inertial measurement unit inner frame 14 and the pressure chamber 13. The Doppler logger 2 is connected to the pressure chamber 13, and the connection between the Doppler logger 2 and the pressure chamber 13 is sealed. Multiple heat dissipation devices 5 are installed on the base of the inertial measurement unit inner frame 14.

[0054] Specifically, two positioning pins 3 are provided, symmetrically arranged between the Doppler log 2 and the pressure chamber 13. Using two positioning pins 3 for positioning achieves integrated installation of the Doppler log and the inertial navigation system, enabling integrated debugging and calibration of the inertial navigation and Doppler log, allowing for direct use after delivery to the user.

[0055] Specifically, the anti-interference integrated deep-water inertial navigation system of this invention changes the traditional installation method. It no longer uses adapter plates to connect the inertial navigation system and the Doppler log separately. Instead, the Doppler log 2 is connected to the pressure chamber 13 via four M8 titanium alloy bolts. The connection is sealed with both radial and axial seals, using nitrile O-rings for sealing. Two locating pins 3 are used for positioning. The machining accuracy of the locating pins 3 is h7, and the machining accuracy of the pin holes is G8. This anti-interference integrated deep-water inertial navigation system can be used directly after delivery to the user, eliminating the need for subsequent product calibration.

[0056] Specifically, the anti-deformation pad 4 is made of nitrile rubber. The anti-deformation pad 4 achieves anti-deformation design for deep-water inertial navigation. It is fixed by bolts passing through the anti-deformation pad 4 to secure the inner frame 14 of the inertial measurement unit. Multiple tests have shown that when tightening the bolts of the inner frame 14 of the inertial measurement unit, using a torque wrench to achieve the optimal compression of the four anti-deformation pads 4 to one-third of their axial height is most effective. Through the design of the anti-deformation pad 4, the deformation of the pressure tank 13 caused by deep-water pressure can be greatly prevented from affecting the inner frame 14 of the inertial measurement unit.

[0057] Specifically, in the underwater working environment of 6000 meters, the structural deformation at the connection between the pressure chamber 13 and the inner frame 14 of the inertial measurement unit is between 0.6mm and 0.8mm. This deformation affects the support of the inner frame 14 of the inertial measurement unit, directly impacting the working accuracy of the inertial navigation product. Through material selection and testing, a nitrile NBR90 anti-deformation pad was selected and installed at the connection between the inner frame 14 of the inertial measurement unit and the pressure chamber 13. During tightening, the compression of the anti-deformation pad is ensured to be one-third of its own height.

[0058] Please see Figure 6 , Figure 7 , Figure 6 This is a schematic diagram of a heat dissipation device for an integrated anti-interference deep-sea inertial navigation system provided in an embodiment of this application. Figure 7 This is a schematic diagram of the installation of a heat dissipation device for an integrated anti-interference deep-sea inertial navigation system provided in an embodiment of this application. The heat dissipation device 5 includes, but is not limited to, a heat sink 6, a fan 7, a recessed hole 8, and a clearance hole 9. The heat sink 6 is fixedly installed on the base of the inner frame 14 of the inertial measurement unit. The fan 7 is fixedly installed on the heat sink 6. The recessed hole 8 is provided on the heat sink 6 and is used to pass bolts through it to fix the heat sink 6 to the base of the inner frame 14 of the inertial measurement unit. The clearance hole 9 is provided on the heat sink 6.

[0059] Specifically, the anti-interference integrated deep-water inertial navigation system of this invention achieves heat dissipation, mainly through conduction and convection. Four metal heat sinks 6 and four fans 7 are used to achieve conduction and convection heat dissipation in the underwater confined environment. This invention designs four flexibly installable heat sinks 6, unlike previous methods where heat sinks directly protrude from the structure and connect to the pressure tank for heat dissipation. This invention allows adjustment of the distance between the heat sinks 6 and the inner wall of the pressure tank 13, eliminating installation problems caused by manufacturing errors. Simultaneously, fans 7 are installed on the heat sinks 6, providing both conduction and convection heat dissipation. The four heat dissipation devices 5 are evenly and symmetrically installed on the base of the inner frame 14 of the inertial measurement unit. The purpose of using the waist holes 8 for fixing during installation is to adjust the position of the heat sinks 6, ensuring they are tightly against the inner wall of the pressure tank 13 to achieve the effect of conduction heat dissipation. The contact surface 10 between the heat dissipation device 5 and the inner wall of the pressure chamber 13 does not require the use of heat dissipation plates to fill the gaps; thermal grease can be applied directly. To ensure a compact and reasonable structural arrangement, clearance holes 9 are designed to allow for clearance, and the heat dissipation device 5 is installed only after the entire structure is installed.

[0060] Please see Figure 8 , Figure 8This is a schematic diagram illustrating the electromagnetic interference (EMI) protection of an integrated anti-interference deep-sea inertial navigation system provided in this application embodiment. A fiber optic gyroscope 12 is mounted on the inner frame 14 of the inertial measurement unit, and the outer surface of the fiber optic gyroscope 12 is covered with a conductive material 11. The integrated anti-interference deep-sea inertial navigation system of this invention achieves EMI protection for deep-sea inertial navigation, primarily by providing electromagnetic shielding for the electromagnetically sensitive fiber optic gyroscope 12. By covering the fiber optic gyroscope 12 with conductive shielding tape or conductive copper foil, and simultaneously using a wave-damping sleeve for the conductors, the EMI protection performance of the fiber optic gyroscope 12 is achieved. This invention significantly reduces the EMI caused by high-power equipment by covering the surface of the fiber optic gyroscope 12 with conductive shielding tape or conductive copper foil. The conductive material covering the surface of the fiber optic gyroscope 12, along with the wave-damping sleeve for the conductors to enhance the effect, achieves the EMI protection performance of the fiber optic gyroscope.

[0061] In summary, the anti-interference integrated deep-water inertial navigation system of this invention incorporates a high-precision Doppler log, achieving integrated design, debugging, and calibration of the inertial navigation and DVL systems. It can be used directly after delivery to the user, eliminating the need for user calibration of the inertial navigation and Doppler log systems. Furthermore, the design incorporates an anti-deformation pad, which greatly reduces the impact of deformation of the pressure chamber 13 caused by deep-water pressure on the inner frame 14 of the inertial measurement unit during deep-water operations, enabling accurate output of navigation information.

[0062] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. An anti-jamming integrated deep water inertial navigation system, characterized in that, The inertial navigation system (1) comprises: a pressure cabin (13) with an upper cover mounted on the top; an inertial measurement unit inner frame (14) installed in the pressure cabin (13); an anti-deformation pad (4) installed between the base of the inertial measurement unit inner frame (14) and the pressure cabin (13); a Doppler log (2) connected with the pressure cabin (13), and the connection between the Doppler log (2) and the pressure cabin (13) is sealed; a plurality of heat dissipation devices (5) installed on the base of the inertial measurement unit inner frame (14); the Doppler log (2) is connected with the pressure cabin (13) by bolts, and a positioning pin (3) is arranged between the Doppler log (2) and the pressure cabin (13); the connection between the Doppler log (2) and the pressure cabin (13) adopts radial sealing and axial sealing, and is sealed by an O-shaped sealing ring; the heat dissipation device (5) comprises: a heat sink (6) fixedly installed on the base of the inertial measurement unit inner frame (14); a fan (7) fixedly installed on the heat sink (6); a waist hole (8) arranged on the heat sink (6), the waist hole (8) being used for fixing the heat sink (6) to the base of the inertial measurement unit inner frame (14) by passing through a bolt; a let-out hole (9) arranged on the heat sink (6); the anti-deformation pad (4) is made of nitrile rubber; the compression amount of the four anti-deformation pads (4) reaches one third of the axial height.

2. The anti-jamming integrated deep water inertial navigation system according to claim 1, wherein: The inertial measurement unit inner frame (14) is provided with a fiber-optic gyroscope (12), and the outer surface of the fiber-optic gyroscope (12) is coated with a conductive material (11).

3. The anti-jamming integrated deep water inertial navigation system according to claim 1, wherein: The number of the heat dissipation devices (5) is four, and the four heat dissipation devices (5) are uniformly and symmetrically installed on the base of the inertial measurement unit inner frame (14).

4. The anti-jamming integrated deep water inertial navigation system according to claim 1, wherein: The positioning pin (3) is provided with two, and the two positioning pins (3) are symmetrically arranged between the Doppler log (2) and the pressure cabin (13).

5. The anti-jamming integrated deep water inertial navigation system according to claim 2, wherein: The conductive material (11) is a conductive shielding adhesive tape or a conductive copper foil.

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