A comprehensive measurement system for ice-breaking experiment of a spacecraft under reduced pressure and low temperature conditions

Abstract

This invention provides a comprehensive measurement system for icebreaking experiments on aircraft under decompression and cryogenic conditions. The system includes an experimental water tank, an ambient temperature monitoring system, a projectile measurement system, a launch tube measurement system, an ambient pressure monitoring system, an image measurement system, and a data acquisition system. The ambient temperature monitoring system is installed inside the experimental water tank, and the ambient pressure monitoring system is installed on the inner side wall of the experimental water tank. The projectile measurement system includes a projectile model placed in the water inside the experimental water tank. The launch tube measurement system includes a launch tube installed inside the experimental water tank, with the bottom of the projectile model abutting the top of the launch tube. The image measurement system and the data acquisition system are located outside the experimental water tank. This invention can effectively measure atmospheric pressure, atmospheric temperature, and water ambient temperature in the experimental environment. Monitoring pressure and temperature is of great significance for accurately controlling influencing factors in the experiment and ensuring the accuracy and repeatability of the experiment.

Description

Technical Field

[0001] This invention relates to the field of underwater launch test technology for aircraft, and more particularly to a comprehensive measurement system for icebreaking experiments of aircraft under decompression and cryogenic conditions. Background Technology

[0002] Underwater model catapult experiments are an important method for studying the process of a vehicle from launch to emergence from the water. They are relatively inexpensive, have a short experimental cycle, and can effectively simulate the physical process of a vehicle from launch to complete passage through the water surface. Based on these advantages, underwater model catapult experiments have been widely conducted. However, as research deepens, researchers want to obtain more experimental data to conduct related kinematic and dynamic analyses, provide references for numerical simulations, and guide practical design work. Therefore, how to obtain more experimental data to maximize the value of each experiment is a question that researchers have been constantly considering.

[0003] Current underwater catapult model experiments for aircraft carriers have seen limited decompression catapult tests, resulting in minimal focus on environmental pressure. Furthermore, low-temperature emergence experiments are a novel research topic, making the monitoring of water and air temperatures crucial. Current model catapult experiments have paid little attention to catapult pressure parameters, and initial experimental conditions are unclear, making it difficult to guide simulations. The hydrodynamic and kinematic characteristics of the aircraft carrier during emergence are the core of the experiments, but limitations in testing technology result in a limited amount of readily available and effective data. Summary of the Invention

[0004] To address the aforementioned technical issues, a comprehensive measurement system for icebreaking experiments of aircraft under decompression and cryogenic conditions is provided.

[0005] The technical means employed in this invention are as follows:

[0006] A comprehensive measurement system for icebreaking experiments of a spacecraft under decompression and cryogenic conditions includes: an experimental water tank, an ambient temperature monitoring system, a projectile measurement system, a launch tube measurement system, an ambient pressure monitoring system, an image measurement system, and a data acquisition system;

[0007] The ambient temperature monitoring system is installed on the inner wall of the experimental water tank to monitor the temperature of the gas and water inside the experimental water tank.

[0008] The environmental pressure monitoring system is installed on the inner side wall of the experimental water tank to monitor the gas pressure inside the experimental water tank.

[0009] The projectile measurement system includes a projectile model placed in water inside an experimental water tank;

[0010] The launch tube measurement system includes a launch tube, which is installed inside the experimental water tank, and the bottom of the projectile model is attached to the top of the launch tube;

[0011] The image measurement system is placed outside the experimental water tank to observe the entire process of the projectile model from the start of ejection to exiting the water, and to measure image information;

[0012] The data acquisition system is located outside the experimental water tank, and the environmental temperature monitoring system, projectile measurement system, launch tube measurement system, environmental pressure monitoring system, and image measurement system are all electrically connected to the data acquisition system.

[0013] Furthermore, the ambient temperature monitoring system includes an ambient temperature sensor, which includes at least one water temperature sensor and at least one air temperature sensor. The water temperature sensor is placed below the water surface, and the air temperature sensor is placed above the water surface.

[0014] Furthermore, the environmental pressure monitoring system includes at least one environmental pressure sensor, which is a gas pressure sensor with a measurement range of -0.1 MPa to 1 MPa.

[0015] Furthermore, the main body of the projectile model is the projectile shell. Inside the projectile shell are a high-frequency water pressure sensor, a six-axis inertial sensor system, a data acquisition and storage unit, and a power supply. At least one threaded hole is opened at the head and shoulder of the projectile shell, and a high-frequency water pressure sensor is installed at each of these threaded holes. A metal support is provided inside the projectile shell, and screw holes are provided on the metal support. The six-axis inertial sensor system, data acquisition and storage unit, and power supply are respectively mounted on the metal support through these screw holes.

[0016] The six-axis inertial combined sensor system includes at least one six-axis inertial combined sensor. The data acquisition and storage unit includes a first data acquisition card and a storage module that are electrically connected. The first data acquisition card has multiple data acquisition interfaces and is electrically connected to the high-frequency water pressure sensor and the six-axis inertial combined sensor. It is used to simultaneously acquire data from multiple sensors and transmit the acquired data to the storage module for storage. The power supply is used to power the high-frequency water pressure sensor and the first data acquisition card.

[0017] Furthermore, the projectile model satisfies a certain scaling ratio, which is between 1:20 and 1:30. The projectile shell consists of a projectile head and a projectile body. The projectile head is a streamlined rotating shell, and the projectile body is a cylindrical shell.

[0018] Furthermore, the six-axis inertial combined sensor consists of a three-axis accelerometer and a three-axis gyroscope. The three-axis accelerometer is used to measure acceleration in the X, Y, and Z directions, with a range of ±16g. The three-axis gyroscope has a range of ±2000° / s and is used to output physical quantities, which include at least time, acceleration, gyroscope readings, and Euler angles.

[0019] Furthermore, the launching tube is a cylinder made of metal, with an air chamber at the bottom and a limiting groove at the top of the air chamber, and multiple sealing rings evenly spaced on the limiting groove; multiple threaded holes are opened on the backflow side wall of the launching tube, and a catapult pressure sensor electrically connected to the data acquisition system is installed at each of the threaded holes.

[0020] Furthermore, the ejection pressure sensor is a high-frequency dynamic high-temperature pressure sensor with a measurement range of 0-2 MPa; there are three ejection pressure sensors, which are arranged on the same generatrix of the launch tube, and each ejection pressure sensor has an external thread at its head, which is connected to the internal thread of the launch tube.

[0021] The limiting groove is provided with three sealing rings at equal intervals from top to bottom, namely the first sealing ring, the second sealing ring and the third sealing ring; the three ejection pressure sensors are the first ejection pressure sensor, the second ejection pressure sensor and the third ejection pressure sensor. The first ejection pressure sensor is located at 2 / 3 of the distance from the bottom of the air chamber, the second ejection pressure sensor is located at 1 / 2 of the distance between the second sealing ring and the third sealing ring, and the third ejection pressure sensor is located at 1 / 10 of the distance from the nozzle of the launch tube.

[0022] Furthermore, the data acquisition system includes a signal transmitter and receiver, a second data acquisition card, a computer, and a display. The signal transmitter and receiver are connected to the second data acquisition card, the second data acquisition card is connected to the computer, and the computer is connected to the display. The ambient temperature monitoring system, the transmitter tube measurement system, the ambient pressure monitoring system, and the image measurement system are all electrically connected to the signal transmitter and receiver.

[0023] The pressure data monitored by the ambient temperature sensor, the launch tube measurement system, and the ambient pressure sensor are transmitted to the second data acquisition card via signal transmitter and receiver, generating signal curves on the computer and displaying them on the monitor; the image measurement system transmits the acquired images to the computer in real time; the launch tube measurement system and the image measurement system are connected together via signal transmitter and receiver, and the launch tube measurement system and the image measurement system are synchronously controlled to perform measurements.

[0024] Furthermore, the image measurement system includes a tripod and a high-speed camera mounted on the tripod. The high-speed camera is used to observe the entire process of the projectile model from the start of ejection to exiting the water and to measure image information. The high-speed camera has a sampling frame rate of up to 40,000 frames / s, and uses high frame rate shooting to collect the motion characteristics and fluid flow characteristics of the projectile model during the water exit process, and to capture the interaction characteristics of the projectile model with the water surface and ice layer.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] 1. The system of this invention can effectively measure atmospheric pressure, atmospheric temperature, and water temperature in the experimental environment. Atmospheric pressure and water temperature have a significant impact on the cavitation characteristics of the vehicle emerging from the water. Monitoring the physical quantities of pressure and temperature is of great significance for accurately controlling the influencing factors in the experiment and ensuring the accuracy and repeatability of the experiment.

[0027] 2. The system of this invention can measure the ejection pressure inside the launch tube, enabling a quantitative understanding of the ejection process of the launch vehicle. It can also provide more accurate initial ejection parameters, thus providing a reference for numerical simulation.

[0028] 3. The system of this invention can measure the hydrodynamic parameters and motion attitude parameters of the projectile model during its exit from the water, representing an improvement in underwater catapult testing technology for aircraft. Measuring more parameters maximizes experimental benefits.

[0029] Based on the above reasons, this invention can be widely applied in fields such as underwater launch testing of aircraft. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of the measurement system of the present invention.

[0032] Figure 2 This is a schematic diagram of the projectile measurement system of the present invention.

[0033] Figure 3 This is a schematic diagram of the launching tube measurement system of the present invention.

[0034] Figure 4 This is a schematic diagram of the camera system and data acquisition system of the present invention.

[0035] In the diagram: 1. Experimental water tank; 2. Ambient temperature sensor; 3. Projectile measurement system; 4. Launch tube measurement system; 5. Ambient pressure sensor; 6. Image measurement system; 7. Data acquisition system;

[0036] 3-1. Projectile shell; 3-2. High-frequency water pressure sensor; 3-3. Six-axis inertial sensor system; 3-4. First data acquisition card; 3-5. Power supply;

[0037] 4-1. Launch tube body; 4-2. Ejection pressure sensor;

[0038] 7-1. Signal transmitter and receiver; 7-2. Second data acquisition card; 7-3. Computer; 7-4. Monitor. Detailed Implementation

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0042] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0044] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0045] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0046] To address the challenge of measuring various physical fields during the water emergence process of free-launched vehicles under low-temperature and decompression conditions, this invention provides a comprehensive measurement system for icebreaking experiments of vehicles under decompression and low-temperature conditions.

[0047] The present invention provides a comprehensive measurement system for icebreaking experiments of a spacecraft under decompression and cryogenic conditions, comprising an experimental water tank 1, an ambient temperature sensor 2, a projectile measurement system 3, a launch tube measurement system 4, an ambient pressure sensor 5, an image measurement system 6, and a data acquisition system 7.

[0048] The experimental water tank 1 is a completely enclosed structure during the experiment, resulting in relatively low internal air and water temperatures. Therefore, two ambient temperature sensors 2 are installed to measure the temperature. These sensors, one for water temperature and one for air temperature, are mounted on the front wall of the water tank 1. The water temperature sensor is positioned 1m below the water surface, and the air temperature sensor is positioned 0.5m above the water surface. Both ambient temperature sensors 2 are connected to the computer 7-3 of the data acquisition system 7. Before the launch experiment begins, the internal gas is extracted using a rotary vacuum pump, and an ambient pressure sensor 5 is installed to monitor the internal gas pressure of the experimental water tank 1. The ambient pressure sensor 5 is a gas pressure sensor with a measurement range of -0.1MPa to 1MPa. The gas pressure sensor (ambient pressure sensor 5) is threaded onto the top and side walls of the experimental water tank 1 and is connected to the computer 7-3.

[0049] The projectile measurement system 3 includes a projectile model, the main body of which is the projectile shell 3-1. The projectile model conforms to a certain scaling ratio, ranging from 1:20 to 1:30. The projectile shell 3-1 consists of a projectile head and a projectile body. The projectile head is a streamlined rotating shell, and the projectile body is a cylindrical shell. Threaded holes of specific sizes are provided on the projectile head and shoulder. A metal support is installed inside the projectile, with screw holes of specific sizes on the metal support. The threaded holes on the projectile head and shoulder are used to install a high-frequency water pressure sensor 3-2 (hydraulic pressure sensor). The projectile interior includes a six-axis inertial sensor system 3-3, a data acquisition and storage unit, and a power supply 3-5. The six-axis inertial sensor system 3-3 includes at least one six-axis inertial sensor. The data acquisition and storage unit consists of a first data acquisition card 3-4 and a storage module. The first data acquisition card 3-4 has multiple data acquisition interfaces. In this embodiment, the first data acquisition card 3-4 has 10 channels (data acquisition interfaces), which can simultaneously acquire data from 10 sensors. A storage module is connected to the first data acquisition card 3-4 and is used to store measurement data from the hydrodynamic pressure sensor and the six-axis inertial combined sensor. The data acquisition and storage unit is mounted on a metal support inside the projectile body with screws. The high-frequency water pressure sensor 3-2 is connected to the first data acquisition card 3-4. The first data acquisition card 3-4 stores the acquired data in the storage module. The power supply 3-5 supplies power to the high-frequency water pressure sensor 3-2 and the first data acquisition card 3-4. The six-axis inertial combined sensor system 3-3, the first data acquisition card 3-4, and the power supply 3-5 are fixed to the metal support inside the projectile body with screws. The six-axis inertial sensor combination consists of a three-axis accelerometer and a three-axis gyroscope. The three-axis accelerometer can measure acceleration in the X, Y, and Z directions with a range of ±16g, while the three-axis gyroscope has a range of ±2000° / s and can output physical quantities such as time, acceleration, gyroscope readings, and Euler angles. The six-axis inertial sensor combination is mounted on a metal support inside the projectile body using screws.

[0050] The launch tube measurement system 4 includes a launch tube, the top of which is aligned with the bottom of the projectile model. The launch tube is a metal cylinder (i.e., the launch tube body 4-1), with an air chamber at its bottom. A limiting groove is located at the top of the air chamber, with three sealing rings evenly spaced from top to bottom. Three threaded holes, identical in size to the ejection pressure sensor 4-2, are opened on the side wall of the launch tube for mounting the ejection pressure sensor 4-2. The ejection pressure sensor 4-2 is a high-frequency dynamic high-temperature pressure sensor with a measurement range of 0-2 MPa. There are three ejection pressure sensors 4-2, all high-frequency pressure sensors, installed on the backflow side of the launch tube (the heads of the ejection pressure sensors 4-2 are threaded, matching the threads of the launch tube for mounting). The three high-frequency pressure sensors are positioned on the same generatrix of the launch tube. The first high-frequency pressure sensor is positioned at 2 / 3 of the distance from the bottom of the air chamber. The second high-frequency pressure sensor is positioned at 1 / 2 of the distance between the second and third sealing rings. The third high-frequency pressure sensor is positioned at 1 / 10 of the distance from the nozzle of the launch tube. All three high-frequency pressure sensors are connected to computer 7-3.

[0051] The image measurement system 6 includes a tripod and a high-speed camera mounted on the tripod. The high-speed camera's main function is to observe the entire process of the projectile model from launch to exiting the water through a visualization window set on the experimental water tank 1, measuring image information for subsequent analysis. The high-speed camera can sample up to 4000 frames per second, using high frame rate shooting to acquire the motion and fluid flow characteristics of the projectile model during its exit from the water, while also facilitating the capture of the interaction characteristics between the projectile model and the water surface and ice layer.

[0052] The data acquisition system 7 consists of a signal transmitter and receiver 7-1, a second data acquisition card 7-2, a computer 7-3, and a display 7-4. The ambient temperature sensor 2, the transmitter tube measurement system 4, the ambient pressure sensor 5, and the image measurement system 6 are all connected to the signal transmitter and receiver 7-1. The pressure data monitored by the ambient temperature sensor 2, the transmitter tube measurement system 4, and the ambient pressure sensor 5 is transmitted to the second data acquisition card 7-2 via the signal transmitter and receiver 7-1, generating a signal curve on the computer 7-3 and displaying it on the display 7-4. The image measurement system 6 transmits images back to the computer 7-3 in real time. The transmitter tube measurement system 4 and the image measurement system 6 are connected together via the signal transmitter and receiver 7-1, synchronously controlling both systems to begin measurement.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A comprehensive measurement system for icebreaking experiments on aircraft under decompression and cryogenic conditions, characterized in that, include: Experimental water tank (1), ambient temperature monitoring system, projectile measurement system (3), launch tube measurement system (4), ambient pressure monitoring system, image measurement system (6) and data acquisition system (7); The ambient temperature monitoring system is installed on the inner wall of the experimental water tank (1) to monitor the temperature of the gas and water inside the experimental water tank (1); The environmental pressure monitoring system is installed on the inner side wall of the experimental water tank (1) to monitor the gas pressure inside the experimental water tank (1); The projectile measurement system (3) includes a projectile model placed in water inside the experimental water tank (1); The launch tube measurement system (4) includes a launch tube, which is installed inside the experimental water tank (1), and the bottom of the projectile model is attached to the top of the launch tube; The image measurement system (6) is placed outside the experimental water tank (1) to observe the entire process of the projectile model from the start of ejection to exiting the water and to measure image information; The data acquisition system (7) is placed outside the experimental water tank (1). The environmental temperature monitoring system, the projectile measurement system (3), the launch tube measurement system (4), the environmental pressure monitoring system and the image measurement system (6) are all electrically connected to the data acquisition system (7). The launching tube is a cylinder made of metal. An air chamber is provided at the bottom of the launching tube, and a limiting groove is provided at the top of the air chamber. Multiple sealing rings are provided at equal intervals on the limiting groove. Multiple threaded holes are provided on the back flow side wall of the launching tube, and a catapult pressure sensor (4-2) electrically connected to the data acquisition system (7) is installed at each threaded hole. The ejection pressure sensor (4-2) is a high-frequency dynamic high-temperature pressure sensor with a measurement range of 0-2 MPa. There are three ejection pressure sensors (4-2), which are arranged on the same generatrix of the launch tube. Each ejection pressure sensor (4-2) has an external thread at its head, which is connected to the internal thread of the launch tube. The limiting groove is provided with three sealing rings at equal intervals from top to bottom, namely the first sealing ring, the second sealing ring and the third sealing ring; the three ejection pressure sensors (4-2) are the first ejection pressure sensor, the second ejection pressure sensor and the third ejection pressure sensor, respectively. The first ejection pressure sensor is located at 2 / 3 of the distance from the bottom of the air chamber, the second ejection pressure sensor is located at 1 / 2 of the distance between the second sealing ring and the third sealing ring, and the third ejection pressure sensor is located at 1 / 10 of the distance from the nozzle of the launch tube.

2. The integrated measurement system for icebreaking experiments of a ship under decompression and cryogenic conditions according to claim 1, characterized in that, The ambient temperature monitoring system includes an ambient temperature sensor (2), which includes at least one water temperature sensor and at least one air temperature sensor. The water temperature sensor is placed below the water surface, and the air temperature sensor is placed above the water surface.

3. The integrated measurement system for icebreaking experiments of a ship under decompression and cryogenic conditions according to claim 1, characterized in that, The environmental pressure monitoring system includes at least one environmental pressure sensor (5), which is a gas pressure sensor with a measurement range of -0.1 MPa to 1 MPa.

4. The integrated measurement system for icebreaking experiments of a ship under decompression and cryogenic conditions according to claim 1, characterized in that, The main body of the projectile model is the projectile shell (3-1). Inside the projectile shell (3-1) are a high-frequency water pressure sensor (3-2), a six-axis inertial combined sensor system (3-3), a data acquisition and storage unit, and a power supply (3-5). The head and shoulder of the projectile shell (3-1) each have at least one threaded hole, and a high-frequency water pressure sensor (3-2) is installed at each of the threaded holes. Inside the projectile shell (3-1) is a metal support with screw holes. The six-axis inertial combined sensor system (3-3), the data acquisition and storage unit, and the power supply (3-5) are respectively installed on the metal support through the screw holes. The six-axis inertial combined sensor system (3-3) includes at least one six-axis inertial combined sensor. The data acquisition and storage unit includes a first data acquisition card (3-4) and a storage module that are electrically connected. The first data acquisition card (3-4) has multiple data acquisition interfaces and is electrically connected to the high-frequency water pressure sensor (3-2) and the six-axis inertial combined sensor. It is used to simultaneously acquire data from multiple sensors and transmit the acquired data to the storage module for storage. The power supply (3-5) is used to power the high-frequency water pressure sensor (3-2) and the first data acquisition card (3-4).

5. The integrated measurement system for icebreaking experiments of a ship under decompression and cryogenic conditions according to claim 4, characterized in that, The projectile model satisfies a certain scaling ratio, which is between 1:20 and 1:

30. The projectile shell (3-1) is composed of a projectile head and a projectile body. The projectile head satisfies the streamlined rotating shell, and the projectile body is a cylindrical shell.

6. The integrated measurement system for icebreaking experiments of a ship under decompression and cryogenic conditions according to claim 4, characterized in that, The six-axis inertial sensor combination consists of a three-axis accelerometer and a three-axis gyroscope. The three-axis accelerometer is used to measure acceleration in the X, Y, and Z directions with a range of ±16 g. The three-axis gyroscope has a range of ±2000 ° / s and is used to output physical quantities, which include at least time, acceleration, gyroscope readings, and Euler angles.

7. The integrated measurement system for icebreaking experiments of a ship under decompression and cryogenic conditions according to claim 1, characterized in that, The data acquisition system (7) includes a signal transmitter and receiver (7-1), a second data acquisition card (7-2), a computer (7-3), and a display (7-4). The signal transmitter and receiver (7-1) is connected to the second data acquisition card (7-2), the second data acquisition card (7-2) is connected to the computer (7-3), and the computer (7-3) is connected to the display (7-4). The environmental temperature monitoring system, the transmitter tube measurement system (4), the environmental pressure monitoring system, and the image measurement system (6) are all electrically connected to the signal transmitter and receiver (7-1). The pressure data monitored by the ambient temperature sensor (2), the launch tube measurement system (4), and the ambient pressure sensor (5) are transmitted to the second data acquisition card (7-2) through the signal transmitter and receiver (7-1), and a signal curve is generated on the computer (7-3) and displayed on the monitor (7-4); the image measurement system (6) transmits the acquired image to the computer (7-3) in real time; the launch tube measurement system (4) and the image measurement system (6) are connected together through the signal transmitter and receiver (7-1) and the launch tube measurement system (4) and the image measurement system (6) are synchronously controlled to perform measurements.

8. The integrated measurement system for icebreaking experiments of a ship under decompression and cryogenic conditions according to claim 1 or 7, characterized in that, The image measurement system (6) includes a tripod and a high-speed camera mounted on the tripod. The high-speed camera is used to observe the entire process of the projectile model from the start of ejection to exiting the water and to measure image information. The high-speed camera has a sampling frame rate of 40,000 frames / s. It uses high frame rate shooting to collect the motion characteristics and fluid flow characteristics of the projectile model during the water exit process and to capture the interaction characteristics of the projectile model with the water surface and ice layer.

Images