A navigation pod apparatus for an underwater unmanned submarine vehicle

Abstract

The present application relates to underwater unmanned submarine navigation cabin technical field, particularly to a kind of navigation cabin device for underwater unmanned submarine.The present application includes upper end cover, main shell, lower end cover, inertial navigation installation ring, inertial navigation device, main shell is fixedly connected with the upper end of the upper end cover;Lower end cover is fixedly connected with the lower end of the upper end cover;Inertial navigation installation ring is fixedly connected with the inside of the main shell;Inertial navigation device is fixed in the lower end of the inertial navigation installation ring.The navigation cabin device of underwater unmanned submarine of the present application can integrate two type Doppler log, depth gauge and inertial navigation device in a cabin by reasonable structure design, and its cooperative work realizes high-precision navigation positioning function under deep and shallow water conditions.The present application can not rely on platform to carry out calibration debugging work in advance.And it can be accessed by main shell side water-tight connector Water-tight cable is powered for navigation cabin, and corresponding input and output signal cable is accessed, and underwater debugging work is carried out.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of navigation cabin of underwater unmanned submarine vehicle, and particularly relates to a navigation cabin device for underwater unmanned submarine vehicle. BACKGROUND

[0002] The navigation sealed cabin for underwater unmanned submarine vehicle needs to meet the requirements of sealing pressure resistance and installation space of corresponding equipment, needs to ensure the convenience of disassembly and assembly, needs to meet the safety and reliability requirements of the overall structure, has important function and mission, has many built-in devices, and belongs to the key device of underwater unmanned submarine vehicle.

[0003] The traditional navigation cabin adopts a sealed pressure-resistant shell, and the shell is internally provided with an inertial navigation device and a Doppler log, so as to realize the navigation function of the underwater unmanned submarine vehicle.

[0004] The navigation cabin in the prior art has low integration, many navigation devices are dispersed, needs to rely on the underwater unmanned submarine vehicle platform to realize calibration, the technical index of the Doppler log is limited, so that high-precision positioning in the whole region cannot be realized at the same time, the inertial navigation device has large volume and mass and is difficult to disassemble and assemble, and the whole cabin body needs to be disassembled for debugging when the inertial navigation device fails, and therefore improvement is urgently needed. SUMMARY

[0005] In view of the above-mentioned defects of the prior art, the purpose of the present application is to provide a navigation cabin device for underwater unmanned submarine vehicle, which solves the problems of low integration of the navigation cabin, dispersion of many navigation devices, need to rely on the underwater unmanned submarine vehicle platform to realize calibration, limitation of the technical index of the Doppler log, and inability to realize high-precision positioning in the whole region at the same time, and difficulty in disassembly and assembly of the inertial navigation device.

[0006] To achieve the above-mentioned purpose and other related purposes, the present application provides a navigation cabin device for underwater unmanned submarine vehicle, comprising:

[0007] an upper end cover, and

[0008] a main shell, the upper end of which is fixedly connected with the upper end cover;

[0009] a lower end cover, which is fixedly connected with the lower end of the main shell;

[0010] an inertial navigation device mounting ring, which is fixedly connected with the inner side of the main shell;

[0011] an inertial navigation device, which is fixed to the lower end of the inertial navigation device mounting ring.

[0012] In an embodiment of the present application, two inertial navigation rings are provided, and the two inertial navigation rings are fixed by two inertial navigation ring supports.

[0013] In an embodiment of the present application, further comprising:

[0014] A Doppler electronic box mounting plate is fixedly connected to the inner side of the main shell, and the Doppler electronic box mounting plate is arranged at the lower end of the inertial navigation ring.

[0015] A first Doppler log electronic box is fixedly installed at the upper end of the Doppler electronic box mounting plate, and the first Doppler log electronic box is arranged at the lower end of the inertial navigation device.

[0016] In an embodiment of the present application, further comprising:

[0017] A second Doppler log electronic box is fixedly installed at the inner side of the lower end cover.

[0018] A depth gauge adapter is fixedly installed at the inner side of the lower end cover, and a preset distance is left between the depth gauge adapter and the second Doppler log electronic box.

[0019] A depth gauge is inserted into the depth gauge adapter.

[0020] A water leakage alarm plate is fixedly installed at the bottom center of the lower end cover.

[0021] The second Doppler log electronic box, the depth gauge, and the water leakage alarm plate are arranged at the lower side of the Doppler electronic box mounting plate.

[0022] In an embodiment of the present application, further comprising:

[0023] A second transducer mounting bracket is fixedly connected at one end to the outer top of the lower end cover.

[0024] A first Doppler log transducer is fixedly connected at the other end to the second transducer mounting bracket.

[0025] In an embodiment of the present application, further comprising:

[0026] A second Doppler log bracket is fixedly connected at one end to the outer top of the lower end cover.

[0027] A second Doppler log adapter frame is fixedly connected at the other end to the second Doppler log bracket.

[0028] In an embodiment of the present application, further comprising:

[0029] A second Doppler log is fixedly connected with the second Doppler log adapter.

[0030] In an embodiment of the present application, the upper end cover is arc-shaped, and the installation direction of the navigation cabin device on the underwater unmanned submarine is marked on the upper end cover.

[0031] In an embodiment of the present application, eight installation tooling parts are welded on the side surface of the main shell for fixed installation, and the lower end of the side surface of the main shell is respectively provided with an opening for installing a watertight connector and an opening for installing an airtight plug.

[0032] In an embodiment of the present application, a plurality of protrusions or openings for installing electronic equipment are arranged on the lower end cover.

[0033] As described above, the navigation cabin device for the underwater unmanned submarine has the following beneficial effects:

[0034] (1) The navigation cabin device for the underwater unmanned submarine comprises an upper end cover, a main shell, a lower end cover, an inertial navigation mounting ring and an inertial navigation device, and through reasonable structural design, the navigation cabin device for the underwater unmanned submarine can integrate two types of Doppler logs, a depth gauge and an inertial navigation device in one cabin, and the high-precision navigation and positioning function under deep and shallow water conditions can be realized through the cooperation of the devices.

[0035] (2) The navigation cabin device for the underwater unmanned submarine realizes the carrying of the second Doppler log, the depth gauge and the inertial navigation device in a limited space, and can carry out calibration and debugging work in advance without relying on the platform. In application, the main shell side watertight connector can be connected with a watertight cable to supply power to the navigation cabin, and the corresponding input and output signal cables can be connected to carry out underwater debugging work.

[0036] (3) The navigation cabin device for the underwater unmanned submarine realizes top fixation through the design of the inertial navigation adapter, and the installation and disassembly of the inertial navigation device can be realized by only disassembling the upper end cover. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A structural diagram of the navigation cabin device for the underwater unmanned submarine is provided for the embodiment of the present application.

[0038] Figure 2 An internal cross-sectional view of the navigation cabin device for the underwater unmanned submarine is provided for the embodiment of the present application.

[0039] Figure 3 A front view of the navigation cabin device for the underwater unmanned submarine is provided for the embodiment of the present application.

[0040] Figure 4A rear view of a navigation pod apparatus for an underwater unmanned submarine vehicle is provided for embodiments of the present application.

[0041] Figure 5 A top view of a navigation pod apparatus for an underwater unmanned submarine vehicle is provided for embodiments of the present application.

[0042] Figure 6 A lower end cap view of a navigation pod apparatus for an underwater unmanned submarine vehicle is provided for embodiments of the present application.

[0043] Figure 7 An inertial navigation support ring view of a navigation pod apparatus for an underwater unmanned submarine vehicle is provided for embodiments of the present application.

[0044] Figure 8 An installation view of a navigation pod apparatus for an underwater unmanned submarine vehicle is provided for embodiments of the present application.

[0045] Element Number Description

[0046] 1 upper end cap

[0047] 2 main housing

[0048] 3 lower end cap

[0049] 4 inertial navigation mounting ring

[0050] 5 inertial navigation mounting ring support

[0051] 6 Doppler electronics chassis mounting plate

[0052] 7 depth gauge adapter

[0053] 8 second Doppler log support

[0054] 9 second Doppler log adapter

[0055] 10 second transducer mounting support

[0056] 11 inertial navigation device

[0057] 12 first Doppler log electronics chassis

[0058] 13 second Doppler log electronics chassis

[0059] 14 depth gauge

[0060] 15 water leak alarm plate

[0061] 16 first Doppler log transducer

[0062] 17 second Doppler log DETAILED DESCRIPTION

[0063] Advantages and features of the present disclosure will become apparent from specific examples thereof which are disclosed below for exemplary purposes. It is to be understood that the present disclosure is not limited by the specific examples disclosed, which are intended to explain the principles of the present disclosure by using various embodiments and to provide the best mode of practicing the present disclosure. It is to be further understood that the present disclosure is not limited by the specific details of the embodiments and that the specific examples are provided for illustrative purposes only.

[0064] It is to be understood that the present disclosure is not limited to the embodiments provided and that the drawings are not necessarily drawn to scale. In addition, the reference numerals in the drawings are designed to facilitate the understanding of the present disclosure rather than to confine the present disclosure.

[0065] Terms such as first or second can be used to describe various components, but the components are not limited by the above terms. The above terms are used to distinguish one component from another component, for example, a first component can be referred to as a second component, and likewise, a second component can be referred to as a first component without departing from the scope of the concept according to the present disclosure.

[0066] In addition, "connected / coupled" means that a component is electrically connected to another component directly or indirectly through another component. The singular form can include the plural form as long as the context does not clearly indicate otherwise. In addition, "comprise / comprising" or "include / including" used in the present specification means that one or more components, steps, operations, and elements are present or have been added. The specific structure or function description of the example of the embodiment according to the concept disclosed in the present specification is merely exemplified to describe the example of the embodiment according to the concept, and the example of the embodiment according to the concept can be implemented in various forms, but the description is not limited to the example of the embodiment described in the present specification.

[0067] According to the concept, various modifications and changes can be applied to the example of the embodiment, so that the example of the embodiment will be illustrated in the drawings and described in the specification. However, the example of the embodiment according to the concept is not limited to the specific embodiment, but includes all changes, equivalents, or alternatives included in the spirit and technical scope of the present disclosure.

[0068] It will be understood that when an element is referred to as being "coupled" or "connected" to another element, it can be directly coupled or connected to the other element or coupled or connected to the other element through a third element. In contrast, it will be understood that when an element is referred to as being "directly coupled" or "directly connected" to another element, it is not coupled or connected to the other element through a third element. Other expressions should be construed similarly.

[0069] The terms used in the present specification are merely used to describe particular embodiments, and are not intended to limit the present disclosure. The singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. In the present specification, it should be understood that the terms "include" or "have" indicate that there are

[0070] If not defined otherwise, all terms used herein, including technical terms or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. If there is a conflict between the commonly used term and the term defined in the present specification, the term defined in the present specification is to be preferred. If not clearly defined in the present specification, terms defined in a commonly used dictionary are to be interpreted as having the same meaning as those used in the context of relevant technology.

[0071] Descriptions of well-known components and processing techniques can be omitted so as not to unnecessarily obscure the embodiments of the present disclosure.

[0072] Throughout the specification, the same drawing reference numerals and symbols are used to designate the same elements throughout the specification. Accordingly, even if a drawing reference numeral is not mentioned or described with reference to one drawing, it can be mentioned or described with reference to another drawing. Also, even if a drawing reference numeral is not shown in one drawing, it can be mentioned or described with reference to another drawing.

[0073] In addition, the logic levels of signals can be different from or opposite to the logic levels described. For example, a signal described as having a logic "high" level can alternatively have a logic "low" level, and a signal described as having a logic "low" level can alternatively have a logic "high" level.

[0074] The embodiments of the present disclosure will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the embodiments of the present disclosure, many technical details are presented in order to enable the reader to better understand the present disclosure. However, the technical solutions claimed by the present disclosure can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0075] The conventional navigation cabin cannot carry multiple Doppler loggers due to limited space and low integration, which leads to the underwater unmanned vehicle being not suitable for deep and shallow water, the Doppler logger being ineffective, and the navigation accuracy being affected during navigation. The conventional navigation equipment is placed in many positions of the underwater unmanned underwater vehicle, and the integration is not high. Under normal conditions, the navigation equipment needs to be calibrated and debugged before the underwater vehicle. Therefore, the calibration and debugging of the conventional navigation equipment need to be carried out after the underwater unmanned underwater vehicle is ready for launching. The installation and disassembly of the inertial navigation device of the conventional navigation cabin are complex, the space of the navigation cabin is usually small, and the fastener of the inertial navigation device is at the bottom, which often needs to be completely disassembled.

[0076] Please refer to Figures 1 to 5 , Figure 1 A structural diagram of a navigation cabin device for an underwater unmanned underwater vehicle is provided for the embodiments of the present application. Figure 2 An internal section view of a navigation cabin device for an underwater unmanned underwater vehicle is provided for the embodiments of the present application. Figure 3 A front view of a navigation cabin device for an underwater unmanned underwater vehicle is provided for the embodiments of the present application. Figure 4 A rear view of a navigation cabin device for an underwater unmanned underwater vehicle is provided for the embodiments of the present application. Figure 5 A top view of a navigation cabin device for an underwater unmanned underwater vehicle is provided for the embodiments of the present application. The present application provides a navigation cabin device for an underwater unmanned underwater vehicle, which comprises an upper end cover 1, a main shell 2, a lower end cover 3, an inertial navigation mounting ring 4, and an inertial navigation device 11. The upper end of the main shell 2 is fixedly connected with the upper end cover 1. The lower end cover 3 is fixedly connected with the lower end of the main shell 2. The inertial navigation mounting ring 4 is fixedly connected with the inner side of the main shell 2. The inertial navigation device 11 is fixed to the lower end of the inertial navigation mounting ring 4.

[0077] Specifically, the upper end cover 1 is an arc-shaped structure, and the installation direction of the navigation cabin device on the underwater unmanned underwater vehicle is marked on the upper end cover 1.

[0078] Specifically, eight installation tooling parts are welded on the side of the main shell 2 for fixed installation. Openings for installing water-tight connectors and air-tight plugs are arranged at the lower end of the side of the main shell 2.

[0079] Specifically, the lower end cover 3 is provided with a plurality of protrusions or openings for mounting electronic devices.

[0080] Please refer to Figure 1 , Figure 6 , Figure 7 , Figure 6 The lower end cover of the navigation cabin device for the underwater unmanned submarine provided by the embodiment of the application is shown in the figure. Figure 7 The inertial navigation support ring of the navigation cabin device for the underwater unmanned submarine provided by the embodiment of the application is shown in the figure. In an embodiment of the application, the navigation cabin device for the underwater unmanned submarine comprises an upper end cover 1, a main shell 2, a lower end cover 3, an inertial navigation mounting ring 4, and an inertial navigation device 11. The upper end cover 1 is generally arc-shaped, and is marked with an installation direction of the navigation cabin on the underwater unmanned submarine. Two layers of radial sealing grooves are arranged on the flange of the upper end cover 1, and sealing between the upper end cover 1 and the main shell 2 is realized through O-rings. The main shell 2 has openings for screw fastening and top holes for the upper end cover 1 and the lower end cover 3 respectively. Eight installation tooling parts are welded on the side of the main shell 2 for fixing and installation. The side of the main shell 2 has openings for installation of water-tight connectors and installation of air-tight plugs. The lower end cover 3 has protrusions or opening structures for mounting various electronic devices. In addition, the navigation cabin device for the underwater unmanned submarine further comprises the inertial navigation mounting ring 4.

[0081] Specifically, two inertial navigation mounting rings 4 are arranged, and the two inertial navigation mounting rings 4 are fixed through two inertial navigation mounting ring supports 5.

[0082] In an embodiment of the application, the upper end cover 1 is connected to the main shell 2 through screws, and the upper end cover 1 is marked with an arrow to indicate the installation direction. The inertial navigation mounting ring 4 is connected to the main shell 2 through screws, and the inertial navigation device 11 is fixed to the inertial navigation mounting ring 4 through screws. After the installation of the inertial navigation device 11, the two inertial navigation mounting rings 4 are reinforced through the inertial navigation mounting ring supports 5, and fastened through screws.

[0083] Specifically, the navigation cabin device for the underwater unmanned submarine further comprises a Doppler electronic case mounting plate 6 and a first Doppler log electronic case 12. The Doppler electronic case mounting plate 6 is fixedly connected to the inner side of the main shell 2, and the Doppler electronic case mounting plate 6 is arranged at the lower end of the inertial navigation mounting ring 4. The first Doppler log electronic case 12 is fixedly installed at the upper end of the Doppler electronic case mounting plate 6, and the first Doppler log electronic case 12 is arranged at the lower end of the inertial navigation device 11.

[0084] Specifically, the navigation cabin device for underwater unmanned submarine vehicle of the present application further comprises a second Doppler log electronic box 13, a depth gauge adapter 7, a depth gauge 14, and a water leakage alarm plate 15, the second Doppler log electronic box 13 is fixed inside the lower end cover 3, the depth gauge adapter 7 is fixed inside the lower end cover 3 and has a preset distance with the second Doppler log electronic box 13, the depth gauge 14 is inserted into the depth gauge adapter 7, and the water leakage alarm plate 15 is fixed and installed at the bottom center of the lower end cover 3, the second Doppler log electronic box 13, the depth gauge 14, and the water leakage alarm plate 15 are all arranged on the lower side of the Doppler electronic box mounting plate 6.

[0085] Specifically, the navigation cabin device for underwater unmanned submarine vehicle of the present application further comprises a second transducer mounting bracket 10 and a first Doppler log transducer 16, one end of the second transducer mounting bracket 10 is fixedly connected with the outside top of the lower end cover 3, and the other end of the second transducer mounting bracket 10 is fixedly connected with the first Doppler log transducer 16.

[0086] Specifically, the navigation cabin device for underwater unmanned submarine vehicle of the present application further comprises a second Doppler log bracket 8 and a second Doppler log adapter 9, one end of the second Doppler log bracket 8 is fixedly connected with the outside top of the lower end cover 3, and the other end of the second Doppler log bracket 8 is fixedly connected with the second Doppler log adapter 9.

[0087] Specifically, the navigation cabin device for underwater unmanned submarine vehicle of the present application further comprises a second Doppler log 17, which is fixedly connected with the second Doppler log adapter 9.

[0088] In one embodiment of the present application, the Doppler electronic chassis mounting plate 6 of the navigation cabin device for underwater unmanned submarine vehicle of the present application is connected with the main shell 2 by screw fastening, and the first Doppler log electronic chassis 12 is mounted thereon in a mounting direction determined by the plug position on the shell; various navigation devices are mounted on the lower end cover 3, and the inside of the lower end cover 3 is from left to right: the second Doppler log electronic chassis 13 is fixedly connected with the lower end cover 3 by screw, the depth gauge adapter 7 is fastened with the lower end cover 3 by screw and sealed by O-ring, and the depth gauge 14 is inserted inside, the depth gauge 14 penetrates the shell, the water leakage alarm plate 15 is bolted at the bottom of the lower end cover 3, and the outside of the lower end cover 3 is from left to right: the second transducer mounting bracket 10, the second Doppler log bracket 8, the second transducer mounting bracket 10 is fastened with the lower end cover 3 by screw, the first Doppler log transducer 16 is fastened with the second transducer mounting bracket 10 by screw, and the relative position relationship among the three is fixed by positioning pins, the second Doppler log bracket 8 is fastened with the lower end cover 3 by screw, the second Doppler log adapter 9 is fastened with the second Doppler log bracket 8 by screw, the second Doppler log 17 is fastened with the second Doppler log adapter 9 by screw, and the relative position among the four is fixed by positioning pins.

[0089] Please refer to Figure 8 , Figure 8 An installation schematic diagram of a navigation cabin device for underwater unmanned submarine vehicle is provided in the embodiment of the present application. In the installation process of the navigation cabin device for underwater unmanned submarine vehicle, the inertial navigation device 11 is first hoisted into the upper end of the main shell 2, then the corresponding inertial navigation mounting ring 4 is mounted on the internal ring of the main shell 2, and the inertial navigation mounting ring 4 and the inertial navigation device 11 are fastened by screw, then the inertial navigation mounting ring support 5 is inserted for reinforcement, and when disassembling, the same steps can also be performed. In this way, during actual debugging and use, the inertial navigation device can be installed and disassembled by only opening the upper end cover 1, improving efficiency. The lower devices can be installed in the corresponding layout positions in sequence. After all the installation is completed, the air-tight hole on the side of the main shell 2 can be used to check the sealing performance of the navigation cabin device for underwater unmanned submarine vehicle, and the plug hole can be used to realize the function and information interaction with other subsystems. When the underwater unmanned submarine vehicle is not completely formed, debugging work can also be carried out in advance. The navigation cabin device integrating the first Doppler log, the second Doppler log, the inertial navigation device and the depth gauge can simultaneously consider multiple water depth conditions based on the cooperative work of the first Doppler log and the second Doppler log, and realize high-precision navigation and positioning function in deep and shallow water conditions.

[0090] In summary, the navigation cabin of the navigation cabin device for the underwater unmanned submarine vehicle provided by the present application can integrate two types of Doppler log, depth gauge and inertial navigation device in one cabin through reasonable structure design, and the high-precision navigation and positioning function under deep and shallow water conditions can be realized through the cooperation of the devices. The present application realizes the loading of the Doppler log, depth gauge and inertial navigation device in the limited space, and the calibration and debugging work can be carried out in advance without relying on the platform. In the application, the water-tight cable can be connected to the navigation cabin through the water-tight connector on the side of the main shell to supply power for the navigation cabin, and the corresponding input and output signal cables are connected to carry out underwater debugging work. The present application realizes the top fixation through the design of the inertial navigation adapter, and the installation and disassembly of the inertial navigation device can be realized by only disassembling the upper end cover.

[0091] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A navigation pod apparatus for an underwater unmanned submarine vehicle, characterized by, Comprising: an upper end cover (1), and; a main shell (2), the upper end of which is fixedly connected with the upper end cover (1); a lower end cover (3), which is fixedly connected with the lower end of the main shell (2); an inertial navigation mounting ring (4), which is fixedly connected with the inner side of the main shell (2); an inertial navigation device (11), which is fixed to the lower end of the inertial navigation mounting ring (4); Further comprising: a Doppler electronic chassis mounting plate (6), which is fixedly connected with the inner side of the main shell (2), and the Doppler electronic chassis mounting plate (6) is arranged at the lower end of the inertial navigation mounting ring (4); a first Doppler log electronic chassis (12), which is fixedly installed at the upper end of the Doppler electronic chassis mounting plate (6), and the first Doppler log electronic chassis (12) is arranged at the lower end of the inertial navigation device (11); Further comprising: a second Doppler log electronic chassis (13), which is fixed to the inside of the lower end cover (3); a depth gauge adapter (7), which is fixed to the inside of the lower end cover (3), and a preset distance is left between the second Doppler log electronic chassis (13) and the depth gauge adapter (7); a depth gauge (14), which is inserted into the inside of the depth gauge adapter (7); a water leakage alarm plate (15), which is fixedly installed at the bottom center position of the lower end cover (3); The second Doppler log electronic chassis (13), depth gauge (14), and water leakage alarm plate (15) are all arranged on the lower side of the Doppler electronic chassis mounting plate (6).

2. The navigation pod apparatus for an underwater unmanned vehicle of claim 1, wherein, The inertial navigation mounting ring (4) is arranged in two, and the two inertial navigation mounting rings (4) are fixed by two inertial navigation mounting ring supports (5).

3. The navigation pod apparatus for an underwater unmanned vehicle of claim 1, wherein, Further comprising: a second transducer mounting bracket (10), one end of which is fixedly connected with the outer side top of the lower end cover (3); a first Doppler log transducer (16), which is fixedly connected with the other end of the second transducer mounting bracket (10).

4. The navigation pod apparatus for an underwater unmanned vehicle of claim 3, wherein, Further comprising: a second Doppler log bracket (8), one end of which is fixedly connected with the outer side top of the lower end cover (3); a second Doppler log adapter frame (9), which is fixedly connected with the other end of the second Doppler log bracket (8).

5. A navigation pod apparatus for an underwater unmanned vehicle as claimed in claim 4, wherein, Further comprising: a second Doppler log (17), which is fixedly connected with the second Doppler log adapter frame (9).

6. The navigation pod apparatus for an underwater unmanned vehicle of claim 1, wherein: The upper end cover (1) is an arc-shaped structure, and the upper end cover (1) is marked with the installation direction of the navigation cabin device on the underwater unmanned submarine.

7. The navigation pod apparatus for an underwater unmanned vehicle of claim 1, wherein: Eight installation tooling pieces are welded on the side of the main shell (2) for fixed installation, and the lower end of the side of the main shell (2) is respectively provided with an opening for installing a water-tight connector and a gas-tight plug.

8. The navigation pod apparatus for an underwater unmanned vehicle of claim 1, wherein: The lower end cover (3) is provided with a plurality of protrusions or openings for installing electronic equipment.

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