A test method and device for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV

Abstract

The present invention relates to the technical field of submarine-launched UAVs, and specifically to a test method and device for testing the water-emergence dynamic characteristics of underwater submarine-launched UAVs. The test method comprises: preparing a test device; conducting a water-emergence test of a submarine-launched UAV; performing a finite element simulation on the water-emergence test of a submarine-launched UAV; in the finite element simulation, deriving a "speed-time" curve, an "acceleration-time" curve, and a "pitch angle-time" curve of a submarine-launched UAV model to analyze the variation law of the hydrodynamic parameters of typical parts of the UAV under the coupling of multiple factors. The present invention solves the difficulty of optical measurement in experiments by developing a small-scale scaled model test; the present invention solves the difficulty of water droplets brought out by a submarine-launched UAV affecting the measurement accuracy during traditional optical measurement; the present invention develops a finite element simulation method for testing the water-emergence dynamic performance of a submarine-launched UAV, so as to analyze the variation law of the hydrodynamic parameters of typical parts of the UAV under the coupling of multiple factors.

Description

Technical Field

[0001] The invention relates to the technical field of submarine-launched unmanned aerial vehicles, and in particular to a test method and a device for testing the water-emerging power characteristics of an underwater submarine-launched unmanned aerial vehicle. Background Art

[0002] Limited by the development of underwater communication technology, submarines cannot communicate normally with the surface when sailing in deep water. In recent years, submarine-launched drones can be used as base stations to connect submarines and command centers to enhance submarine communications. However, the problem of submarine-launched drones emerging from the water is more complicated, involving the coupling between solid-vapor-liquid. How to measure and analyze the performance of submarine-launched drones emerging from the water has become a key issue.

[0003] At present, there are few literatures on the test of the water-emerging dynamic characteristics of submarine-launched UAVs, which are mainly carried out in large pools. The relevant test methods have the following problems: 1. It is difficult to place optical measurement equipment. Optical cameras and searchlights cannot work properly when immersed in water, and will cause equipment damage, making it difficult to obtain the motion characteristics of the UAV underwater; 2. It is difficult to measure the UAV's speed out of the water. The water-emerging speed of a submarine-launched UAV is a key parameter that determines the flight of a UAV in the air. The existing optical measurement methods are far away from the UAV, which will cause large measurement errors; 3. Underwater launch is difficult. On land, UAVs can be launched by various methods such as air cannons or electromagnetic launches, but these two types of equipment are difficult to place underwater for work, and a method suitable for launching small UAVs underwater is needed.

[0004] Therefore, it is necessary to design a test method to test the water-emerging dynamic characteristics of underwater submarine-launched UAVs. Summary of the invention

[0005] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art and to provide a test method and device for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows: A test method for testing the water-emergence dynamic characteristics of an underwater submarine-launched UAV comprises the following steps: Step 1, preparing a test device: the test device includes a clamping device, a launching device, a submarine-launched UAV model, a water tank, a speed measuring device, and a high-speed camera; the clamping device is arranged at the bottom of the water tank, the launching device is clamped and fixed by the clamping device, the submarine-launched UAV model is installed on the launching device, clean water is filled into the water tank, the speed measuring device is arranged above and close to the water surface, and the test image is captured by the high-speed camera; Step 2, conducting a water exit test of the submarine-launched UAV: ​​adjusting the launch angle of the launch device, pulling the trigger of the launch device, launching the submarine-launched UAV model from the water tank, measuring the water exit speed of the submarine-launched UAV model by the speed measuring device, and photographing the real-time motion posture of the submarine-launched UAV model by the high-speed camera; Step 3, perform finite element simulation on the water-out test of the submarine-launched UAV: ​​draw a total three-dimensional model diagram including the submarine-launched UAV model, air, and water; import the total three-dimensional model diagram into the finite element simulation software for simulation analysis, output the simulated water-out speed of the submarine-launched UAV model, and adjust the finite element simulation parameters so that the simulated water-out speed is consistent with the water-out speed in the test; Step 4. In the finite element simulation, the "speed-time" curve, "acceleration-time" curve, and "pitch angle-time" curve of the submarine-launched UAV model are derived to analyze the changing patterns of the hydrodynamic parameters of typical parts of the UAV under the coupling of multiple factors.

[0007] Furthermore, in the step 1, a three-dimensional model diagram of the submarine-launched UAV is drawn by using CATIA software, and the submarine-launched UAV model is printed by using a 3D printer based on the three-dimensional model diagram of the submarine-launched UAV.

[0008] Furthermore, in step 2, the clamping device and the launching device are taken out of the water tank and subjected to a fine drying process.

[0009] Furthermore, in step 3, it specifically includes: Step 3.1, import the overall 3D model into the hypermesh software, and use the hypermesh software to divide the grids of the submarine-launched UAV model, air domain, and water domain; Step 3.2, import the meshed 3D model into ls-prepost software for finite element preprocessing, and add the fluid-structure coupling keyword of the arbitrary Lagrangian algorithm; Step 3.3, based on the motion equation of the submarine-launched UAV, the parameters of the depth from the water surface, the launch speed, and the initial launch angle of the submarine-launched UAV are adjusted through the Tools-rotate panel of the hypermesh software; Step 3.4, obtain the simulation results and output the simulated water exit speed of the submarine-launched UAV model.

[0010] Furthermore, in step 3.2, by setting the *CONSTRAINED-LAGRANGE-IN-SOLID keyword, the submarine-launched UAV is set to the Lagrangian algorithm, and the water domain and air domain are set to the Euler algorithm; by setting the *INITIAL-VELOCITY-GENERATION keyword, the initial velocity of the UAV is defined; by setting the *BOUNDARY-NONREFLECTING keyword, the non-reflecting boundaries of the water domain and the air domain are defined; and by setting the *DATABASE-BINARY-D3PLOT keyword, the output animation frequency is defined.

[0011] Furthermore, in step 3.3, the motion equation of the submarine-launched UAV specifically includes: The position of the submarine-launched UAV in space can be determined by the center of mass of the submarine-launched UAV in the reference coordinate system, and its coordinates ( , , ) is expressed as: ; The above formula describes the trajectory of the center of mass of the submarine-launched UAV during the water exit process; is the coordinate of the center of mass of the submarine-launched UAV on the X-axis in the material coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Y axis in the material coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Z axis in the material coordinate system; The relationship between the spatial position of the submarine-launched UAV and the speed of the submarine-launched UAV is: ; in, is the coordinate of the center of mass of the submarine-launched UAV on the X-axis in the spatial coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Y axis in the spatial coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Z axis in the spatial coordinate system; is the speed of the submarine-launched UAV along the X axis in the material coordinate system; is the speed of the submarine-launched UAV along the Y axis in the material coordinate system; is the speed of the submarine-launched UAV along the Z axis in the material coordinate system; The motion posture uses pitch angle θ, yaw angle β, roll angle The pitch angle refers to the angle between the axis of the submarine-launched UAV and the horizontal plane; the yaw angle refers to the angle between the projection of the axis of the submarine-launched UAV on the reference coordinate system and the OX axis of the reference coordinate system; the roll angle refers to the angle between the OY axis of the body coordinate system of the submarine-launched UAV and the axis passing through the OX axis and perpendicular to the reference system OY. 0X 0 Z 0 The angle between the coordinate plane and the plumb plane; The angular velocity of the submarine-launched UAV is expressed by the three components ω in the body coordinate system x ,ω y ,ω z Indicates that the relationship between its angular velocity and attitude angle is: .

[0012] The present invention also provides a test device for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV, comprising a clamping device, a launching device, a submarine-launched UAV model, a water tank, a speed measuring device, and a high-speed camera; the clamping device is arranged at the bottom of the water tank, the clamping device is used to clamp and fix the launching device, the submarine-launched UAV model is installed on the launching device, the water tank is filled with clean water, the speed measuring device is arranged above and close to the water surface, and the high-speed camera is used to shoot test images.

[0013] Furthermore, it also includes a plurality of light sources, which are used to provide lighting for the high-speed camera.

[0014] Furthermore, the water tank is a transparent acrylic water tank.

[0015] It can be seen from the above description of the present invention that, compared with the prior art, the test method and device for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV of the present invention include at least one of the following beneficial effects: 1. The present invention realizes the underwater motion shooting of submarine-launched UAV models by developing a small-scale scale model test, thus solving the difficulty of optical measurement in large water tank tests; 2. The present invention places a speed measuring device on the water exit path of the submarine-launched UAV model, thereby realizing speed measurement of the submarine-launched UAV model when it exits the water, and solves the difficulty of water droplets brought by the submarine-launched UAV affecting the measurement accuracy in traditional optical measurement; 3. The present invention develops a finite element simulation method for testing the water-based dynamic performance of submarine-launched UAVs. By combining finite element simulation with actual tests, the present invention solves the difficulty of measuring the "speed-time" curve, "acceleration-time" curve, "pitch angle-time" curve, etc. when the submarine-launched UAV emerges from the water, so as to accurately analyze the changing laws of the hydrodynamic parameters of typical parts of the UAV under the coupling of multiple factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of the steps of a test method for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV in a preferred embodiment of the present invention; Figure 2A schematic diagram of a “speed-time” curve of a submarine-launched UAV model derived from finite element simulation in a preferred embodiment of the present invention; Figure 3 It is a schematic diagram of an “acceleration-time” curve of a submarine-launched UAV model derived from finite element simulation in a preferred embodiment of the present invention; Figure 4 It is a schematic diagram of a "pitch angle-time" curve of a submarine-launched UAV model derived by finite element simulation in a preferred embodiment of the present invention; Figure 5 It is a top view schematic diagram of a test device for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV in a preferred embodiment of the present invention; Figure 6 It is a schematic diagram of the exploded structure of a test device for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV in a preferred embodiment of the present invention; Figure 7 It is a side view schematic diagram of a launch device and a submarine-launched UAV model in a preferred embodiment of the present invention; Explanation of the numbers in the figure: 1 clamping device, 2 launching device, 3 submarine-launched UAV model, 4 water tank, 5 speed measuring device, 6 high-speed camera, 7 light source. DETAILED DESCRIPTION

[0017] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] Reference Figure 1 As shown, a preferred embodiment of the present invention is a test method for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV, comprising the following steps: Step 1, prepare a test device: the test device includes a clamping device 1, a launching device 2, a submarine-launched UAV model 3, a water tank 4, a speed measuring device 5, and a high-speed camera 6; the clamping device 1 is arranged at the bottom of the water tank 4, the launching device 2 is clamped and fixed by the clamping device 1, the submarine-launched UAV model is installed on the launching device 2, clean water is filled into the water tank 4, the speed measuring device 5 is arranged above and close to the water surface, and the test image is captured by the high-speed camera 6; Step 2, conducting a water exit test of the submarine-launched UAV: ​​adjusting the launch angle of the launch device 2, pulling the trigger of the launch device 2, launching the submarine-launched UAV model from the water tank 4, measuring the water exit speed of the submarine-launched UAV model 3 by the speed measuring device 5, and photographing the real-time motion posture of the submarine-launched UAV model 3 by the high-speed camera 6; Step 3, performing finite element simulation on the water-out test of the submarine-launched UAV: ​​drawing a total three-dimensional model diagram including the submarine-launched UAV model 3, air, and water; importing the total three-dimensional model diagram into the finite element simulation software for simulation analysis, outputting the simulated water-out speed of the submarine-launched UAV model, and adjusting the finite element simulation parameters so that the simulated water-out speed is consistent with the water-out speed in the test; Step 4: In the finite element simulation, the “speed-time” curve, “acceleration-time” curve, and “pitch angle-time” curve of the submarine-launched UAV model 3 are derived to analyze the variation of the hydrodynamic parameters of the typical parts of the UAV under the coupling of multiple factors. Figure 2 As shown, the “acceleration-time” curve of submarine-launched UAV model 3 is shown in Figure 3 As shown, the "pitch angle-time" curve of submarine-launched UAV model 3 is shown in Figure 4 shown.

[0021] The present invention realizes the underwater movement of the submarine-launched UAV model 3 by developing a small-scale scaled model test, and solves the difficulty of realizing optical measurement in a large water tank test; the present invention realizes the speed measurement of the submarine-launched UAV model 3 when it emerges from the water by placing a speed measuring device 5 on the water-emerging path of the submarine-launched UAV model 3, and solves the difficulty that the water droplets brought out by the submarine-launched UAV affect the measurement accuracy in traditional optical measurement; the present invention develops a finite element simulation method for testing the water-emerging dynamic performance of the submarine-launched UAV, and solves the difficulty of measuring the "speed-time" curve, "acceleration-time" curve, "pitch angle-time" curve, etc. when the submarine-launched UAV emerges from the water by combining finite element simulation with actual experiments, so as to accurately analyze the changing laws of the hydrodynamic parameters of typical parts of the UAV under the coupling of multiple factors.

[0022] As a preferred embodiment of the present invention, it may also have the following additional technical features: In this embodiment, in step 1, a three-dimensional model diagram of a submarine-launched UAV is drawn by CATIA software, and a 3D printer is used to print the submarine-launched UAV model 3 according to the three-dimensional model diagram of the submarine-launched UAV. The submarine-launched UAV model 3 printed by the 3D printer is consistent with the size and structure of the real UAV, and can well simulate the motion characteristics of the submarine-launched UAV.

[0023] In this embodiment, in step 2, the clamping device 1 and the launching device 2 are taken out of the water tank 4 and subjected to a fine drying process. After the test, the clamping device 1 and the launching device 2 are subjected to a fine drying process to prevent rust.

[0024] In this embodiment, step 3 specifically includes: Step 3.1, import the total 3D model into the hypermesh software, and use the hypermesh software to divide the grids of the submarine-launched UAV model 3, the air domain, and the water domain; Step 3.2, import the meshed 3D model into ls-prepost software for finite element pre-processing, and add the fluid-structure coupling keyword of the arbitrary Lagrangian algorithm; Step 3.3, based on the motion equation of the submarine-launched UAV, the parameters of the depth from the water surface, the launch speed, and the initial launch angle of the submarine-launched UAV are adjusted through the Tools-rotate panel of the hypermesh software; Step 3.4, obtain the simulation results and output the simulated water exit speed of the submarine-launched UAV model.

[0025] In this embodiment, in step 3.2, by setting the *CONSTRAINED-LAGRANGE-IN-SOLID keyword, the submarine-launched UAV is set to the Lagrangian algorithm, and the water domain and air domain are set to the Euler algorithm; the initial speed of the UAV is defined by setting the *INITIAL-VELOCITY-GENERATION keyword; the non-reflecting boundaries of the water domain and the air domain are defined by setting the *BOUNDARY-NONREFLECTING keyword; and the output animation frequency is defined by setting the *DATABASE-BINARY-D3PLOT keyword.

[0026] In this embodiment, in step 3.3, the motion equation of the submarine-launched UAV specifically includes: The position of the submarine-launched UAV in space can be determined by the center of mass of the submarine-launched UAV in the reference coordinate system, and its coordinates ( , , ) is expressed as: ; The above formula describes the trajectory of the center of mass of the submarine-launched UAV during the water exit process; is the coordinate of the center of mass of the submarine-launched UAV on the X-axis in the material coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Y axis in the material coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Z axis in the material coordinate system; The relationship between the spatial position of the submarine-launched UAV and the speed of the submarine-launched UAV is: ; in, is the coordinate of the center of mass of the submarine-launched UAV on the X-axis in the spatial coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Y axis in the spatial coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Z axis in the spatial coordinate system; is the speed of the submarine-launched UAV along the X axis in the material coordinate system; is the speed of the submarine-launched UAV along the Y axis in the material coordinate system; is the speed of the submarine-launched UAV along the Z axis in the material coordinate system; The motion posture uses pitch angle θ, yaw angle β, roll angle The pitch angle refers to the angle between the axis of the submarine-launched UAV and the horizontal plane; the yaw angle refers to the angle between the projection of the axis of the submarine-launched UAV on the reference coordinate system and the OX axis of the reference coordinate system; the roll angle refers to the angle between the OY axis of the body coordinate system of the submarine-launched UAV and the axis passing through the OX axis and perpendicular to the reference system OY.0 X 0 Z 0 The angle between the coordinate plane and the plumb plane; The angular velocity of the submarine-launched UAV is expressed by the three components ω in the body coordinate system x ,ω y ,ω z Indicates that the relationship between its angular velocity and attitude angle is: .

[0027] Reference Figures 5 to 7 As shown, the present invention also provides a test device for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV, comprising a clamping device 1, a launching device 2, a submarine-launched UAV model 3, a water tank 4, a speed measuring device 5, and a high-speed camera 6; the clamping device 1 is arranged at the bottom of the water tank 4, the clamping device 1 is used to clamp and fix the launching device 2, the submarine-launched UAV model is installed on the launching device 2, the water tank 4 is filled with clean water, the speed measuring device 5 is arranged above and close to the water surface, and the high-speed camera 6 is used to take test images. Among them, Figure 5 is a top view of the test device. Figure 5 The upper middle part includes a clamping device 1, a launching device 2, a submarine-launched UAV model 3, a water tank 4, and a speed measuring device 5. Figure 5 The middle and lower part includes high-speed camera 6; Figure 6 It is a schematic diagram of the exploded structure of the test device, with all the components broken down and displayed one by one; Figure 7 It is a side view schematic diagram of the launch device and submarine-launched UAV model.

[0028] In this embodiment, a plurality of light sources 7 are further included, and the light sources 7 are used to provide illumination for the high-speed camera 6. The light sources 7 are used to illuminate, so as to ensure that the high-speed camera 6 can clearly capture the motion posture of the submarine-launched UAV model 3.

[0029] In this embodiment, the water tank 4 is a transparent acrylic water tank. A transparent acrylic water tank is used so that the high-speed camera 6 can capture images of the submersible UAV model 3 above the water surface and below the water surface.

[0030] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and improved concepts of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.

Claims

1. A test method for testing the water-emergence dynamic characteristics of an underwater submarine-launched UAV, characterized in that: The following steps are involved: Step 1, preparing a test device: the test device includes a clamping device, a launching device, a submarine-launched UAV model, a water tank, a speed measuring device, and a high-speed camera; the clamping device is arranged at the bottom of the water tank, the launching device is clamped and fixed by the clamping device, the submarine-launched UAV model is installed on the launching device, clean water is filled into the water tank, the speed measuring device is arranged above and close to the water surface, and the test image is captured by the high-speed camera; Step 2, conducting a water exit test of the submarine-launched UAV: ​​adjusting the launch angle of the launch device, pulling the trigger of the launch device, launching the submarine-launched UAV model from the water tank, measuring the water exit speed of the submarine-launched UAV model by the speed measuring device, and photographing the real-time motion posture of the submarine-launched UAV model by the high-speed camera; Step 3, perform finite element simulation on the water exit test of the submarine-launched UAV: ​​draw a total three-dimensional model diagram including the submarine-launched UAV model, air, and water; The overall three-dimensional model diagram is imported into the finite element simulation software for simulation analysis, the simulated water-out speed of the submarine-launched UAV model is output, and the finite element simulation parameters are adjusted to make the simulated water-out speed consistent with the water-out speed in the test; Step 4. In the finite element simulation, the "speed-time" curve, "acceleration-time" curve, and "pitch angle-time" curve of the submarine-launched UAV model are derived to analyze the changing patterns of the hydrodynamic parameters of typical parts of the UAV under the coupling of multiple factors.

2. A test method for testing the water-emergence dynamic characteristics of an underwater submarine-launched UAV according to claim 1, characterized in that: In the step 1, a three-dimensional model diagram of the submarine-launched UAV is drawn by using CATIA software, and the submarine-launched UAV model is printed by using a 3D printer based on the three-dimensional model diagram of the submarine-launched UAV.

3. The test method for testing the water-emergence dynamic characteristics of an underwater submarine-launched UAV according to claim 1 is characterized in that: In the step 2, the clamping device and the launching device are taken out from the water tank and subjected to a fine drying process.

4. The test method for testing the water-emergence dynamic characteristics of an underwater submarine-launched UAV according to claim 1 is characterized in that: In the step 3, it specifically includes: Step 3.1, import the overall 3D model into the hypermesh software, and use the hypermesh software to divide the grids of the submarine-launched UAV model, air domain, and water domain; Step 3.2, import the meshed 3D model into ls-prepost software for finite element preprocessing, and add the fluid-structure coupling keyword of the arbitrary Lagrangian algorithm; Step 3.3, based on the motion equation of the submarine-launched UAV, the parameters of the depth from the water surface, the launch speed, and the initial launch angle of the submarine-launched UAV are adjusted through the Tools-rotate panel of the hypermesh software; Step 3.4, obtain the simulation results and output the simulated water exit speed of the submarine-launched UAV model.

5. A test method for testing the water-emergence dynamic characteristics of an underwater submarine-launched UAV according to claim 4, characterized in that: In step 3.2, by setting the *CONSTRAINED-LAGRANGE-IN-SOLID keyword, the submarine-launched UAV is set to the Lagrangian algorithm, and the water domain and air domain are set to the Euler algorithm; by setting the *INITIAL-VELOCITY-GENERATION keyword, the initial velocity of the UAV is defined; by setting the *BOUNDARY-NONREFLECTING keyword, the non-reflecting boundaries of the water domain and the air domain are defined; by setting the *DATABASE-BINARY-D3PLOT keyword, the output animation frequency is defined.

6. A test method for testing the water-emerging dynamic characteristics of an underwater submarine-launched UAV according to claim 4, characterized in that: In step 3.3, the motion equation of the submarine-launched UAV specifically includes: The position of the submarine-launched UAV in space can be determined by the center of mass of the submarine-launched UAV in the reference coordinate system, and its coordinates ( , , ) is expressed as: ； The above formula describes the trajectory of the center of mass of the submarine-launched UAV during the water exit process; is the coordinate of the center of mass of the submarine-launched UAV on the X-axis in the material coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Y axis in the material coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Z axis in the material coordinate system; The relationship between the spatial position of the submarine-launched UAV and the speed of the submarine-launched UAV is: ； in, is the coordinate of the center of mass of the submarine-launched UAV on the X-axis in the spatial coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Y axis in the spatial coordinate system; is the coordinate of the center of mass of the submarine-launched UAV on the Z axis in the spatial coordinate system; is the speed of the submarine-launched UAV along the X axis in the material coordinate system; is the speed of the submarine-launched UAV along the Y axis in the material coordinate system; is the speed of the submarine-launched UAV along the Z axis in the material coordinate system; The motion posture uses pitch angle θ, yaw angle β, roll angle to determine; among them, the pitch angle refers to the angle between the axis direction of the submarine-launched UAV and the horizontal plane; the yaw angle refers to the angle between the projection of the axis of the submarine-launched UAV on the reference coordinate system and the OX axis of the reference coordinate system; the roll angle refers to the angle between the OY axis of the body coordinate system of the submarine-launched UAV and the plumb plane of the coordinate plane passing through the OX axis and perpendicular to the reference system O0X0Z0; The angular velocity of the submarine-launched UAV is expressed by the three components ω in the body coordinate system x ,ω y ,ω z Indicates that the relationship between its angular velocity and attitude angle is: 。 7. A test device for testing the water-launching dynamic characteristics of an underwater submarine-launched UAV, characterized in that: It includes a clamping device, a launching device, a submarine-launched UAV model, a water tank, a speed measuring device, and a high-speed camera; the clamping device is arranged at the bottom of the water tank, the clamping device is used to clamp and fix the launching device, the submarine-launched UAV model is installed on the launching device, the water tank is filled with clean water, the speed measuring device is arranged above and close to the water surface, and the high-speed camera is used to shoot test images.

8. The test device for testing the water-emergence dynamic characteristics of an underwater submarine-launched UAV according to claim 7, characterized in that: Also included are several light sources, which are used to provide illumination for the high-speed camera.

9. The test device for testing the water-emergence dynamic characteristics of an underwater submarine-launched UAV according to claim 7, characterized in that: The water tank adopts a transparent acrylic water tank.

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