Underwater vehicle fixed-height sailing pool test method

Abstract

The invention relates to an underwater vehicle fixed-height sailing pool test method, and belongs to the technical field of underwater vehicle pool tests. The underwater vehicle fixed-height sailing pool test method comprises the following steps: placing a lifting platform used for simulating the seabed in a pool, and submerging the lifting platform to a first preset depth underwater; the underwater vehicle is initialized, a hoisting mechanism is used for hoisting the underwater vehicle, the underwater vehicle and the lifting platform are oppositely arranged in the vertical direction, the underwater vehicle is hoisted into water, and the underwater vehicle dives to a second preset depth underwater; the lifting platform is adjusted to the initial height, and the distance between the underwater vehicle and the lifting platform is made to be the set height; keeping a set height between the underwater vehicle and the lifting platform for fixed-height sailing; in the fixed-height sailing process of the underwater vehicle, the height of the lifting platform is adjusted in real time so as to simulate the complex terrain of the seabed. The test method provided by the invention can effectively simulate complex and changeable submarine topography, is simple and easy to operate, and is high in test precision.

Description

Technical Field

[0001] The invention belongs to the technical field of submersible tank tests, and in particular relates to a submersible constant altitude navigation tank test method. Background Art

[0002] In the field of deep-sea exploration, deep-sea submersibles are increasingly used. Due to the particularity of the deep-sea environment and the working characteristics of the submersible itself, after assembly, it must undergo a series of rigorous testing processes before it can be put into actual use.

[0003] Among them, the underwater altitude navigation test has become an indispensable and important part of the submersible test. Due to the complex deep-sea environment and the undulating seabed terrain, the submersible is prone to collision or bottoming out during operation, which poses a huge challenge to the operation of the submersible. The underwater altitude navigation function of the submersible can ensure that the submersible always maintains a certain height with the seabed, and can stably maintain the preset altitude even in the face of complex and changeable seabed terrain. This is crucial for the submersible to perform tasks such as taking pictures and sampling that require precise control of the operating height, and it is also an important guarantee to avoid the risk of collision and bottoming out.

[0004] However, the existing simulation tests cannot effectively simulate the complex and changeable seabed terrain, resulting in low accuracy of the submersible altitude navigation test, which is difficult to meet the requirements of the submersible altitude navigation test. Summary of the invention

[0005] In view of the shortcomings existing in the related technologies, the present invention provides a method for a submersible navigation tank test at a constant altitude, which can not only effectively simulate the complex and changeable seabed terrain, but also simplify the submersible navigation tank test method at a constant altitude and improve the accuracy of the submersible navigation test at a constant altitude.

[0006] The present invention provides a method for testing a submersible in a constant altitude navigation tank, comprising the following steps:

[0007] Placing a lifting platform for simulating the seabed in a water pool, and submerging the lifting platform to a first preset depth underwater;

[0008] Using the lifting mechanism to lift the submersible, so that the submersible and the lifting platform are arranged opposite to each other in the vertical direction, and lifting the submersible into the water, so that the submersible dives to a second preset depth underwater;

[0009] Adjusting the lifting platform to an initial height, and making the distance between the submersible and the lifting platform a first set height;

[0010] The submersible is caused to perform altitude-fixed navigation at a first set altitude. During the altitude-fixed navigation of the submersible, the height of the lifting platform is adjusted in real time to simulate the change of seabed elevation, and the actual height between the submersible and the lifting platform is recorded as the first actual height;

[0011] The difference between the first actual altitude and the first set altitude is calculated as the first difference. If the first difference exceeds the error range, the altitude-keeping navigation performance of the submersible does not meet the test requirements; if the first difference is within the error range, the altitude-keeping navigation performance of the submersible meets the test requirements.

[0012] This technical solution sets up a lifting platform in a water pool to simulate the seabed, so that the submersible can perform altitude-fixed navigation with the lifting platform as a reference; the height of the lifting platform is adjusted in real time to simulate the elevation changes of the complex seabed terrain, thereby effectively simulating the altitude-fixed navigation of the submersible in the complex seabed terrain in the water pool environment; and the altitude-fixed navigation performance of the submersible is tested by judging whether the difference between the actual height and the set height between the submersible and the lifting platform is within the error range, so as to judge whether the altitude-fixed navigation performance of the submersible meets the requirements.

[0013] In some of the embodiments, the following steps are also included: changing the set altitude of the submersible's altitude-keeping navigation, so that the submersible performs altitude-keeping navigation at a second set altitude; during the submersible's altitude-keeping navigation at the second set altitude, adjusting the height of the lifting platform in real time, and recording the actual height between the submersible and the lifting platform as the second actual height; calculating the difference between the second actual height and the second set altitude as the second difference; if the second difference exceeds the error range, the altitude-keeping navigation performance of the submersible does not meet the test requirements; if the second difference is within the error range, the altitude-keeping navigation performance of the submersible meets the test requirements.

[0014] This technical solution reduces test errors and ensures the accuracy of test results by having the submersible repeat the test at different set altitudes.

[0015] In some of the embodiments, the submersible navigates in the pool along a preset route, the preset route includes a first preset segment and a second preset segment, the first preset segment and the second preset segment are arranged in sequence along the navigation track of the submersible; the first preset segment and the second preset segment have different altitudes and directions of constant altitude navigation; the submersible navigates at a first set altitude along the first preset route, and the submersible navigates at a second set altitude along the second preset route; it is recorded whether the horizontal rudder angle of the submersible is automatically adjusted, and whether the vertical rudder of the submersible is automatically adjusted when the submersible starts to navigate along the second preset segment after finishing navigating along the first preset segment, so as to test the performance of the vertical rudder and the horizontal rudder.

[0016] In some of the embodiments, when the submersible dives to a second preset depth underwater, the propeller of the submersible starts working and rotates at a set speed, the horizontal rudder of the submersible is automatically adjusted according to the set pitch angle, and the vertical rudder of the submersible maintains the set value unchanged.

[0017] In some of the embodiments, after the submersible reaches the navigation time in the pool, the propeller of the submersible stops working, the vertical rudder angle and the horizontal rudder angle are returned to zero, and the navigation control unit of the submersible sends a command to the submersible's jettisoning device to determine whether the jettisoning device performs the jettisoning action to determine the performance of the jettisoning device.

[0018] This technical solution verifies the effectiveness of the jettisoning device by jettisoning the submersible after the submersible has completed its altitude-fixing navigation, without affecting the submersible's altitude-fixing navigation.

[0019] In some of the embodiments, after the jettisoning device performs the jettisoning action, the submersible floats up, the hoisting mechanism hoists the submersible to float up, and the horizontal rudder maintains its set value in the constant altitude navigation stage unchanged.

[0020] This technical solution ensures that the submersible always maintains a good posture during the surfacing process by keeping the setting value of the horizontal rudder unchanged during the surfacing process of the submersible; the submersible is lifted up by a lifting mechanism to achieve the recovery of the submersible, which can reduce the risks and uncertainties in the recovery process of the submersible.

[0021] In some of the embodiments, when the submersible is navigating in the pool, it is also necessary to determine whether the sensors installed on the submersible are working normally; the sensors include at least a Doppler velocimeter, an acoustic Doppler current profiler and a side-scan sonar; after the submersible dives to a second preset depth, the Doppler velocimeter is started; when the lifting platform is adjusted to an initial height, the acoustic Doppler current profiler and the side-scan sonar are started; after the submersible reaches a set navigation time, the acoustic Doppler current profiler and the side-scan sonar are stopped, and the performance of the Doppler velocimeter, the acoustic Doppler current profiler and the side-scan sonar is determined by determining whether the Doppler velocimeter, the acoustic Doppler current profiler and the side-scan sonar are started and stopped according to the set process, and interpreting the data collected by the Doppler velocimeter, the acoustic Doppler current profiler and the side-scan sonar.

[0022] In some of the embodiments, the sensors also include a temperature and salinity depth meter, an altimeter, an image sonar, an inertial navigation system, a full-sea-depth camera, and a lighting system. When the submersible dives to a second preset underwater depth, the temperature and salinity depth meter, the altimeter, the image sonar, the inertial navigation system, the full-sea-depth camera, and the lighting system are started; after the submersible reaches a set navigation time, the temperature and salinity depth meter, the altimeter, and the image sonar stop working; when the submersible floats to a third preset underwater depth, the full-sea-depth camera and the lighting system are stopped; by judging whether the temperature and salinity depth meter, the altimeter, the image sonar, the inertial navigation system, the full-sea-depth camera, and the lighting system are started and stopped according to the set process, and interpreting the data collected by the temperature and salinity depth meter, the altimeter, the image sonar, the inertial navigation system, and the full-sea-depth camera, the performance of the temperature and salinity depth meter, the altimeter, the image sonar, the inertial navigation system, the full-sea-depth camera, and the lighting system are judged.

[0023] In some of the embodiments, the submersible includes a diving navigation stage, a constant altitude navigation stage, a floating stage and a surface stage during the pool test, and the diving navigation stage, the constant altitude navigation stage, the floating stage and the surface stage occur in chronological order; in the diving navigation stage, the height of the lifting platform remains unchanged, and the height of the submersible decreases; in the constant altitude navigation stage, the height of the lifting platform changes actively, and the height of the submersible changes passively with the height of the lifting platform; in the floating stage, the height of the submersible increases, and when the submersible floats to the third preset depth, the submersible enters the surface stage, and the hoisting mechanism hoists the submersible up.

[0024] In some of the embodiments, the submersible is equipped with a sonicator, and the communication status of the sonicator is tested during the diving stage, the altitude-fixed navigation stage, and the surfacing stage, respectively, to determine the communication performance of the sonicator in each stage.

[0025] This technical solution can fully understand the communication capabilities of the acoustic communication machine under different working conditions by testing the communication status of the acoustic communication machine in the diving stage, the altitude-fixing navigation stage, and the surfacing stage. If problems with the communication performance of the acoustic communication machine are found at a certain stage, they can be analyzed and improved in a timely manner to ensure that the acoustic communication machine can work normally in all navigation stages of the submersible.

[0026] Based on the above technical scheme, the method for the submersible's altitude-fixed navigation tank test in the embodiment of the present invention simulates the complex seabed terrain by setting a lifting platform in the tank and adjusting the height of the lifting platform in real time, so that the submersible can perform altitude-fixed navigation based on the lifting platform as a reference, so as to effectively simulate the altitude-fixed navigation of the submersible under the complex seabed terrain in the tank environment; by judging whether the difference between the actual height and the set height between the submersible and the lifting platform is within the error range, it is judged whether the altitude-fixed navigation performance of the submersible meets the requirements, which not only enables the test to be carried out in a relatively controllable tank environment, but also reduces the complexity and cost of the actual marine environment test and improves the test efficiency; the test method is simple and easy to operate and has high test accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 This is a flowchart of an embodiment of a submersible altitude navigation tank test method of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the lifting platform and the submersible in the water tank in one embodiment of the submersible fixed altitude navigation water tank test method of the present invention;

[0030] Figure 3 This is a schematic diagram of the structure of a submersible in one embodiment of the submersible altitude navigation tank test method of the present invention.

[0031] In the figure:

[0032] 1. Submersible; 2. Lifting platform; 3. Hoisting mechanism;

[0033] 11. Full ocean depth camera; 12. Illumination lamp; 13. Altimeter; 14. Imaging sonar; 15. Dumping device; 16. CTD; 17. Inertial navigation; 18. Acoustic transmitter; 19. DVL; 110. Side scan sonar; 111. ADCP; 112. Vertical rudder; 113. Horizontal rudder; 114. Thruster. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying 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 orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0036] The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection 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.

[0038] As attached Figure 1As shown, in an illustrative embodiment of the method for testing a submersible at a fixed altitude in a water tank, the method comprises the following steps: placing a lifting platform 2 for simulating the seabed in a water tank, and submerging the lifting platform 2 to a first preset depth underwater; using a lifting mechanism 3 to lift a submersible 1, so that the submersible 1 is located above the lifting platform 2, and the submersible 1 and the lifting platform 2 are arranged opposite to each other in a vertical direction; the lifting mechanism 3 lifts the submersible 1 into the water, so that the submersible 1 dives to a second preset depth underwater; adjusting the lifting platform 2 to an initial height, and aligning the submersible 1 with the lifting platform 2. 2 is a first set height; the submersible 1 is made to navigate at a constant altitude with the distance between it and the lifting platform 2 as the first set height; during the constant altitude navigation of the submersible 1, the height of the lifting platform 2 is adjusted in real time to simulate the complex terrain of the seabed; the actual height between the submersible 1 and the lifting platform 2 is recorded as the first actual height, and the difference between the first actual height and the first set height is calculated as the first difference. If the first difference exceeds the error range, the constant altitude navigation performance of the submersible 1 does not meet the test requirements; if the first difference is within the error range, the constant altitude navigation performance of the submersible 1 meets the test requirements.

[0039] It should be noted that during the actual constant altitude navigation of the submersible 1, when the seabed elevation changes, the height of the submersible 1 also changes accordingly. In theory, the height of the submersible 1 changes synchronously with the change in seabed elevation so that the submersible 1 maintains the set altitude navigation between it and the seabed.

[0040] The above-mentioned submersible altitude-fixed navigation tank test method sets up a lifting platform 2 in the tank to simulate the seabed, so that the submersible 1 can perform altitude-fixed navigation with the lifting platform 2 as a reference; the height of the lifting platform 2 is adjusted in real time to simulate the elevation change of the complex seabed terrain, thereby effectively simulating the altitude-fixed navigation of the submersible 1 under the complex seabed terrain in the tank environment; by judging whether the difference between the actual height and the set height between the submersible 1 and the lifting platform 2 is within the error range, the altitude-fixed navigation performance of the submersible 1 is tested to judge whether the altitude-fixed navigation performance of the submersible 1 meets the requirements.

[0041] The above-mentioned submersible altitude-keeping navigation tank test method not only provides a feasible test method for the altitude-keeping navigation performance test of the submersible 1, so that the test can be carried out in a relatively controllable tank environment, reducing the complexity and cost of the actual marine environment test, but also the test method is simple and effective, which greatly improves the test efficiency. It can not only comprehensively verify the underwater altitude-keeping navigation function of the submersible 1 before the lake trial and the sea trial, and ensure the smooth implementation of the tasks that require precise control of the operating height such as taking pictures and sampling during the lake trial and the sea trial of the submersible 1, but also the test method can be widely used in various types of submersibles 1 with different sizes of altitude-keeping navigation tank tests through simple adaptive modifications, and has a wide range of applications.

[0042] It should be noted that during the navigation of the submersible 1 at a fixed altitude in the pool, the height of the lifting platform 2 is adjusted in real time to simulate the complex terrain of the seabed. Due to the complex seabed terrain, the elevations of different terrains are different. By adjusting the height of the lifting platform 2 to simulate the changes in the seabed elevation, the navigation scene of the submersible 1 at a fixed altitude in the pool is more in line with the actual navigation scene of the submersible 1 at a fixed altitude in the ocean.

[0043] It should also be noted that the lifting platform 2 can be a connecting plate hoisted by ropes, and the connecting plate can be lifted or lowered by winding or releasing the ropes, thereby changing the height of the connecting plate. The lifting platform 2 belongs to the prior art and will not be described in detail here.

[0044] Before the lifting mechanism 3 lifts the submersible 1 , the submersible 1 needs to be initialized to restore the submersible 1 to its original state to ensure the test effect of the submersible 1 .

[0045] In some embodiments, the hoisting mechanism 3 may be a crane or a crane, and the lifting platform 2 may be a flat plate. The hoisting mechanism 3 belongs to the prior art in the field and will not be described in detail here.

[0046] In order to ensure the accuracy of the test results, the submersible 1 can repeat the test at different set altitudes to reduce the test error.

[0047] Specifically, the above-mentioned submersible altitude-fixed navigation tank test method also includes the following steps: after recording the first actual altitude, changing the set altitude of the submersible 1 for altitude-fixed navigation, so that the submersible 1 performs altitude-fixed navigation with the altitude between the submersible 1 and the lifting platform 2 as the second set altitude; recording the actual altitude between the submersible 1 and the lifting platform 2 as the second actual altitude, calculating the difference between the second actual altitude and the second set altitude as the second difference, if the second difference exceeds the error range, the altitude-fixed navigation performance of the submersible 1 does not meet the test requirements; if the second difference is within the error range, the altitude-fixed navigation performance of the submersible 1 meets the test requirements.

[0048] It should be noted that, when the submersible 1 is performing constant altitude navigation at the second set altitude, the height of the lifting platform 2 can be adjusted in real time to simulate the complex terrain of the seabed.

[0049] like Figure 2 As shown, the lifting platform 2 and the submersible 1 are independently arranged. Before the submersible 1 performs altitude-fixing navigation based on the lifting platform 2, the lifting platform 2 and the submersible 1 work independently of each other.

[0050] like Figure 3As shown, the submersible 1 includes a propeller 114, which provides the submersible 1 with power to move forward, backward and turn, and converts electrical energy or other energy sources into mechanical energy to propel the submersible 1 to move in the water. Different speeds of the propeller 114 may cause the stability of the submersible 1 to change at a set altitude.

[0051] In some embodiments, the speed of the propeller 114 is changed to simulate the motion characteristics of the submersible 1 at different constant altitude navigation speeds, thereby more effectively evaluating the performance of the submersible 1.

[0052] like Figure 3 As shown, the submersible 1 includes a vertical rudder 112 and a horizontal rudder 113. The vertical rudder 112 is installed at the tail of the submersible 1 to control the heading of the submersible 1; the horizontal rudder 113 is usually installed at the front or tail of the submersible 1 to control the pitch attitude of the submersible 1. By changing the angle of the vertical rudder 112, a lateral force can be generated to make the submersible 1 turn left or right, thereby realizing the navigation direction control of the submersible 1 in the horizontal direction; by adjusting the angle of the horizontal rudder 113, the submersible 1 can be tilted up or down, thereby controlling the diving and surfacing of the submersible 1, as well as the navigation attitude in the vertical direction.

[0053] It should be noted that when the submersible 1 is tested in the water pool, when the submersible 1 dives to the second preset depth underwater, the propeller 114 starts working and rotates at the set speed, the horizontal rudder 113 automatically adjusts according to the set pitch angle, and the vertical rudder 112 maintains the set value unchanged, so that the submersible 1 begins to enter the constant altitude navigation mode; when the submersible 1 reaches the navigation time in the water pool, the propeller 114 stops working, the vertical rudder angle and the horizontal rudder angle return to zero, and the submersible 1 stops running.

[0054] In actual application, when the submersible 1 navigates at a set altitude along a preset route, the vertical rudder 112 will automatically adjust its angle according to the set navigation direction, and the horizontal rudder 113 will automatically adjust its angle according to the set navigation altitude.

[0055] The preset route includes at least information such as the set sailing altitude, sailing speed and sailing direction. When the preset route includes multiple preset sections, at least one of the information of the set sailing altitude, sailing speed and sailing direction changes in different preset sections. Therefore, when the submersible 1 finishes sailing in the current preset section and prepares to sail along the next preset section, at least one of the information of the set sailing altitude, sailing speed and sailing direction changes, and it is necessary to change the speed of the propeller 114 and / or adjust the sailing direction and / or adjust the sailing altitude. When the sailing direction changes, the vertical rudder 112 automatically adjusts the vertical rudder angle; when the sailing altitude changes, the horizontal rudder 113 automatically adjusts the horizontal rudder angle.

[0056] In order to ensure the accuracy of the performance test results of the submersible 1, the above-mentioned submersible constant altitude navigation tank test method also includes a step of judging the performance of the vertical rudder 112 and the horizontal rudder 113.

[0057] In actual applications, after the preset section of navigation is completed, the depth value of the submersible 1 is adjusted, and the horizontal rudder 113 automatically adjusts the horizontal rudder angle. Therefore, in some embodiments, the navigation depth value of the submersible 1 is adjusted to observe whether the horizontal rudder 113 automatically adjusts the horizontal rudder angle, so as to determine whether the horizontal rudder 113 works normally.

[0058] In other embodiments, the performance of the horizontal rudder 113 is determined by changing the speed of the propeller 114 and adjusting the depth value of the submersible 1 to observe whether the horizontal rudder 113 automatically adjusts the horizontal rudder angle.

[0059] In some other embodiments, the performance of the vertical rudder 112 is determined by adjusting the direction of the submersible 1 and observing whether the vertical rudder angle is automatically adjusted.

[0060] The above-mentioned submersible altitude constant navigation tank test method is introduced by taking an example in which a preset route includes a first preset segment and a second preset segment, and the first preset segment and the second preset segment have different altitude constant navigation altitudes and navigation directions; the submersible 1 performs altitude constant navigation at a first set altitude along the first preset segment, and the submersible 1 performs altitude constant navigation at a second set altitude along the second preset segment.

[0061] The above-mentioned submersible constant altitude navigation tank test method comprises the following steps:

[0062] The lifting platform 2 is submerged to a first preset depth underwater, and the submersible 1 is hoisted by the hoisting mechanism 3, so that the submersible 1 is located above the lifting platform 2, and the submersible 1 and the lifting platform 2 are arranged opposite to each other in the vertical direction. The hoisting mechanism 3 hoists the submersible 1 into the water, and the submersible 1 is submerged to a second preset depth underwater;

[0063] Adjust the lifting platform 2 to an initial height, and make the distance between the submersible 1 and the lifting platform 2 be a first set height;

[0064] When the submersible 1 performs altitude navigation along the first preset route, the actual height between the submersible 1 and the lifting platform 2 is recorded as the first actual height;

[0065] Record whether the horizontal rudder 113 automatically adjusts the horizontal rudder angle and the vertical rudder 112 automatically adjusts the vertical rudder angle when the submersible 1 starts to sail along the second preset section after the submersible 1 finishes sailing along the first preset section;

[0066] When the submersible 1 performs altitude navigation along the second preset route, the actual height between the submersible 1 and the lifting platform 2 is recorded as the second actual height;

[0067] The difference between the first actual altitude and the first set altitude is calculated as the first difference, and the difference between the second actual altitude and the second set altitude is calculated as the second difference; if the first difference and the second difference exceed the error range, the altitude-keeping navigation performance of the submersible 1 does not meet the test requirements; if the first difference and the second difference are both within the error range, the altitude-keeping navigation performance of the submersible 1 meets the test requirements.

[0068] The above-mentioned submersible altitude-keeping navigation tank test method can not only test the altitude-keeping navigation performance of the submersible 1, but also test the automatic adjustment performance of the vertical rudder 112 and the horizontal rudder 113, and the test results are accurate.

[0069] like Figure 3 As shown, the submersible 1 also includes a jettison device 15, which is a safety device of the submersible 1. When the submersible 1 needs to float urgently or needs to be recovered after completing the mission, the jettison device 15 can jettison a certain weight of ballast, so that the buoyancy of the submersible 1 is greater than the gravity, thereby achieving rapid floating. In addition, when encountering a fault or dangerous situation, the jettison device 15 can also help the submersible 1 get out of trouble.

[0070] In order to ensure the accuracy of the performance test results of the submersible 1, the above-mentioned submersible constant altitude navigation tank test method also includes judging whether the jettisoning device 15 is working normally. It should be noted that the performance judgment of the jettisoning device 15 is performed after the submersible 1 completes the constant altitude navigation stage.

[0071] Specifically, in the water tank test, after the submersible 1 ends the altitude-fixed navigation stage, or when the submersible 1 reaches the navigation time, the thruster 114 stops working, the vertical rudder angle and the horizontal rudder angle return to zero, and the navigation control unit sends a command to the jettisoning device 15, and the jettisoning device 15 performs the jettisoning action. It is judged whether the jettisoning device 15 performs the jettisoning action to judge the performance of the jettisoning device 15; if the jettisoning device 15 performs the jettisoning action, the jettisoning device 15 works normally; if the jettisoning device 15 does not perform the jettisoning action or delays the jettisoning action, the jettisoning device 15 cannot work normally.

[0072] In some implementations, the submersible 1 is equipped with two sets of jettisoning devices 15, and the two sets of jettisoning devices 15 complete the jettisoning action in sequence, and the time interval is set to 10s.

[0073] In other embodiments, a single-stage, two-group jettisoning device 15 is used to simulate the actual use of the submersible 1, and the performance test of the jettisoning device 15 is performed after the submersible 1 is sailing at a constant altitude. It should be noted that the normal operation of any group of jettisoning devices 15 can enable the submersible 1 to float to the surface of the water at a fixed elevation angle by relying on its own positive buoyancy.

[0074] It should be noted that, in the water tank test, after the jettisoning device 15 performs the jettisoning action, the submersible 1 begins to float up.

[0075] After the submersible 1 begins to surface, the height between the submersible 1 and the lifting platform 2 changes, and the submersible 1 no longer performs constant-altitude navigation. The setting values ​​of the horizontal rudder 113 when the submersible 1 is navigating at a constant altitude are different from those when the submersible 1 is surfacing. However, in some embodiments, in order to ensure the safety of the submersible 1 during the water tank test of the submersible 1, after the submersible 1 enters the surfacing stage, the horizontal rudder 113 maintains the setting value of the submersible 1 in the constant-altitude navigation stage unchanged, and the hoisting mechanism 3 applies a hoisting force to the submersible 1 to make the submersible 1 float.

[0076] The submersible 1 can be divided into a diving navigation stage, an altitude-maintaining navigation stage, a floating stage and a surface stage during the tank test; the diving navigation stage, the altitude-maintaining navigation stage, the floating stage and the surface stage occur in chronological order.

[0077] After the hoisting mechanism 3 hoists the submersible 1 into the water, the submersible 1 enters the diving stage, during which the submersible 1 gradually dives to the second preset depth underwater; after the height between the submersible 1 and the lifting platform 2 is adjusted to the initial height, the submersible 1 enters the fixed altitude navigation stage, during which the submersible 1 uses the lifting platform 2 as a reference and navigates at a set altitude between the lifting platform 2; after the submersible 1 reaches the navigation time, the jettisoning device 15 performs the jettisoning action, and the submersible 1 enters the floating stage, during which the height of the submersible 1 increases, the submersible 1 gradually floats, and enters the surface stage after the submersible 1 floats to the third preset depth. It should be noted that the second preset depth is greater than the third preset depth.

[0078] During the diving stage, the height of the lifting platform 2 remains unchanged, and the height of the submersible 1 decreases. When the submersible 1 dives to the second preset depth, the hoisting mechanism 3 stops lowering the submersible 1 to prevent the submersible 1 from continuing to dive. When the submersible 1 dives to the second preset depth underwater, the submersible 1 starts to sail; during the fixed altitude navigation stage, the height of the lifting platform 2 changes actively, and the height of the submersible 1 changes passively with the height of the lifting platform 2.

[0079] In actual application, the submersible 1 is also equipped with various equipment to enable the submersible 1 to work better in the deep sea.

[0080] like Figure 3As shown, these devices include an inertial navigation system 17 (inertial navigation system) and an acoustic communication device 18; the inertial navigation system 17 calculates the position, speed and attitude information of the submersible 1 by measuring the acceleration and angular velocity of the submersible 1; the acoustic communication device 18 is a key device for the submersible 1 to communicate underwater, and the acoustic communication device 18 can realize the information transmission between the submersible 1 and surface ships, other submersibles 1 or base stations on shore, including data, instructions and voice, etc., to ensure that the submersible 1 can keep in touch with the outside world underwater.

[0081] like Figure 3 As shown, these devices also include sensors, including but not limited to a full-sea-depth camera 11, an altimeter 13, an imaging sonar 14, a side-scan sonar 110, a CTD (temperature-salinity-depth meter) 16, an ADCP (acoustic Doppler current profiler) 111, and a DVL (Doppler velocimeter) 19.

[0082] Among them, the full-sea-depth camera 11 can withstand the huge pressure of the deep sea and can directly record the deep-sea environment with optical imaging; the altimeter 13 is used to measure the vertical distance between the submersible 1 and the seabed or other objects. When the submersible 1 is sailing at a fixed altitude, the distance information provided by the altimeter 13 can be fed back to the control system, so that the submersible 1 can maintain a stable sailing altitude, avoid collision with the seabed, and ensure navigation safety and accuracy of data collection; it should be noted that in the pool test, the altimeter 13 is used to measure the height between the submersible 1 and the lifting platform 2, and the measurement results are fed back to the control system.

[0083] The imaging sonar 14 uses the principle of sound wave reflection to generate images of underwater objects and terrain. It can work in a deep-sea environment with insufficient light or complete darkness, detect the position and shape of underwater obstacles and target objects, and provide important information for the navigation, obstacle avoidance and identification of underwater targets of the submersible 1; the side-scan sonar 110 is mainly used for large-scale detection and imaging of seabed landforms. It emits sound waves to both sides, and draws a topographic map of the seabed by receiving the echo signal reflected from the seabed. It can be used to discover mountains, canyons, shipwrecks, pipelines and other objects on the seabed, and plays an important role in marine geological surveys, marine engineering construction, underwater archaeology and other fields; CTD 16 is an instrument for measuring seawater temperature, salinity and depth. Temperature, salinity and depth are important parameters of the marine environment, and their changes will affect the density, circulation and ecosystem of seawater; ADCP 111 measures the speed and direction of water flow in different depth layers of the water body through the acoustic Doppler effect. It can provide the submersible 1 with information about the surrounding water flow, helping the submersible 1 to better plan the navigation route, and also provides important water flow data for ocean dynamics research; DVL 19 uses the Doppler effect to measure the movement speed of the submersible 1 relative to the seabed or water body. It provides accurate speed information for the navigation system of the submersible 1. Combined with inertial navigation 17 and other equipment, it can achieve accurate positioning and navigation of the submersible 1, ensuring that the submersible 1 navigates according to the predetermined route.

[0084] like Figure 3 As shown, these devices also include a lighting lamp 12. In a deep sea environment, the light is extremely weak. The lighting lamp 12 provides lighting for sensors such as the full sea depth camera 11, so that the camera can capture clear images. At the same time, the lighting lamp 12 also helps the operator of the submersible 1 to observe the surrounding environment underwater, thereby improving the safety and efficiency of the submersible 1 in underwater operations.

[0085] The submersible 1 also includes a navigation control unit, which is the control system of the submersible 1 and is used to control the operation of the thruster 114, the vertical rudder 112, and the horizontal rudder 113. The navigation control unit also pre-sets the navigation route, navigation altitude, speed and other parameters of the submersible 1. In addition, the navigation control unit is also used to control the operation of the jettisoning device 15, the lighting 12, various sensors, the inertial navigation 17, the sonar machine 18 and other equipment. These are conventional technical means in the field and will not be repeated here.

[0086] It should be noted that the structure of the submersible 1 belongs to the prior art in this field and will not be described in detail here.

[0087] During the tank test of the submersible 1, the navigation control unit will record the test data for subsequent analysis and evaluation of the performance of the submersible 1. For example, by recording the speed of the propeller 114 through the navigation control unit, the performance of the submersible 1 can be effectively evaluated.

[0088] During the altitude-fixed navigation phase of the submersible 1, the navigation control unit can record the test data information such as the angle change of the horizontal rudder 113 and the vertical rudder 112, the speed of the propeller 114, the data collected by various sensors on the submersible 1, and the control parameter information used by the submersible 1 for altitude-fixed navigation (including but not limited to the setting values ​​of parameters such as depth, heading, speed, and altitude) for subsequent analysis and verification. Through the test data information, it can be observed whether the horizontal rudder 113 and the vertical rudder 112 can be adjusted automatically, as well as the accuracy and response speed of their adjustment.

[0089] It should be noted that when the submersible 1 is conducting a constant altitude navigation test in a water pool, the equipment installed on the submersible 1 also needs to be subjected to performance testing to determine whether the equipment is operating normally.

[0090] Since different equipment has different working hours and working characteristics, the inspection methods for different equipment are also different.

[0091] Among them, the method for judging the performance of the sonar machine 18 is: testing the communication status of the sonar machine 18 in the diving stage, the altitude-fixed navigation stage, and the surfacing stage respectively to judge the communication performance of the sonar machine 18 in each stage.

[0092] The method for judging the performance of the sensor, the lighting 12, the full sea depth camera 11, and the inertial navigation 17 is as follows: judging whether the sensor, the lighting 12, the full sea depth camera 11, and the inertial navigation 17 are started and shut down according to the preset process, and judging whether the data collected by the sensor, the full sea depth camera 11, and the inertial navigation 17 are normal.

[0093] When the submersible 1 is conducting a constant altitude navigation test in a water pool, after the submersible 1 dives to the second preset depth, the navigation control unit controls the Doppler velocimeter, the temperature-salinity depth meter, the altimeter 13, the imaging sonar 14, the inertial navigation 17, the full-sea-depth camera 11, and the lighting lamp 12 to start working; when the lifting platform 2 is adjusted to the initial height, the acoustic Doppler current profiler and the side-scan sonar 110 are started; after the submersible 1 reaches the set navigation time, the acoustic Doppler current profiler, the side-scan sonar 110, the temperature-salinity depth meter, the altimeter 13 and the imaging sonar 14 stop working; when the submersible 1 floats to the third preset underwater depth, the full-sea-depth camera 11 and the lighting lamp 12 stop working.

[0094] By checking and comparing the data information with the preset data, it is determined whether the submersible 1 is operating according to the preset process, thereby determining whether the ADCP 111, CTD 16, altimeter 13, side scan sonar 110, imaging sonar 14, inertial navigation 17, DVL 19, acoustic communication machine 18, full sea depth camera 11, and lighting 12 are working according to the set process, and the data collected by ADCP 111, CTD 16, altimeter 13, side scan sonar 110, imaging sonar 14, DVL 19, and acoustic communication machine 18 are interpreted to determine whether there is interference when the various hydroacoustic devices in the test pool are used at the same time. Among them, the data information can be viewed and judged by the test personnel.

[0095] It should be noted that comparing and analyzing component performance based on existing data is a conventional technical means in this field and will not be elaborated here.

[0096] The following takes the setting of two segments of the preset route as an example to introduce the navigation status of the submersible 1 in the pool in combination with specific values.

[0097] After the submersible 1 dives to a water depth of 10m, the hoisting mechanism 3 stops descending and the submersible 1 enters the navigation stage. At this time, DVL19 is started, the propeller 114 rotates at a speed of 100r / min, and the submersible 1 navigates according to the preset route. The vertical rudder 112 should be able to automatically adjust the angle according to the route direction set in the time period, and the horizontal rudder 113 should be able to automatically adjust the angle according to the navigation depth set in the time period.

[0098] After the first preset segment reaches the navigation time of 300s, the second preset segment begins. At this time, the speed of the propeller 114 changes to 200r / min, the vertical rudder 112 automatically adjusts, adjusts the direction of the submersible 1 to 180°, and the vertical rudder angle returns to zero. When the pool lifting platform 22 rises to a depth of 20m underwater, the submersible 1 enters the altitude-fixed navigation mode. At this time, the ADCP 111 and the side-scan sonar 110 are started, and the pool lifting platform 22 rises or descends. The horizontal rudder 113 automatically adjusts the angle. After the set navigation time of 800s is reached, the propeller 114 stops working, the vertical and horizontal rudder angles return to zero, and the navigation control unit sends a command to the jettisoning device 15 to complete the jettisoning action. The ADCP 111, CTD 16, altimeter 13, side-scan sonar 110, and imaging sonar 14 stop working.

[0099] The following takes the first preset depth of 20m, the second preset depth of 10m, the altitude of the submersible 1 of 10m, the third preset depth of 2m, and the navigation time of 800s as an example to describe in detail the process of the submersible 1 navigating at altitude in the pool.

[0100] S1. Place the lifting platform 2 in the pool and submerge the lifting platform 2 to 20m below the water surface.

[0101] S2. After the submersible 1 is initialized, the hoisting mechanism 3 is used to hoist the submersible 1 into the water, so that the submersible 1 and the lifting platform 2 are arranged relative to each other in the vertical direction, and the submersible 1 is hoisted into the water, so that the submersible 1 enters the diving stage. After the submersible 1 dives to 10m underwater, the thruster 114 starts to work and rotates at the set speed, the horizontal rudder 113 automatically adjusts according to the set pitch angle, the vertical rudder 112 keeps the set value unchanged, and the CTD 16, altimeter 13, image sonar 14, inertial navigation 17, sonar 18, full-sea-depth camera 11, and lighting 12 start to work.

[0102] S3. Adjust the height of the lifting platform 2 and make the height difference between the lifting platform 2 and the submersible 1 10m. The submersible 1 enters the altitude-fixed navigation stage, starts the DVL 19, ADCP 111, and side-scan sonar 110, and adjusts the height of the lifting platform 2 in real time. The submersible 1 navigates according to the preset route. The vertical rudder 112 automatically adjusts the angle according to the route direction set in the time period, and the horizontal rudder 113 automatically adjusts the angle according to the navigation depth set in the time period. The actual height between the submersible 1 and the lifting platform 2 is recorded.

[0103] S4. After the submersible 1 reaches the set navigation time, the thruster 114 stops working, the vertical and horizontal rudder angles return to zero, and the navigation control unit sends a command to the jettisoning device 15. After the jettisoning device 15 completes the jettisoning action, the ADCP 111, CTD 16, altimeter 13, side scan sonar 110, and imaging sonar 14 stop working, the hoisting mechanism 3 applies a hoisting force to the submersible 1, the horizontal rudder 113 maintains the set value unchanged, and the submersible 1 enters the surfacing stage.

[0104] S5. When the submersible 1 rises to 2 meters below the surface, the sonar 18, full-sea-depth camera 11, and lighting 12 stop working, and the wireless communication module on the submersible 1 is started to connect the navigation control unit with the shore control unit, and the thruster 114, vertical rudder 112, and horizontal rudder 113 are started, and the submersible 1 enters the surface navigation stage. At the end of the surface navigation stage, the thruster 114, vertical rudder 112, horizontal rudder 113, inertial navigation 17, and DVL 19 stop working, and the shore control unit obtains and plays back the test data information recorded in the navigation control unit.

[0105] It should be noted that in step S2, after the submersible 1 dives to 10m, step S3 is executed. At this time, the submersible 1 enters the altitude-fixed navigation stage and navigates according to the preset route. After the dumping action is completed, step S4 is executed, and the submersible 1 floats up. After executing step S4, step S5 is executed, and the shore station control unit obtains and plays back the test data information recorded in the navigation control unit.

[0106] In some embodiments, before the submersible 1 dives, the direction of the submersible 1 can be adjusted, and the vertical rudder 112 automatically adjusts the direction.

[0107] During the diving and navigation stage of the submersible 1, a powered spiral diving method is adopted to simulate the lake trial and sea trial of the submersible 1, with negative buoyancy as the main driving force of the diving process, and the steering gear and the thruster 114 as power supplement, to make spiral motion at a preset inclination angle. The specific operation is: the driving hook hangs the submersible 1 and descends. After diving to the preset water depth, the thruster 114 starts to work and rotates at the set speed, the horizontal rudder 113 automatically adjusts according to the set pitch angle, the vertical rudder 112 maintains the set value unchanged, and the CTD 16, altimeter 13, image sonar 14, inertial navigation 17, sonar 18, full-sea-depth camera 11, and lighting 12 start working.

[0108] The above-mentioned submersible constant altitude navigation tank test method comprises the following steps:

[0109] S1. Place the lifting platform 2 in the pool and submerge the lifting platform 2 to 20m below the water surface.

[0110] S2. After the submersible 1 is initialized, the submersible 1 is hoisted by the hoisting mechanism 3 so that the submersible 1 and the lifting platform 2 are arranged relative to each other in the vertical direction and the submersible 1 is located above the lifting platform 2; the hoisting mechanism 3 hoists the submersible 1 into the water so that the submersible 1 enters the diving stage. After the submersible 1 dives to 10m underwater, the thruster 114 starts to work and rotates at the set speed, the horizontal rudder 113 automatically adjusts according to the set pitch angle, the vertical rudder 112 keeps the set value unchanged, and the navigation control unit controls the CTD 16, the altimeter 13, the image sonar 14, the inertial navigation 17, the sonar 18, the full-sea-depth camera 11, and the lighting 12 to start.

[0111] S3. Adjust the height of the lifting platform 2, and make the height difference between the lifting platform 2 and the submersible 1 10m, the submersible 1 enters the fixed altitude navigation stage, the altimeter 13 measures the actual height between the submersible 1 and the lifting platform 2, and feeds the measurement results back to the navigation control unit for storage and recording; the navigation control unit controls the DVL 19, ADCP 111, and side scan sonar 110 to start;

[0112] S4. While the submersible 1 is navigating at a constant altitude along a preset route, the height of the lifting platform 2 is adjusted in real time, the vertical rudder 112 automatically adjusts its angle according to the route direction set in the time periods, the horizontal rudder 113 automatically adjusts its angle according to the navigation depth set in the time periods, and the actual height between the submersible 1 and the lifting platform 2 is recorded in real time.

[0113] S5. After the submersible 1 reaches the set navigation time, the thruster 114 stops working, the vertical and horizontal rudder angles return to zero, and the navigation control unit sends a command to the jettisoning device 15, records whether the jettisoning device 15 performs the jettisoning action, and determines the performance of the jettisoning device 15.

[0114] S6. After the jettisoning device 15 completes the jettisoning action, the navigation control unit controls the ADCP 111, CTD 16, altimeter 13, side scan sonar 110, and imaging sonar 14 to stop working, the hoisting mechanism 3 applies a hoisting force to the submersible 1, the horizontal rudder 113 maintains the set value unchanged, and the submersible 1 enters the floating stage.

[0115] S7. When the submersible 1 surfaces to 2m below the water surface, the navigation control unit controls the sonar 18, the full-sea-depth camera 11, and the lighting 12 to stop working, starts the wireless communication module on the submersible 1 to enable the navigation control unit to communicate with the shore station control unit, starts the thruster 114, the vertical rudder 112, and the horizontal rudder 113, and the submersible 1 enters the surface navigation stage.

[0116] S8. At the end of the surface navigation phase, the thruster 114, the vertical rudder 112, the horizontal rudder 113, the inertial navigation 17, and the DVL 19 stop working, and the shore station control unit obtains and plays back the test data information recorded in the navigation control unit.

[0117] S9. Analyze the data recorded by the navigation control unit to determine the altitude-holding navigation performance of the submersible 1. Specifically: (1) Determine whether the ADCP 111, CTD 16, altimeter 13, jettison device 15, side-scan sonar 110, imaging sonar 14, inertial navigation 17, DVL 19, acoustic communication machine 18, full-sea-depth camera 11, and lighting 12 are working according to the set process, and interpret the data collected by the ADCP 111, CTD 16, altimeter 13, jettison device 15, side-scan sonar 110, imaging sonar 14, inertial navigation 17, DVL 19, acoustic communication machine 18, and full-sea-depth camera 11 to determine the performance of the ADCP 111, CTD 16, altimeter 13, jettison device 15, side-scan sonar 110, imaging sonar 14, inertial navigation 17, DVL 19, acoustic communication machine 18, and full-sea-depth camera 11.

[0118] (2) Determine whether the difference between the actual height and the set height between the submersible 1 and the lifting platform 2 is within the error range. If it exceeds the error range, the submersible 1's fixed-altitude navigation performance does not meet the test requirements; if it is within the error range, the submersible 1's fixed-altitude navigation performance meets the test requirements.

[0119] The above-mentioned submersible altitude-keeping navigation tank test method completely simulates the full-process test of the submersible 1 in the marine environment from deck self-inspection, diving stage, depth-keeping navigation stage, altitude-keeping navigation stage, floating stage, and surface stage in the water tank, and realizes various test functions such as altitude-keeping navigation, sensor timing, mutual interference of hydroacoustic equipment, and communication performance of the sonar 18. Through comparative analysis of test data, it can be determined whether the submersible 1 moves according to the preset process, and whether the ADCP 111, CTD 16, altimeter 13, side-scan sonar 110, imaging sonar 14, inertial navigation 17, DVL 19, sonar 18, full-sea-depth camera 11, and lighting 12 and other submersible 1 equipment and sensors work according to the set process, and ADCP 111, CTD 16, altimeter 13, side-scan sonar 110, imaging sonar 14, DVL 19. The data collected by the sonar machine 18 are interpreted to determine whether there is interference when the various hydroacoustic devices in the test pool are used simultaneously, and to determine the communication performance of the sonar machine 18 in the setting stage. This significantly improves the test effect, and can promptly discover and resolve fault problems during the test, thereby improving the test efficiency of the system functions of the submersible 1 and the work flow of the navigation control unit, which can effectively reduce the failure rate and test cost of the submersible 1 in lake and sea trials, improve test flexibility, and provide a guarantee for the stability of the test effect.

[0120] Finally, it should be noted that: the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0121] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A method for testing a submersible in a constant altitude navigation tank, characterized in that: The following steps are involved: Placing a lifting platform for simulating the seabed in a water pool, and submerging the lifting platform to a first preset depth underwater; Using a lifting mechanism to lift the submersible, so that the submersible and the lifting platform are arranged opposite to each other in a vertical direction, and lifting the submersible into water, so that the submersible dives to a second preset depth underwater; Adjusting the lifting platform to an initial height, and making the distance between the submersible and the lifting platform a first set height; The submersible is caused to perform altitude-fixed navigation at the first set altitude. During the altitude-fixed navigation of the submersible, the height of the lifting platform is adjusted in real time to simulate the change of seabed elevation, and the actual height between the submersible and the lifting platform is recorded as the first actual height; The difference between the first actual altitude and the first set altitude is calculated as a first difference. If the first difference exceeds an error range, the altitude-keeping navigation performance of the submersible does not meet the test requirements; if the first difference is within the error range, the altitude-keeping navigation performance of the submersible meets the test requirements.

2. The method for testing a submersible in a constant altitude navigation tank according to claim 1, characterized in that: The following steps are also included: changing the set altitude of the submersible for altitude-fixed navigation, so that the submersible performs altitude-fixed navigation at a second set altitude; during the process of the submersible performing altitude-fixed navigation at the second set altitude, adjusting the height of the lifting platform in real time, and recording the actual height between the submersible and the lifting platform as the second actual height; The difference between the second actual altitude and the second set altitude is calculated as the second difference. If the second difference exceeds the error range, the altitude-keeping navigation performance of the submersible does not meet the test requirements; if the second difference is within the error range, the altitude-keeping navigation performance of the submersible meets the test requirements.

3. The method for testing a submersible in a constant altitude navigation tank according to claim 1, characterized in that: The submersible navigates in the pool along a preset route, and the preset route includes a first preset segment and a second preset segment, which are arranged in sequence along the navigation track of the submersible; the first preset segment and the second preset segment have different altitude-fixed navigation altitudes and navigation directions; the submersible navigates at a first set altitude along the first preset route, and the submersible navigates at a second set altitude along the second preset route; it is recorded whether the horizontal rudder angle of the submersible is automatically adjusted, and whether the vertical rudder of the submersible is automatically adjusted, when the submersible ends navigating along the first preset segment and starts navigating along the second preset segment, so as to test the performance of the vertical rudder and the horizontal rudder.

4. The method for testing a submersible in a constant altitude navigation tank according to claim 1, characterized in that: When the submersible dives to a second preset underwater depth, the propeller of the submersible starts working and rotates at a set speed, the horizontal rudder of the submersible is automatically adjusted according to the set pitch angle, and the vertical rudder of the submersible maintains the set value unchanged.

5. The method for testing a submersible in a constant altitude navigation tank according to claim 1, characterized in that: After the submersible reaches the navigation time in the pool, the propeller of the submersible stops working, the vertical rudder angle and the horizontal rudder angle return to zero, and the navigation control unit of the submersible sends a command to the submersible's jettisoning device to determine whether the jettisoning device performs the jettisoning action, so as to determine the performance of the jettisoning device.

6. The method for testing a submersible in a constant altitude navigation tank according to claim 5, characterized in that: After the jettisoning device performs the jettisoning action, the submersible floats up, the hoisting mechanism hoists the submersible to float up, and the horizontal rudder maintains its set value in the constant altitude navigation stage unchanged.

7. The method for testing a submersible in a constant altitude navigation tank according to claim 1, characterized in that: When the submersible is navigating in the pool, it is also necessary to determine whether the sensors installed on the submersible are working normally; the sensors include at least a Doppler velocimeter, an acoustic Doppler current profiler and a side-scan sonar; after the submersible dives to the second preset depth, the Doppler velocimeter is started; when the lifting platform is adjusted to the initial height, the acoustic Doppler current profiler and the side-scan sonar are started; after the submersible reaches the set navigation time, the acoustic Doppler current profiler and the side-scan sonar are stopped from working, and the performance of the Doppler velocimeter, the acoustic Doppler current profiler and the side-scan sonar is determined by determining whether the Doppler velocimeter, the acoustic Doppler current profiler and the side-scan sonar are started and stopped according to the set process, and the data collected by the Doppler velocimeter, the acoustic Doppler current profiler and the side-scan sonar are interpreted to determine the performance of the Doppler velocimeter, the acoustic Doppler current profiler and the side-scan sonar.

8. The method for testing a submersible in a constant altitude navigation tank according to claim 7, characterized in that: The sensor also includes a temperature and salinity depth meter, an altimeter, an image sonar, an inertial navigation, a full-sea-depth camera, and a lighting lamp. When the submersible dives to a second preset underwater depth, the temperature and salinity depth meter, the altimeter, the image sonar, the inertial navigation, the full-sea-depth camera, and the lighting lamp are started; after the submersible reaches a set navigation time, the temperature and salinity depth meter, the altimeter, and the image sonar stop working; when the submersible floats to a third preset underwater depth, the full-sea-depth camera and the lighting lamp are stopped; by judging whether the temperature and salinity depth meter, the altimeter, the image sonar, the inertial navigation, the full-sea-depth camera, and the lighting lamp are started and stopped according to a set process, and interpreting the data collected by the temperature and salinity depth meter, the altimeter, the image sonar, the inertial navigation, and the full-sea-depth camera, the performance of the temperature and salinity depth meter, the altimeter, the image sonar, the inertial navigation, the full-sea-depth camera, and the lighting lamp is judged.

9. The method for testing a submersible in a constant altitude navigation tank according to claim 1, characterized in that: The submersible includes a diving navigation stage, a fixed-altitude navigation stage, a floating stage and a surface stage during the pool test, and the diving navigation stage, the fixed-altitude navigation stage, the floating stage and the surface stage occur in chronological order; in the diving navigation stage, the height of the lifting platform remains unchanged, and the height of the submersible decreases; in the fixed-altitude navigation stage, the height of the lifting platform changes actively, and the height of the submersible changes passively with the height of the lifting platform; in the floating stage, the height of the submersible increases, and when the submersible floats to a third preset depth, the submersible enters the surface stage, and the hoisting mechanism hoists the submersible to ascend.

10. The method for testing a submersible in a constant altitude navigation tank according to claim 9, characterized in that: The submersible is equipped with a sonicator, and the communication status of the sonicator is tested in the diving stage, the altitude-fixed navigation stage, and the surfacing stage respectively to determine the communication performance of the sonicator in each stage.

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