Ultra-low frequency air-water cross-medium navigation device based on permanent magnet mechanical antenna

Abstract

The present invention relates to the field of low-frequency navigation technology, and discloses an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna. The device comprises a shell, a base plate fixedly mounted on the bottom of the shell, and a movable component for alleviating water resistance when the navigation device is used in water. The ultra-low frequency air-water cross-medium navigation device based on the permanent magnet mechanical antenna utilizes the setting of the movable component. When the baffle slides upward, it also drives the sliding of the connecting rod, thereby driving the rotation of the rotating shaft and the threaded rod. When the threaded rod rotates, it drives the connecting frame and the guide plate to slide downward, thereby being inserted into the water for use. This can alleviate the water resistance of the navigation device when it is used in water. The impact force of the water flow may cause the device to shake and drift violently on the water surface, which not only affects the stability of the device itself, but also interferes with the signal transmission between it and the underwater vehicle, resulting in a decrease in navigation accuracy. The navigation accuracy is improved and the durability of the device is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of low-frequency navigation technology, and in particular to an ultra-low-frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna. Background Art

[0002] In modern underwater navigation and related operations on the water, precise navigation plays a vital role in ensuring the smooth progress of missions, improving operational efficiency, and ensuring navigation safety. Ultra-low frequency (ULF) signals, due to their low propagation attenuation in water, offer unique advantages in air-to-water cross-medium navigation applications. This has led to the development of ULF air-to-water cross-medium navigation devices based on permanent magnet mechanical antennas. However, these devices face numerous challenges in practical use, both above and below the water. This has prompted in-depth research and optimization of their design and operating principles.

[0003] However, when the existing ultra-low frequency air-water cross-medium navigation device based on permanent magnet mechanical antenna is used on the water, it is common to encounter complex and changeable water flow conditions. Most existing navigation devices are not equipped with effective water flow buffering and guiding structures. When facing the impact of water flow and the resistance of water flow during movement, they can only passively withstand it. This makes the device prone to violent shaking, drifting and other unstable conditions on the water surface. On the one hand, it affects the stable placement and normal working state of the device itself on the water. On the other hand, this instability causes serious interference to the signal transmission between it and the underwater vehicle, resulting in a significant decrease in navigation accuracy. It is difficult to meet the needs of high-precision navigation in practical applications, and limits the effective application of navigation devices in complex water environments. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the present invention provides an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna, which solves the problem that when the ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna is used on water, the resistance and impact force of the water flow are complex and changeable, which will cause the navigation equipment to shake and become unstable.

[0006] (2) Technical solution

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna, comprising a housing, a bottom plate being fixedly mounted on the bottom of the housing;

[0008] It also includes a movable component for alleviating water resistance when the navigation device is used in water;

[0009] A moving component for improving the effect of alleviating drag in the water;

[0010] A fixed component used to stabilize the active and mobile components when used in water;

[0011] The movable component includes: a rotating shaft, which is rotatably connected to the top of the base plate, a connecting rod is slidably connected to the surface of the rotating shaft, a threaded rod is threadedly connected to the inside of the rotating shaft, a connecting frame is fixedly installed on the top of the threaded rod, the connecting frame is slidably connected to the outer wall of the shell, the connecting frame, the connecting frame surface is slidably connected to the guide plate, the bottom of the shell is fixedly installed with a base, a floating plate is slidably connected to the inside of the base, a floating ball is fixedly installed on the inner side of the floating plate, and a sliding rod is placed on the top of the floating ball.

[0012] Preferably, a base is fixedly installed on the bottom of the shell, a floating plate is slidably connected to the inside of the base, a float is fixedly installed on the inside of the float, a slide rod is placed on the top of the float, a fixed plate is fixedly installed on the inner wall of the shell, the slide rod passes through the top of the fixed plate, a baffle is fixedly installed on the outside of the slide rod, the baffle is slidably connected to the inside of the shell, and the connecting rod is fixedly installed on the outer wall of the baffle.

[0013] Preferably, the moving component includes: a movable blade, which is rotatably connected to the inner wall of the connecting frame, a rotating shaft is fixedly installed on the inner side of the movable blade, a sliding rod is slidably connected to the surface of the rotating shaft, and a stopper is fixedly installed on the surface of the sliding rod.

[0014] Preferably, the block is slidably connected to the inner side of the connection frame, the guide plate is fixedly mounted on the surface of the block, a filter plate is fixedly mounted on the inner side of the connection frame, and the block is attached to the surface of the filter plate.

[0015] Preferably, the fixing assembly includes: a gear, the gear is fixedly mounted on the surface of the rotating shaft, a rack is meshed on the surface of the gear, the rack is slidably connected to the top of the base plate, a connecting column is fixedly mounted on the top of the rack, a support rod is fixedly mounted on the bottom of the connecting column, and a support block is fixedly mounted on the bottom of the support rod.

[0016] Preferably, a through groove is provided on the surface of the shell, a movable cover is hinged on the top of the shell, and a sliding groove is provided on the surface of the bottom plate.

[0017] Preferably, a power supply is fixedly installed inside the shell, a motor is fixedly installed on the left side of the power supply through a connecting wire, a control board is fixedly installed on the bottom of the motor, the control board is fixedly installed inside the shell, a spiral coupling is fixedly installed on the surface of the motor output shaft, a load housing is fixedly installed inside the shell, a rubidium iron boron material is fixedly installed on the inside of the load housing, and a high-frequency antenna, a display screen, a frequency control knob, a button and a power switch are fixedly installed on the surface of the shell.

[0018] Preferably, the surface of the rotating shaft is provided with an arc-shaped groove 1, and the surface of the rotating shaft is provided with an arc-shaped groove 2.

[0019] Preferably, the cross-section of the guide plate is triangular, and the cross-section of the support block is U-shaped.

[0020] (3) Beneficial effects

[0021] Compared with the existing technology, the present invention provides an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna, which has the following beneficial effects:

[0022] 1. This ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna utilizes the setting of movable components. When the baffle slides upward, it also drives the connecting rod to slide, thereby driving the rotation of the rotating shaft and the threaded rod. When the threaded rod rotates, it drives the connecting frame and the guide plate to slide downward, so that it can be inserted into the water for use. This can alleviate the water resistance of the navigation device when used in water. The impact force of the water flow may cause the device to shake and drift violently on the water surface, which not only affects the stability of the device itself, but also interferes with the signal transmission between it and the underwater vehicle, resulting in a decrease in navigation accuracy. Improve navigation accuracy and enhance the durability of the device.

[0023] 2. This ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna utilizes the setting of movable components. When the float is placed on the water, the float is driven to slide upward by the floating plate, which will resist the upward sliding of the slide rod. When the slide rod slides upward, it will drive the baffle to slide upward at the groove opened on the surface of the outer shell, so that the baffle can seal the groove, which can effectively prevent water from entering the interior of the device through the groove. If water enters, it may cause the internal ultra-low frequency signal transmission part, control part, power supply and other components to become damp and short-circuit, affecting the normal operation of the device, reducing the probability of component damage, and increasing the service life of the device.

[0024] 3. This ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna utilizes the setting of a moving component. The impact force of the water flow will also drive the rotation of the movable blades and the rotating shaft. When the rotating shaft rotates, it will drive the sliding rod and the block to move toward the inner wall of the connecting frame. When the block slides, it will release the restriction on the filter plate, thereby driving the filter plate to be exposed, and cooperate with the guide plate to disperse the impact force of the water flow, thereby improving the efficiency of reducing water resistance and enhancing the practicality of the navigation equipment.

[0025] 4. The ultra-low frequency air-water cross-medium navigation device based on the permanent magnet mechanical antenna utilizes the setting of the fixed component. When the rotating shaft rotates, it will also drive the rotation of the gear on the surface. When the gear rotates, it will drive the rack, connecting column, support rod and support block to move toward the surface close to the connecting frame, so that the support block is clamped on the surface of the connecting frame for fixation, preventing the active component and the mobile component from shaking during use due to excessive water impact and excessive resistance in the water, thereby improving the stability and fixation effect of the active component and the mobile component during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall front view structure of an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna proposed by the present invention;

[0027] Figure 2 This is a schematic diagram of the overall top view of the structure of an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna proposed in the present invention;

[0028] Figure 3 This is a schematic diagram of the front view of the base structure of an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna proposed in the present invention;

[0029] Figure 4 This is a schematic diagram of the top view of the sliding rod structure of the ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna proposed in the present invention;

[0030] Figure 5 This is a schematic diagram of the front view of the active components of the ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna proposed by the present invention;

[0031] Figure 6 This is a schematic diagram of the front view of the mobile component of the ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna proposed in the present invention;

[0032] Figure 7 This is a schematic diagram of the deployed structure of the guide plate of the ultra-low frequency air-water cross-medium navigation device based on the permanent magnet mechanical antenna proposed in the present invention;

[0033] Figure 8 This is a front view schematic diagram of the fixed component structure of an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna proposed by the present invention;

[0034] Figure 9 This is a schematic diagram of the side view of the shell structure of an ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna proposed in the present invention.

[0035] In the figure: 1, housing; 2, bottom plate; 15, movable component; 151, base; 152, floating plate; 153, floating ball; 154, sliding rod; 155, fixed plate; 156, baffle; 157, connecting rod; 158, rotating shaft; 159, threaded rod; 1510, connecting frame; 1511, guide plate; 16, movable component; 161, movable blade; 162, rotating shaft; 163, sliding rod; 164, stopper; 165, filter plate; 17, fixed component; 17 1. Gear; 172. Rack; 173. Connecting column; 174. Support rod; 175. Support block; 100. Through slot; 20. Slide slot; 3. NdFeB material; 4. Motor; 5. Screw coupling; 6. Power supply; 7. High-frequency antenna; 8. Display; 9. Frequency control knob; 10. Push button; 11. Power switch; 12. Connecting wire; 13. Control panel; 14. Load housing; 18. Movable cover; 1580. Arc slot 1; 1620. Arc slot 2. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 efforts are within the scope of protection of the present invention.

[0037] See also Figures 1-9 As shown, a ULF air-water cross-medium navigation device based on a permanent magnet mechanical antenna includes a housing 1. The housing 1 is constructed of high-strength materials and is watertight to prevent water splashing and enhance damage resistance. The ULF signal transmitter comprises a motor 4, a spiral coupling 5, a nepheline iron boron material 3, and a load housing 14. ULF electromagnetic waves are transmitted within the housing 1, achieving strong penetration into seawater or lake water and low transmission attenuation in seawater, enabling navigation of underwater vehicles at great depths. This ULF air-water cross-medium navigation device, based on a permanent magnet mechanical antenna, uses ULF electromagnetic waves in the 300Hz-3kHz frequency range as the navigation signal carrier, leveraging their physical properties to achieve efficient penetration and low attenuation transmission in seawater or freshwater environments. When ULF electromagnetic waves propagate in a conductive medium (such as seawater), their skin depth is inversely proportional to the square root of the frequency. Therefore, the skin depth increases significantly in the low-frequency range, enabling them to penetrate water layers hundreds of meters to kilometers deep. This feature enables the navigation device to establish a stable ultra-low frequency communication link between the underwater vehicle and the surface or cross-media platform, effectively overcoming the signal interruption problem caused by the high attenuation of traditional high-frequency signals in deep water. The device can achieve continuous navigation and positioning of underwater vehicles at great depths, ensuring their track accuracy and mission reliability in complex underwater environments. The bottom of the housing 1 is fixedly mounted with a base plate 2, which facilitates the installation and fixing of the device.

[0038] It also includes a movable component 15 for alleviating water resistance when the navigation device is used in water;

[0039] The moving component 16 is used to improve the effect of alleviating the resistance in the water;

[0040] The fixed component 17 is used to stabilize the active component 15 and the mobile component 16 when they are used in water;

[0041] First, the movable component 15 includes: a rotating shaft 158, which is rotatably connected to the top of the base plate 2, and a connecting rod 157 is slidably connected to the surface of the rotating shaft 158. A threaded rod 159 is threaded inside the rotating shaft 158, and a connecting frame 1510 is fixedly installed on the top of the threaded rod 159. The connecting frame 1510 is slidably connected to the outer wall of the shell 1, and the connecting frame 1510 and the connecting frame 1510 are slidably connected to the surface of the guide plate 1511. A base 151 is fixedly installed at the bottom of the shell 1, and a floating plate 152 is slidably connected inside the base 151. A float 153 is fixedly installed on the inside of the float 152, and a slide rod 154 is placed on the top of the float 153, which can slide down through the guide plate 1511 and be inserted into the water for use, so that the guide plate 1511 can decompose the resistance in the water, thereby improving the navigation accuracy and enhancing the durability of the device.

[0042] Secondly, a base 151 is fixedly installed at the bottom of the shell 1, and a floating plate 152 is slidably connected inside the base 151. A float 153 is fixedly installed on the inside of the floating plate 152, and a slide rod 154 is placed on the top of the float 153. A fixed plate 155 is fixedly installed on the inner wall of the shell 1, and the slide rod 154 passes through the top of the fixed plate 155. A baffle 156 is fixedly installed on the outside of the slide rod 154. The baffle 156 is slidably connected to the inside of the shell 1, and the connecting rod 157 is fixedly installed on the outer wall of the baffle 156. The through groove 100 can be sealed when the baffle 156 slides upward, making it convenient for use in water. When the baffle 156 slides downward, the seal of the through groove 100 will be released, so that the through groove 100 is opened, reducing the obstruction to the air and reducing air resistance.

[0043] Furthermore, the movable component 16 includes: a movable blade 161, which is rotatably connected to the inner wall of the connecting frame 1510, a rotating shaft 162 is fixedly installed on the inner side of the movable blade 161, a sliding rod 163 is slidably connected to the surface of the rotating shaft 162, a stopper 164 is fixedly installed on the surface of the sliding rod 163, the stopper 164 is slidably connected to the inner side of the connecting frame 1510, a guide plate 1511 is fixedly installed on the surface of the stopper 164, a filter plate 165 is fixedly installed on the inner side of the connecting frame 1510, and the stopper 164 is attached to the surface of the filter plate 165. The use of the filter plate 165 can cooperate with the guide plate 1511 to disperse the resistance in the water and the impact of the water flow, thereby increasing the service life of the device and reducing the probability of component damage.

[0044] Furthermore, the fixed component 17 includes: a gear 171, which is fixedly mounted on the surface of the rotating shaft 158, a rack 172 meshing on the surface of the gear 171, and the rack 172 is slidably connected to the top of the base plate 2, a connecting column 173 is fixedly mounted on the top of the rack 172, a support rod 174 is fixedly mounted on the bottom of the connecting column 173, and a support block 175 is fixedly mounted on the bottom of the support rod 174. The support block 175 can limit the surface of the connecting frame 1510 to improve the stability of the movable component 15 and the mobile component 16, and when used in the air, the support block 175 can support the ground, thereby achieving the effect of stability when the ground navigation device is used on the ground.

[0045] Finally, a through slot 100 is provided on the surface of the shell 1, a movable cover 18 is hinged on the top of the shell 1, a slide slot 20 is provided on the surface of the bottom plate 2, and the navigation signal operating unit includes a high-frequency antenna 7, a display screen 8, a frequency control knob 9, a button 10, and a power switch 11. The design of a miniaturized low-frequency transmitting antenna is achieved by adopting a rotating permanent magnet mechanical movement. The core of the design is to utilize the inherent high magnetic energy level and coercive force characteristics of the permanent magnet, combined with a mechanically driven dynamic adjustment mechanism, to replace the huge electromagnetic coil and ferrite core structure that the traditional low-frequency electric antenna relies on. The electromagnetic wave radiation effect with a significantly extended equivalent electrical length is achieved in a compact physical scale within the 300Hz-3kHz frequency band, thereby effectively solving the problems of poor deployment flexibility, insufficient concealment, and limited environmental adaptability of existing ultra-low frequency antennas due to their large physical size. A power supply 6 is fixedly installed inside the shell 1, and a motor 4 is fixedly installed on the left side of the power supply 6 through a connecting wire 12. A control board 13 is fixedly installed at the bottom of the motor 4, and the control board 13 is fixedly installed inside the shell 1. A spiral coupling 5 is fixedly installed on the surface of the output shaft of the motor 4, and the spiral coupling 5 is fixedly connected to the output shaft of the motor 4, thereby enhancing the rotational stability of the nylon iron boron material 3 and improving the stable transmission of the signal. A load housing 14 is fixedly installed inside the shell 1, and a nylon iron boron material 3 is fixedly installed on the inner side of the load housing 14. The nylon iron boron material 3 adopts a petal-shaped permanent magnet structure, which reduces the inertial load of a single piece of material. Combined with the nonlinear transmission characteristics of the spiral coupling 5, it can reduce vibration and stress concentration during high-speed rotation, thereby ensuring the smooth movement of the permanent magnet mechanical antenna. The block design also enhances the material's overall fracture resistance, preventing damage to the brittle NdFeB material caused by uneven stress during dynamic operation. A high-frequency antenna 7, display screen 8, frequency control knob 9, button 10, and power switch 11 are fixedly mounted on the surface of housing 1. A high-precision servo system dynamically controls the mechanical rotation frequency of the permanent magnet array, driving the NdFeB magnets to generate highly stable ultra-low-frequency electromagnetic wave radiation within the 300Hz-3kHz frequency range. The nonlinear transmission characteristics of the helical coupling enable a linear mapping between the motor 4's speed and the electromagnetic frequency, enabling various modulation methods including amplitude shift keying (ASK), frequency shift keying (FSK), and minimum shift keying (MSK). Precision control of the permanent magnet's rotation achieves envelope sharpening for ASK modulation; dynamic regulation of the rotational angular acceleration enables rapid frequency hopping for FSK; and continuous phase transitions are achieved based on the physical inertia of the permanent magnet during rotation, enabling MSK modulation.This multi-mode modulation technology improves the signal-to-noise ratio of low-frequency navigation signals in seawater, effectively suppresses multipath interference and marine environmental noise, and reduces underwater positioning errors. An arc groove 1580 is provided on the surface of the rotating shaft 158, and an arc groove 2 1620 is provided on the surface of the rotating shaft 162. The rotating shaft 158 and the rotating shaft 162 can be driven to rotate when the connecting rod 157 and the sliding rod 163 slide through the arc groove 1580 and the arc groove 2 1620 provided on their surfaces. The cross-section of the guide plate 1511 is triangular, and the triangular guide plate 1511 can be used to improve the dispersion of water resistance. The cross-section of the support block 175 is U-shaped, and the U-shaped support block 175 can be used to improve the clamping effect of the support block 175 on the connecting frame 1510.

[0046] Working principle: when the ultra-low frequency air-water cross-medium navigation device based on permanent magnet mechanical antenna is used on water, the navigation device can be suspended on the water through the float 153. Since the pressure in the water and the gravity of the shell 1 conflict with each other, when the float 153 is placed on the water, it will drive the float 153 to slide upward through the float plate 152. When the float 153 slides upward, it will conflict with the slide rod 154 to slide upward. When the slide rod 154 slides upward, it will drive the baffle 156 to slide upward at the through groove 100 opened on the surface of the shell 1, so that the baffle 156 can seal the through groove 100. When the navigation device is used on water, the baffle 156 seals the through groove 100, which can effectively prevent water from entering the inside of the device from the through groove 100. If water enters, it may cause the internal ultra-low frequency signal transmitting unit, control unit, power supply 6 and other components to become damp and short-circuit, affecting the normal operation of the device, or even damaging components and reducing the service life of the device. When the baffle 156 slides upward, it will also drive the connecting rod 157 to slide in the arc groove 1580 opened on the surface of the rotating shaft 158, thereby driving the rotation of the rotating shaft 158. When the rotating shaft 158 rotates, it will drive the rotation of the threaded rod 159. When the threaded rod 159 rotates, it will drive the connecting frame 1510 to slide downward on the outer wall of the outer shell 1. When the connecting frame 1510 slides downward on the outer wall of the outer shell 1, it will drive the guide plate 1511 to slide downward, so that it can be inserted into the water for use, which can alleviate the water resistance of the navigation device when used in water. Due to the complex and changeable water flow conditions in the aquatic environment. If there is no guide plate 1511 inserted into the water for buffering and guidance, the impact force of the water flow may cause the device to shake and drift violently on the water surface, which not only affects the stability of the device itself, but also interferes with the signal transmission between it and the underwater vehicle, resulting in a decrease in navigation accuracy. Improving navigation accuracy enhances the durability of the device.

[0047] When the connecting frame 1510 drives the guide plate 1511 to slide downward for use, the impact force of the water flow will also drive the rotation of the movable blade 161. When the movable blade 161 rotates, it will drive the rotation of the rotating shaft 162. When the rotating shaft 162 rotates, it will drive the sliding rod 163 to move toward the inner wall close to the connecting frame 1510. When the sliding rod 163 moves, it will drive the block 164 to slide in the same moving direction as the sliding rod 163. When the block 164 slides, it will release the restriction on the filter plate 165, thereby driving the filter plate 165 to be exposed, and cooperate with the guide plate 1511 to disperse the impact force of the water flow, thereby improving the efficiency of reducing water resistance and enhancing the practicality of the navigation equipment.

[0048] When the rotating shaft 158 rotates, it will also drive the rotation of the gear 171 on the surface. When the gear 171 rotates, it will drive the rack 172 to move toward the surface close to the connecting frame 1510. When the rack 172 moves, it will drive the support rod 174 and the support block 175 to move in the same direction as the rack 172 through the connecting column 173, so that the support block 175 is clamped on the surface of the connecting frame 1510 for fixation, preventing the movable component 15 and the movable component 16 from shaking during use due to excessive water impact and excessive resistance in the water, thereby improving the stability and fixing effect of the movable component 15 and the movable component 16 during use.

[0049] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. A very low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna, comprising a housing (1), characterized in that: A bottom plate (2) is fixedly mounted on the bottom of the housing (1); Also included is a movable component (15) for alleviating water resistance when the navigation device is used in water; A moving component (16) for improving the effect of alleviating resistance in water; A fixed component (17) for stabilizing the active component (15) and the mobile component (16) when used in water; The movable component (15) comprises: a rotating shaft (158), the rotating shaft (158) is rotatably connected to the top of the bottom plate (2), a connecting rod (157) is slidably connected to the surface of the rotating shaft (158), a threaded rod (159) is internally threadedly connected to the rotating shaft (158), a connecting frame (1510) is fixedly installed on the top of the threaded rod (159), the connecting frame (1510) is slidably connected to the outer wall of the shell (1), the connecting frame (1510), a guide plate (1511) is slidably connected to the surface of the connecting frame (1510), a base (151) is fixedly installed on the bottom of the shell (1), a floating plate (152) is slidably connected to the inside of the base (151), a floating ball (153) is fixedly installed on the inner side of the floating plate (152), and a sliding rod (154) is placed on the top of the floating ball (153).

2. The ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna according to claim 1, characterized in that: A fixing plate (155) is fixedly mounted on the inner wall of the housing (1), the sliding rod (154) passes through the top of the fixing plate (155), a baffle (156) is fixedly mounted on the outer side of the sliding rod (154), the baffle (156) is slidably connected to the inside of the housing (1), and the connecting rod (157) is fixedly mounted on the outer wall of the baffle (156).

3. The ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna according to claim 1, characterized in that: The movable assembly (16) comprises a movable blade (161), the movable blade (161) being rotatably connected to the inner wall of the connection frame (1510), a rotating shaft (162) being fixedly mounted on the inner side of the movable blade (161), a sliding rod (163) being slidably connected to the surface of the rotating shaft (162), and a stopper (164) being fixedly mounted on the surface of the sliding rod (163).

4. The ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna according to claim 3, characterized in that: The stopper (164) is slidably connected to the inner side of the connection frame (1510), the guide plate (1511) is fixedly mounted on the surface of the stopper (164), a filter plate (165) is fixedly mounted on the inner side of the connection frame (1510), and the stopper (164) is attached to the surface of the filter plate (165).

5. The ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna according to claim 1, characterized in that: The fixing assembly (17) includes a gear (171), the gear (171) is fixedly mounted on the surface of the rotating shaft (158), a rack (172) is meshed on the surface of the gear (171), the rack (172) is slidably connected to the top of the bottom plate (2), a connecting column (173) is fixedly mounted on the top of the rack (172), a support rod (174) is fixedly mounted on the bottom of the connecting column (173), and a support block (175) is fixedly mounted on the bottom of the support rod (174).

6. The ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna according to claim 1, characterized in that: A through slot (100) is provided on the surface of the shell (1), a movable cover (18) is hingedly connected to the top of the shell (1), and a sliding slot (20) is provided on the surface of the bottom plate (2).

7. The ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna according to claim 1, characterized in that: A power supply (6) is fixedly installed inside the housing (1), a motor (4) is fixedly installed on the left side of the power supply (6) via a connecting wire (12), a control panel (13) is fixedly installed on the bottom of the motor (4), the control panel (13) is fixedly installed inside the housing (1), a spiral coupling (5) is fixedly installed on the surface of the output shaft of the motor (4), a load housing (14) is fixedly installed inside the housing (1), a rubidium iron boron material (3) is fixedly installed on the inner side of the load housing (14), and a high-frequency antenna (7), a display screen (8), a frequency control knob (9), a button (10) and a power switch (11) are fixedly installed on the surface of the housing (1).

8. The ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna according to claim 3, characterized in that: The surface of the rotating shaft (158) is provided with an arc-shaped groove 1 (1580), and the surface of the rotating shaft (162) is provided with an arc-shaped groove 2 (1620).

9. The ultra-low frequency air-water cross-medium navigation device based on a permanent magnet mechanical antenna according to claim 5, characterized in that: The guide plate (1511) has a triangular cross-section, and the support block (175) has a U-shaped cross-section.

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