Real-time positioning device for underwater pull-type measuring equipment

Abstract

The utility model discloses a real-time positioning device for pull-type measuring equipment in water, and relates to the technical field of real-time positioning devices. The real-time positioning device comprises a floating towed body, a signal receiving module and a receiving antenna, the floating towed body is connected with the deck machine through a towing cable, the floating towed body is in a streamline ellipsoid shape, a containing cavity is formed in the floating towed body, and the signal receiving module is arranged in the containing cavity; the floating dragging body comprises an upper floating body and a lower floating body, and the density of the upper floating body is smaller than that of the lower floating body; and the receiving antenna is arranged at the top of the upper floating body and is connected with the signal receiving module through a cable. The posture of the floating towed body in water is stabilized through the difference of the upper density and the lower density, balance can be kept in an auxiliary mode through the empennage and the side wings in the towing process, and the stability of the floating towed body in the towing process and the accuracy of real-time positioning are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of real-time positioning devices, in particular to a real-time positioning device for underwater towed measurement equipment. Background Technique

[0002] In the fields of marine surveying and mapping, as well as marine investigation and monitoring, towed measurement equipment (tow body sensors) has been widely used due to its advantages of being unaffected by the swing and undulation of the measurement ship, not being affected by the electromagnetic and acoustic interference of the measurement ship, being able to effectively avoid the influence of the wake of the measurement ship, being easy to install and release. However, since the navigation and positioning receiver used during offshore surveys is usually fixedly installed at a relatively high position on the measurement ship, the result is that the position of the receiver is inconsistent with the actual position of the tow body sensor, and the true position of the tow body sensor cannot be obtained through direct measurement, resulting in a deviation between the measured point position and the actual positioning information, and a homing correction operation for the tow body sensor is required, which is cumbersome.

[0003] Chinese patent document CN109884667A discloses a sealed sea surface towed float positioning and indicating device, including a positioning and indicating control module system, a sealed box, a sealed antenna rod, and a sealed lamp. The device is provided with a positioning module, a control module, a radio transmitting station module, a communication antenna, a power module, etc. The positioning and indicating control module system is installed inside the sealed box. The sealed antenna rod is in the shape of a circular tube, and its material and structure are composed of a metal steel pipe and a polyester circular tube mixed. The sealed sea surface towed float positioning and indicating device is used for Beidou / GPS signal acquisition and processing during the movement of the sea surface towed float. After the signal processing of the acquired signal, the data is transmitted through the antenna to provide the coordinates of the towed float on the sea surface for special offshore operation ships. However, in the technical solution disclosed in this document, for the real-time positioning function of the underwater towed measurement equipment to be realized, the following problems exist: 1. The overall design similar to a beacon is not suitable for the application of high-speed underwater towed surveys, and there are problems such as unstable attitude, excessive water resistance, and difficulty in avoiding obstacles. 2. Its float is a satellite signal transmitting device, and the positioning of the float is achieved by transmitting radio signals to the measurement ship, and the built-in battery is difficult to maintain long-term operation. 3. This device is more suitable for the positioning work of measurement equipment on the sea surface, but not suitable for the positioning work of underwater measurement equipment. Content of the Utility Model

[0004] Aiming at the problems that the current real-time positioning device has an unstable attitude during underwater towing, the transmission of data through radio waves results in a short running time, and it is restricted by the underwater environment, the utility model provides a real-time positioning device for underwater towed measurement equipment.

[0005] To solve the above technical problems, the utility model adopts the following technical solutions:

[0006] A real-time positioning device for a water-dragged measurement device includes a floating tow body, a signal receiving module, and a receiving antenna. The floating tow body is in a streamlined ellipsoidal shape and has an accommodation cavity inside, and the signal receiving module is arranged in the accommodation cavity; the floating tow body includes an upper floating body and a lower floating body, and the density of the upper floating body is less than that of the lower floating body; the receiving antenna is arranged on the top of the upper floating body and is connected to the signal receiving module through a cable.

[0007] Further, the upper floating body and the lower floating body are fixedly connected, a sealing strip is arranged at the connection between the upper floating body and the lower floating body, the density of the upper floating body is less than that of water, and the density of the lower floating body is greater than that of water.

[0008] Further, the density of the floating tow body is 0.8 g / cm 3 。

[0009] Further, the outer surface of the floating tow body is covered with plastic-steel material.

[0010] Further, a tail fin is fixed at the rear end of the floating tow body, and side fins are fixed on both the left and right sides of the rear part of the floating tow body.

[0011] Further, the tail fin is made of insulating board or aluminum-plastic board material, and the side fins are made of insulating board or aluminum-plastic board material.

[0012] Further, the side fins are inclined downward.

[0013] Further, the signal receiving module is fixed at the center of gravity position at the bottom of the accommodation cavity. The signal receiving module includes a preamplifier and a battery, and the preamplifier is connected to the battery and the receiving antenna through cables respectively.

[0014] Further, a knob interface is fixed on the top of the upper floating body, and the receiving antenna is connected to the knob interface vertically.

[0015] Further, a watertight joint is fixed at the front end of the floating tow body, and the watertight joint is connected to the preamplifier through a cable.

[0016] The beneficial effects of the present utility model are as follows: In the present utility model, the floating tow body stabilizes its attitude in water through the difference in upper and lower densities, and uses the tail fin and side fins to assist in maintaining balance during towing, improving the stability of the floating tow body during towing and the accuracy of real-time positioning. The present utility model transmits data through cables, avoiding the problem of high power consumption caused by using radio transmission for data, making the data transmission more stable and less prone to interference. The overall equipment cost of the present utility model is low and the operation is simple. The upper part of the floating tow body is above the water surface during navigation, which is beneficial to improving safety during measurement in complex sea areas. Even when it is blocked or caught by obstacles such as fishing nets, it is easy to detect or salvage and recycle, and it is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The structural principle schematic diagram of an embodiment of the present utility model is shown.

[0018] Figure 2 Shown as Figure 1 The top view of the floating tow body in

[0019] Figure 3 Shown as Figure 2 The rear view of

[0020] Figure 4 The installation schematic diagram of the present utility model is shown.

[0021] Figure 5 The schematic diagram of a real-time positioning device for an underwater towed measurement device is shown.

[0022] Figure 6 The schematic diagram of the knob interface is shown.

[0023] Figure 7 Shown as the waterproof joint schematic diagram. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The present utility model discloses a real-time positioning device for an underwater towed measurement device. The following describes a specific embodiment of the present utility model with reference to the accompanying drawings.

[0025] As Figure 1 and Figure 5 shown, a real-time positioning device for an underwater towed measurement device includes a floating tow body 5, a signal receiving module, and a receiving antenna 6. The floating tow body 5 is in a streamlined ellipsoidal shape, with a hollow interior having a receiving cavity. The outer surface of the floating tow body 5 is covered with a plastic material, and the density of the floating tow body 5 is 0.8 g / cm 3。The floating tow body 5 includes an upper floating body and a lower floating body. The upper floating body is detachably and fixedly connected to the lower floating body by bolts, and a sealing strip is provided at the connection between the upper floating body and the lower floating body to achieve sealing by using the sealing strip and prevent water from entering the inside of the floating tow body 5. The density of the upper floating body is less than that of water, and the density of the lower floating body is greater than that of water, making the floating tow body 5 have the characteristic of being lighter on the upper part and heavier on the lower part. During operation, the upper part of the floating tow body 5 can float on the water surface. Combined with Figure 2 and Figure 3 shown, a tail fin 8 is fixed at the rear end of the floating tow body 5. The tail fin 8 is a thin sheet made of an insulating board or an aluminum-plastic board material. On both the left and right sides of the rear part of the floating tow body 5, side fins 9 are fixed. The side fin 9 on the left side inclines towards the lower left, and the side fin 9 on the right side inclines towards the lower right. Both side fins 9 are thin sheets made of an insulating board or an aluminum-plastic board material. A knob interface 7 is fixed on the top of the upper floating body. The knob interface 7 is threadedly connected to the receiving antenna 6. As Figure 6 shown, a limiting part 21 is provided on the knob interface 7, so that the upper floating body abuts against the limiting part 21, and a watertight treatment is carried out at the connection between the upper floating body and the limiting part 21. The receiving antenna 6 can be telescopic, and its height is 0.5 m to 1.0 m. The tail fin 8 and the two side fins 9 cooperate to achieve the attitude stability of the floating tow body 5 during being towed, ensuring that the receiving antenna 6 is approximately upright on the water surface. As Figure 7 shown, a watertight joint 4 is fixed at the front end of the floating tow body 5. The watertight joint 4 is used to fix the towing cable. A limiting step 22 is provided on the watertight joint 4, and the limiting step 22 abuts against the floating tow body 5. The towing cable passes through the inside of the watertight joint 4 and is connected to the preamplifier 11. A watertight treatment is carried out at the connection between the watertight joint 4 and the limiting step 22, and a watertight treatment is carried out at the connection between the watertight joint 4 and the floating tow body 5. The signal receiving module is fixed at the center-of-gravity position at the bottom of the accommodation cavity to facilitate the stable attitude of the floating tow body 5. The signal receiving module includes a preamplifier 11 and a battery 10. The preamplifier 11 is connected to the battery 10, the receiving antenna 6, and the watertight joint 4 respectively through cables.

[0026] As Figure 4As shown in the figure, a survey ship 12 is arranged in front of the real-time positioning device. The survey ship 12 is connected to the real-time positioning device through the first towing cable 2 and to the towed measurement device through the second towing cable 15. The first towing cable 2 and the second towing cable 15 of the survey ship 12 are used to drag the real-time positioning device and the towed measurement device to sail forward. A deck machine 1 and a sidescan sonar acquisition machine 13 are installed on the survey ship 12. The deck machine 1 is connected to the sidescan sonar acquisition machine 13 and the watertight joint 4 through cables respectively. In order to prevent the cable between the deck machine 1 and the watertight joint 4 from breaking, the cable is attached to the first towing cable 2 and Kevlar strands are wrapped around the first towing cable 2, and then an insulating layer is wrapped outside the two. Movable buckles 3 are arranged on the first towing cable 2 and the second towing cable 15. The buckles 3 are used to ensure that the floating tow body 5 and the towed measurement device are in a proper position, so that the towed measurement device is directly below the implementation timing device.

[0027] Differential base stations 17 are arranged around the survey ship 12. The receiving antenna 6 is used to receive the electromagnetic wave signals of the differential base stations 17 and the satellites 18 and transmit them to the preamplifier 11 through cables. The preamplifier 11 transmits the data information to the deck machine 1 through cables. The deck machine 1 is used to process the data information of the differential base stations 17 and the satellites 18 and calculate the planar position of the floating tow body 5 in real time. When the deck machine 1 obtains the real-time planar position of the floating tow body 5, it transmits the position to the towed measurement devices such as the sidescan sonar system, the synthetic aperture sonar system, the marine magnetometer, the towed shallow layer profiler, and the single-channel seismic system in real time, providing accurate positioning information for them.

[0028] In this embodiment, the towed measurement device uses a sidescan sonar towfish 16. During the actual measurement process, first, the sidescan sonar system on the sidescan sonar towfish 16 is installed and debugged, then the sidescan sonar towfish 16 is put into the water to adjust the working parameters, then the release length of the second towing cable 15 on the sidescan sonar towfish 16 is adjusted to meet the measurement requirements, and the position point 14 of the buckle 3 on the second towing cable 15 is marked as the position point. The geometric relationship is:

[0029]

[0030] In the formula, L 1 is the length of the second towing cable 15 from the position point to the sidescan sonar towfish 16, H is the depth of the sidescan sonar towfish 16 from the water surface, and L 2 is the length from the position point to the receiving wire on the floating tow body 5. Through the above geometric relationship formula, L 2 can be obtained, and L 2The length is guaranteed to enable the floating towed body 5 to be directly above the sidescan sonar towfish 16 during the forward navigation of the survey ship 12, and even when the survey ship 12 turns, the floating towed body 5 and the sidescan sonar towfish 16 can swing left and right by the same amplitude, ensuring the consistency of their vertical positions. The floating towed body 5 simultaneously receives electromagnetic wave signals from the differential base station 17 and the satellite 18 through the receiving antenna 6, and then transmits them to the deck machine 1 for position calculation and then to the sidescan sonar acquisition machine 13, providing accurate positioning information for the underwater sidescan sonar towfish 16 in real time.

[0031] Certainly, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. A real-time positioning device for underwater towed measuring equipment, characterized in that: The invention comprises a floating body (5), a signal receiving module and a receiving antenna (6); the floating body (5) is in the shape of a streamlined ellipsoid and has a receiving cavity inside; the signal receiving module is arranged in the receiving cavity; the floating body (5) comprises an upper floating body and a lower floating body, the density of the upper floating body is less than that of the lower floating body; the receiving antenna (6) is arranged on the top of the upper floating body and is connected to the signal receiving module via a cable.

2. A real-time positioning device for underwater towed measuring equipment according to claim 1, characterized in that: The upper buoy is fixedly connected to the lower buoy, a sealing strip is provided at the connection between the upper buoy and the lower buoy, the density of the upper buoy is lower than the density of water, and the density of the lower buoy is higher than the density of water.

3. A real-time positioning device for underwater towed measuring equipment according to claim 1, characterized in that: The density of the floating body (5) is 0.8 g / cm 3 .

4. A real-time positioning device for underwater towed measuring equipment according to claim 1, characterized in that: The outer surface of the floating body (5) is covered with plastic steel material.

5. A real-time positioning device for underwater towed measuring equipment according to claim 1, characterized in that: A tail wing (8) is fixed to the rear end of the floating body (5), and side wings (9) are fixed to the left and right sides of the rear of the floating body (5).

6. A real-time positioning device for underwater towed measuring equipment according to claim 5, characterized in that: The tail wing (8) is made of an insulating plate or an aluminum-plastic plate material, and the side wings (9) are made of an insulating plate or an aluminum-plastic plate material.

7. A real-time positioning device for underwater towed measuring equipment according to claim 5, characterized in that: The side wings (9) are inclined downward.

8. A real-time positioning device for underwater towed measuring equipment according to claim 1, characterized in that: The signal receiving module is fixed at the center of gravity of the bottom of the accommodating cavity, and comprises a preamplifier (11) and a battery (10). The preamplifier (11) is connected to the battery (10) and the receiving antenna (6) respectively through cables.

9. A real-time positioning device for underwater towed measuring equipment according to claim 1, characterized in that: A knob interface (7) is fixed on the top of the upper floating body, and the receiving antenna (6) is vertically connected to the knob interface (7).

10. A real-time positioning device for underwater towed measuring equipment according to claim 8, characterized in that: A watertight joint (4) is fixed to the front end of the floating body (5), and the watertight joint (4) is connected to the preamplifier (11) via a cable.

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