Multi-mode satellite communication positioning device for unmanned underwater vehicle

Abstract

The utility model discloses a multimode satellite communication positioning device for an unmanned underwater vehicle, and belongs to the technical field of ocean communication equipment. Comprising a pressure-bearing cabin, an installation support, a Beidou communication module, a Tiantong communication module, a watertight cabin-penetrating connector and an all-in-one antenna module, the pressure-bearing cabin comprises a shell and an antenna protective cover, a hollow pipe is connected between the shell and the antenna protective cover, a front end cover and a rear end cover are connected to a front port and a rear port of the shell in a sealed mode respectively, and the front end cover and the rear end cover are connected with the installation support. The installation support is arranged in the shell, the Beidou communication module and the Tiantong communication module are arranged on the two sides of the installation support respectively, the watertight cabin-penetrating connector is arranged on the front side of the shell, one end of the Beidou communication module and one end of the Tiantong communication module penetrate through the front end cover and then are connected with the watertight cabin-penetrating connector, and the other end of the Beidou communication module and one end of the Tiantong communication module penetrate through the rear end cover. And then connecting to the underwater vehicle through a watertight cable. The system has the advantages that multiple paths of satellite communication are integrated, miniaturization and modular design is carried out, and the cost is saved; therefore, the signal quality is improved, and the communication success rate is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of marine communication equipment, and in particular relates to a multi-mode satellite communication positioning device for an underwater unmanned submersible. Background Art

[0002] Underwater unmanned submersibles, also known as "diving robots" or "underwater robots", are devices that navigate underwater by remote control or automatic control. They can replace divers or manned small submarines to perform high-risk underwater operations such as deep-sea environment detection, rescue, and mine clearance.

[0003] In existing technology, communication between underwater unmanned submersibles and shore-based systems primarily relies on satellite communications and Beidou positioning, a process that requires antennas. Because the antennas must accompany the submersible underwater and simultaneously communicate with satellites, they are typically installed outside the submersible's pressure hull using watertight coaxial cables. This structure suffers from the significant signal attenuation caused by the long coaxial cables and through-the-hull connectors. Furthermore, to improve communication reliability, existing submersibles utilize a dual-path satellite communication mode. When using Tiantong data and Beidou short message communications, due to the different satellite communication frequencies, four satellite antennas are required: the Beidou B1 positioning antenna, the Beidou short message uplink L-band antenna, the Beidou short message downlink S-band antenna, and the Tiantong antenna. Previous designs would significantly increase costs and introduce watertightness risks, impacting safety and reliability.

[0004] In view of the above-mentioned prior art, it is necessary to improve the existing structure. To this end, the applicant has made a useful design, and the technical solution to be introduced below is produced in this context. Utility Model Content

[0005] The purpose of the utility model is to provide a multi-mode satellite communication positioning device for underwater unmanned submersibles, which integrates multi-channel satellite communications into one, performs miniaturization and modular design, and reduces costs; it can dive into the deep sea with the underwater unmanned submersible, and at the same time shortens the length of the coaxial signal cable, reduces the difference loss, and is conducive to improving signal quality and increasing the communication success rate.

[0006] The purpose of the utility model is to achieve the following: a multi-mode satellite communication positioning device for an underwater unmanned submersible, comprising a pressure cabin, a mounting bracket, a Beidou communication module, a Tiantong communication module, a watertight through-cabin connector and an all-in-one antenna module, wherein the pressure cabin comprises a shell, an antenna protective cover arranged at intervals on the rear side of the shell, a hollow tube is connected between the shell and the antenna protective cover, the shell is sealed with a front cover and a rear cover at the front and rear ports respectively, the mounting bracket is arranged in the shell, the Beidou communication module and the Tiantong communication module are respectively sealed with a front cover and a rear cover ... The modules are arranged on both sides of the mounting bracket, and the watertight penetration connector is arranged on the front side of the shell. The Beidou communication module and the Tiantong communication module will pass one end through the front cover and connect with the watertight penetration connector, and then be connected to the submersible through a watertight cable. The submersible supplies power to the Beidou communication module and the Tiantong communication module, and communicates with the Beidou communication module and the Tiantong communication module. The multi-in-one antenna module is arranged in the antenna protective cover, and the Beidou communication module and the Tiantong communication module will connect the rear end to the multi-in-one antenna module through a coaxial cable passing through the hollow tube.

[0007] In a specific embodiment of the present invention, the front end cover forms a front end double O-ring sealing structure at one end for forming a static seal with the front port of the shell, and the front end cover forms a flange structure at the other end for fixing to the submersible, and a mounting hole for connecting a watertight penetration connector is formed in the middle of the front end cover; the rear end cover forms a rear end double O-ring sealing structure at one end for forming a static seal with the rear port of the shell.

[0008] In another specific embodiment of the present invention, one end of the hollow tube is communicated with and fixedly connected to the center of the rear end cover, and a joint is provided at the other end of the hollow tube; the antenna shield includes a base, the antenna shield is conical, and the base is hemispherical. The base narrows toward one end of the hollow tube to form a connecting tube, and the connecting tube forms an internal thread on the inner wall, and the joint of the hollow tube forms an external thread section at the front end, and an O-ring is sleeved on the joint, which is sealed and connected to the connecting tube through threaded cooperation; the other end of the base is installed in cooperation with the antenna shield, and an O-ring is provided on the end face of the end for forming an axial seal with the end face of the antenna shield, and a shield mounting seat is formed on the base at the end, and the shield mounting seat is penetrated into the antenna shield and is threadedly connected to the antenna shield, and the shield mounting seat is also provided with an O-ring for forming a radial seal with the inner wall of the antenna shield.

[0009] In another specific embodiment of the present invention, the mounting bracket includes a mounting plate and a connecting plate bent upward at the rear end of the mounting plate, the connecting plate is used to be fixedly connected to the rear end cover, a disc is fixed to the front end of the mounting bracket, a sealing groove is formed on the outer periphery of the disc, and an O-ring is embedded in the sealing groove for forming a tight fit and fixation with the inner wall of the shell; the Beidou communication module is arranged on the upper surface of the mounting plate, and the Tiantong communication module is arranged on the lower surface of the mounting plate.

[0010] In another specific embodiment of the present invention, a heat sink is installed below the Tiantong communication module, and the heat sink is in contact with the shell to dissipate heat.

[0011] In another specific embodiment of the present invention, the Beidou communication module and the Tiantong communication module are both equipped with Beidou positioning modules capable of performing position positioning.

[0012] In another specific embodiment of the present invention, the multi-in-one antenna module includes a Tiantong antenna, a Beidou positioning antenna, and a Beidou short message antenna arranged in sequence from top to bottom, wherein the Beidou positioning antenna and the Beidou short message antenna adopt a micro-laminated ceramic antenna, and the Beidou positioning antenna and the Beidou short message antenna are respectively formed with vias in the middle for connecting to the Tiantong antenna, and the Tiantong antenna is a spiral antenna.

[0013] In a further specific embodiment of the present invention, the centers of the front end cover, the shell, the rear end cover, the hollow tube and the antenna protective cover are on the same axis.

[0014] In yet another specific embodiment of the present invention, when the submersible communicates with the Beidou communication module and the Tiantong communication module, positioning information is obtained within T1 time. After T1 time, the Tiantong communication module accesses the network and establishes a connection with the shore-based Tiantong terminal, and transmits the information to be transmitted to the shore-based control station in a subcontracted form. After the Tiantong communication is completed, the information is sent out in the form of a short message through the Beidou communication module. After completing a sending task, the transmission signal is sent again at the T2 time frequency.

[0015] In yet another specific embodiment of the present invention, the shell, the front cover, the rear cover, the hollow tube, and the base of the antenna shield are titanium alloy parts, and the antenna shield is a PEEK antenna cover.

[0016] Due to the adoption of the above structure, the present invention has the following beneficial effects compared with the prior art: it has Beidou positioning function, Beidou short message receiving and sending function, and Tiantong data transmission function, and can dive into the deep sea with an underwater unmanned submersible, and connect with the satellite after surfacing to send data back to the command system; it integrates multiple satellite communications into one, performs miniaturization and modular design, reduces costs, and is easy to replace; shortens the length of the coaxial signal cable, reduces the difference loss, and is conducive to improving signal quality and increasing the communication success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an exploded view of the overall structure of the utility model;

[0018] Figure 2 It is a side view of the utility model;

[0019] Figure 3 for Figure 2 Cross-sectional view at AA;

[0020] Figure 4 This is a system block diagram of the utility model.

[0021] In the figure: 1. Housing, 11. Front cover, 111. Front double O-ring sealing structure, 112. Flange structure, 12. Rear cover, 121. Rear double O-ring sealing structure; 2. Antenna shield, 21. Base, 211. Connecting pipe, 2111. Internal thread, 212. Shield mounting base; 3. Hollow tube, 31. Connector, 311. External thread section; 4. Mounting bracket, 41. Mounting plate, 411. Connecting plate, 42. Disc, 421. Sealing groove; 5. Beidou communication module; 6. Tiantong communication module; 7. Watertight penetration connector; 8. All-in-one antenna module; 9. With heat sink. DETAILED DESCRIPTION

[0022] The specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings. However, the description of the embodiments does not limit the technical solution. Any changes in form rather than substance based on the concept of the present invention should be regarded as within the scope of protection of the present invention.

[0023] In the following description, all concepts related to directionality (or orientation) such as up, down, left, right, front and back are with respect to the position state of the figure being described, and are intended to facilitate public understanding. Therefore, they should not be understood as special limitations on the technical solutions provided by the present invention.

[0024] See also Figures 1 to 3The present utility model relates to a multi-mode satellite communication and positioning device for an underwater unmanned submersible, comprising a pressure chamber, a mounting bracket 4, a Beidou communication module 5, a Tiantong communication module 6, a watertight through-chamber connector 7, and an all-in-one antenna module 8. The pressure chamber comprises a shell 1, an antenna shield 2 spaced apart at the rear side of the shell 1, and a hollow tube 3 connected between the shell 1 and the antenna shield 2. The shell 1 is sealed with a front cover 11 and a rear cover 12 at the front and rear ports, respectively, and the mounting bracket 4 is disposed within the shell 1. The mounting bracket 4 comprises a mounting plate 41 and a connecting plate 411 formed by bending upward at the rear end of the mounting plate 41. The connecting plate 411 is used to be fixedly connected to the rear cover 12. A disc 42 is fixed to the front end of the mounting bracket 4. The disc 42 has a sealing groove 421 formed on its outer circumference, and an O-ring is embedded in the sealing groove 421 for tightly fitting and fixing with the inner wall of the shell 1. The Beidou communication module 5 is mounted on the upper surface of the mounting plate 41, and the Tiantong communication module 6 is mounted on the lower surface of the mounting plate 41. Both Beidou communication module 5 and Tiantong communication module 6 include Beidou positioning modules for position determination. Alternatively, one module can be replaced with an Iridium communication module or a wireless communication module for reliable backup communications. A heat sink 9 is mounted below the Tiantong communication module 4, contacting the housing 1 for heat dissipation. The watertight penetration connector 7 is mounted on the front side of the housing 1.

[0025] See Figure 4 The Beidou communication module 5 and Tiantong communication module 6 pass one end through the front end cover 11 and connect to the watertight penetration connector 7. The submersible is then connected to the vehicle via a watertight cable. The submersible supplies power to the Beidou communication module 5 and Tiantong communication module 6 and communicates with them. The Beidou communication module 5 and its positioning module acquire the vehicle's positioning information and transmit it to the vehicle controller. The controller, after packaging it with other information, transmits it to the shore via the Tiantong communication module 6 and then sends it via the Beidou communication module 5 in the form of a Beidou short message. Using two communication methods to transmit information ensures reliable information transmission. The multi-in-one antenna module 8 is arranged in the antenna protective cover 2, and the Beidou communication module 5 and the Tiantong communication module 6 connect the rear end to the multi-in-one antenna module 8 through a coaxial cable passing through the hollow tube 3. This structure can shorten the length of the coaxial signal cable, reduce the difference loss, and is conducive to improving the signal quality and increasing the communication success rate.

[0026] The front and rear end covers 11, 12, and the shell 1 are made of titanium alloy, ensuring structural strength and lightweight. The front end cover 11 has a front double O-ring seal structure 111 at one end, which is used to form a static seal with the front port of the shell 1. The front end cover 11 has a flange structure 112 at the other end, which is used to secure the submersible. A mounting hole for connecting the watertight penetration connector 7 is formed in the center of the front end cover 11. The rear end cover 12 has a rear double O-ring seal structure 121 at one end, which is used to form a static seal with the rear port of the shell 1. The shell 1 is provided with four fixing holes at the front and rear ends for securing the front and rear end covers 11, 12.

[0027] The hollow tube 3 is a titanium alloy tube. One end is connected to the center of the rear end cap 12 and welded to it. A connector 31 is welded to the other end of the hollow tube 3. The antenna shield 2 is made of PEEK to reduce signal transmission shielding. The antenna shield 2 includes a titanium alloy base 21. The base 21 is hemispherical and narrows toward the end of the hollow tube 3 to form a connecting tube 211. The connecting tube 211 has internal threads 2111 formed on its inner wall. The connector 31 of the hollow tube 3 has an external threaded section 311 formed at its front end. An O-ring is threadedly mounted on the connector 31 and seals the connection with the connecting tube 211. The other end of the base 21 is mounted on the antenna shield 2. An O-ring is provided on the end face of the base 21 for axial sealing with the end face of the antenna shield 2. A shield mounting seat 212 is formed on the base 21 at this end. The shield mounting seat 212 extends into the antenna shield 2 and is threadedly connected to the antenna shield 2. The protective cover mounting seat 212 is also provided with an O-ring for forming a radial seal with the inner wall of the antenna protective cover 2 .

[0028] The multi-in-one antenna module 8 includes a Tiantong antenna, a Beidou positioning antenna, and a Beidou short message antenna arranged in sequence from top to bottom. The Beidou positioning antenna and the Beidou short message antenna adopt a micro-laminated ceramic antenna. The Beidou positioning antenna and the Beidou short message antenna are respectively formed with vias in the middle for connecting to the Tiantong antenna. The Tiantong antenna is a spiral antenna.

[0029] The centers of the front cover 11, the shell 1, the rear cover 12, the hollow tube 3 and the antenna shield 2 are on the same axis. The shell 1 is cylindrical and the antenna shield 2 adopts a conical streamline design, which can reduce water flow resistance and facilitate navigation.

[0030] See you next time Figure 4The utility model has the Beidou positioning function, the Beidou short message receiving and sending function, and the Tiantong data transmission function. At the same time, it can dive into the deep sea with the underwater unmanned submersible, connect to the satellite after surfacing, and send data back to the command system. When the submersible communicates with the Beidou communication module 5 and the Tiantong communication module 6, it obtains positioning information within the T1 time. After the T1 time, the Tiantong communication module 6 accesses the network and establishes a connection with the shore-based Tiantong terminal, and transmits the information to be transmitted to the shore-based control station in a subcontracted manner. After the Tiantong communication is completed, the information is sent out through the Beidou communication module 5 in the form of a short message. After completing a sending task, the transmission signal is sent again at the T2 time frequency.

[0031] The utility model integrates multi-channel satellite communications into one, performs miniaturization and modularization design, reduces costs and facilitates replacement.

Claims

1. A multi-mode satellite communication positioning device for an underwater unmanned submersible, characterized by: The invention comprises a pressure cabin, a mounting bracket (4), a Beidou communication module (5), a Tiantong communication module (6), a watertight through-cabin connector (7) and an all-in-one antenna module (8), wherein the pressure cabin comprises a shell (1), an antenna shield (2) arranged at intervals on the rear side of the shell (1), a hollow tube (3) is connected between the shell (1) and the antenna shield (2), the shell (1) is sealed with a front cover (11) and a rear cover (12) at the front and rear ports respectively, the mounting bracket (4) is arranged in the shell (1), the Beidou communication module (5) and the Tiantong communication module (6) are arranged on both sides of the mounting bracket (4), The watertight through-the-tank connector (7) is arranged on the front side of the shell (1); the Beidou communication module (5) and the Tiantong communication module (6) pass one end through the front end cover (11) and are connected to the watertight through-the-tank connector (7), and are then connected to the submersible through a watertight cable; the submersible supplies power to the Beidou communication module (5) and the Tiantong communication module (6), and communicates with the Beidou communication module (5) and the Tiantong communication module (6); the multi-in-one antenna module (8) is arranged in the antenna protective cover (2); the Beidou communication module (5) and the Tiantong communication module (6) connect their rear ends to the multi-in-one antenna module (8) through a coaxial cable passing through the hollow tube (3).

2. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 1, characterized in that: The front end cover (11) forms a front double O-ring structure (111) at one end for forming a static seal with the front port of the shell (1); the front end cover (11) forms a flange structure (112) at the other end for fixing with the submersible; a mounting hole for connecting a watertight through-tank connector (7) is formed in the middle of the front end cover (11); the rear end cover (12) forms a rear double O-ring structure (121) at one end for forming a static seal with the rear port of the shell (1).

3. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 2, characterized in that: One end of the hollow tube (3) is communicated with and fixedly connected to the center of the rear end cover (12), and a joint (31) is provided at the other end of the hollow tube (3); the antenna shield (2) includes a base (21), the antenna shield (2) is conical, the base (21) is hemispherical, the base (21) is narrowed at one end toward the hollow tube (3) to form a connecting tube (211), the connecting tube (211) is formed with an internal thread (2111) on the inner side wall, the joint (31) of the hollow tube (3) is formed with an external thread section (311) at the front end, and the joint (31) is ) is provided with an O-ring, which is sealed and connected to the connecting pipe (211) through threaded cooperation; the other end of the base (21) is installed in cooperation with the antenna protective cover (2), and an O-ring is provided on the end face of the end for forming an axial seal with the end face of the antenna protective cover (2), and the base (21) is formed with a protective cover mounting seat (212) at the end, and the protective cover mounting seat (212) is deeply inserted into the antenna protective cover (2) and is threadedly connected to the antenna protective cover (2), and the protective cover mounting seat (212) is also provided with an O-ring for forming a radial seal with the inner wall of the antenna protective cover (2).

4. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 1, characterized in that: The mounting bracket (4) includes a mounting plate (41) and a connecting plate (411) formed by bending upward at the rear end of the mounting plate (41), the connecting plate (411) being used for being fixedly connected to the rear end cover (12), a disc (42) being fixed at the front end of the mounting bracket (4), the disc (42) being formed with a sealing groove (421) on the outer periphery, and an O-ring being embedded in the sealing groove (421) for forming a tight fit and fixation with the inner side wall of the housing (1); the Beidou communication module (5) is arranged on the upper surface of the mounting plate (41), and the Tiantong communication module (6) is arranged on the lower surface of the mounting plate (41).

5. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 4, characterized in that: A heat sink (9) is installed below the Tiantong communication module (6), and the heat sink (9) is in contact with the housing (1) for heat dissipation.

6. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 1, characterized in that: The Beidou communication module (5) and the Tiantong communication module (6) are both provided with Beidou positioning modules capable of performing position positioning.

7. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 1, characterized in that: The multi-in-one antenna module (8) includes a Tiantong antenna, a Beidou positioning antenna, and a Beidou short message antenna, which are arranged in sequence from top to bottom. The Beidou positioning antenna and the Beidou short message antenna adopt ceramic antennas with a micro-laminated structure. The Beidou positioning antenna and the Beidou short message antenna are respectively provided with vias in the middle for connecting to the Tiantong antenna. The Tiantong antenna is a spiral antenna.

8. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 1, characterized in that: The centers of the front end cover (11), the shell (1), the rear end cover (12), the hollow tube (3) and the antenna shield (2) are on the same axis.

9. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 1, characterized in that: When the submersible communicates with the Beidou communication module (5) and the Tiantong communication module (6), positioning information is obtained within T1 time. After T1 time, the Tiantong communication module (6) enters the network and establishes a connection with the shore-based Tiantong terminal, and transmits the information to be transmitted to the shore-based control station in a subcontracted manner. After the Tiantong communication is completed, the information is sent outward in the form of a short message through the Beidou communication module (5). After completing one sending task, the transmission signal is sent again at the T2 time frequency.

10. The multi-mode satellite communication positioning device for an underwater unmanned submersible according to claim 1, characterized in that: The housing (1), the front end cover (11), the rear end cover (12), the hollow tube (3), and the base (21) of the antenna shield (2) are titanium alloy parts, and the antenna shield (2) is a PEEK antenna cover.

Images