A sensor motion posture angle simulation test device

Abstract

The utility model discloses a sensor motion posture angle simulation test device, it includes slide rail, the slide seat of setting on the slide rail and the test tool of fixing on the slide seat, and test tool includes the simulation subassembly of pitch angle, the simulation subassembly of roll angle and the simulation subassembly of direction angle, and test tool is used for placing array sensor. The utility model discloses through setting slide seat, slide rail and test tool, will test tool set into the simulation subassembly of pitch angle, the simulation subassembly of roll angle and the simulation subassembly of direction angle, will array sensor set on one of the simulation subassembly of pitch angle, the simulation subassembly of roll angle, the simulation subassembly of direction angle, realize the space rotation of array sensor, cooperate the linear motion of slide seat along the direction of slide rail, and then realize the effect that simulation array sensor makes the space curve motion with the effect of dragging array in seawater, simulate the motion state of the array sensor to be installed, effectively gather the motion data of array sensor under the simulation state, guarantee the accuracy of the test data of the array sensor gathered.

Description

Technical Field

[0001] This utility model relates to the field of sensor application detection technology, and in particular to a sensor motion attitude angle simulation testing device. Background Technology

[0002] Underwater acoustic communication is an important means of communication between surface ships (transmitters) and submarines (receivers). Transmitting sonars are installed on the bow and sides of surface ships or submarines, while receiving sonars are installed on towed arrays, also known as towed array sonars.

[0003] Towed array sonar is used to detect, track, and identify submarines and surface ships. Compared with traditional sonar, it avoids multiple limitations caused by relying on ship platforms: firstly, limited space, especially the limited space to accommodate the sound array, which restricts the improvement of traditional sonar performance; secondly, interference from the self-noise (including water noise) from the ship platform.

[0004] Towed arrays are non-rigid arrays, operating in seawater under zero buoyancy or microgravity. Their configuration is highly susceptible to towing forces and ocean currents, preventing them from maintaining a perfectly straight line in the water; instead, their position becomes a function of time and space. This leads to inaccurate positioning of the array elements (hydrophones), consequently affecting the array's orientation and reducing acoustic performance, such as communication and detection accuracy. Therefore, it is necessary to incorporate array sensors into the towed array to record its motion and attitude data in real time. This data is then transmitted via a data bus to submarines or surface ships to correct the positions of the array elements (hydrophones) in real time, thereby improving acoustic detection and communication performance.

[0005] The array sensor is a core component for correcting the motion attitude of the towed array, significantly improving acoustic measurement performance. As a sensor, its measurement accuracy is crucial. While the array sensor is calibrated before leaving the factory, it is easily magnetized during transportation and storage, affecting its small-signal operating point. Therefore, its motion attitude accuracy needs to be measured again before being installed in the towed array, and sensors that fail to meet performance standards need to be returned to the factory for calibration.

[0006] One existing method for measuring array sensors involves an operator holding the array sensor to collect test data under various conditions. However, this method simulates the movement of the array sensor. If the operator holds the array sensor for an extended period of time and causes shaking, the test data collected by the array sensor will be inaccurate, which is not conducive to subsequent judgment of the quality of the array sensor. Utility Model Content

[0007] Based on this, the purpose of this utility model is to provide a sensor motion attitude angle simulation test device to simulate the motion state of the array sensor to be installed in the sea, and effectively collect motion data of the array sensor under the simulated state.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a sensor motion attitude angle simulation test device, which includes a slide rail, a slide block set on the slide rail and a test fixture fixed on the slide block. The test fixture includes a pitch angle simulation component, a roll angle simulation component and a yaw angle simulation component. The test fixture is used to place an array sensor.

[0009] Among them, one of the pitch angle simulation component, the roll angle simulation component, and the azimuth angle simulation component is used to place the array sensor. The pitch angle simulation component, the roll angle simulation component, and the azimuth angle simulation component together realize the spatial rotation of the array sensor, and the slide moves linearly along the direction of the slide rail.

[0010] Furthermore, the bottom end of the slide block is provided with a slider, which moves linearly along the slide rail; the slide rail is provided with a slide groove, and the bottom end of the slider is provided with a limit block, which is locked in the slide groove; the slide block also includes a driving mechanism, the slider is connected to the driving mechanism, and the driving mechanism drives the slider to move linearly along the slide rail; the driving mechanism includes a driving plate and rollers provided at the four corners of the driving plate, the driving plate is provided above the slide rail, the slider is fixed on the driving plate, and the limit block protrudes downward from the bottom end face of the driving plate.

[0011] Furthermore, the slide also includes a support base, the slider is disposed at the bottom end of the support base, and the test fixture is placed on the support base; the support base includes a column and a support plate, the column is vertically disposed on the slider, the support plate is horizontally placed at the upper end of the column, and the test fixture is placed on the support plate.

[0012] Furthermore, the azimuth angle simulation component is fixed on the slide block, the pitch angle simulation component is disposed on the azimuth angle simulation component, the roll angle simulation component is disposed on the pitch angle simulation component, and the roll angle simulation component is used to place the array sensor.

[0013] Furthermore, the orientation angle simulation component includes a base plate, a support column, and a first rotating shaft seat. The base plate is fixed on the slide block, and the support column is perpendicular to the base plate. The first rotating shaft seat includes a first rotating shaft and a first fixing block disposed on the first rotating shaft. The first rotating shaft is held in the support column, and the first rotating shaft seat rotates around the first rotating shaft. An orientation angle scale piece is disposed between the support column and the first rotating shaft seat, and orientation angle scale lines are engraved on the orientation angle scale piece. A first slot is provided on the support column, and the first rotating shaft is placed in the first slot. A first screw hole is provided on one side of the support column, and a first locking member is disposed in the first screw hole. The first locking member is used to pass through the first screw hole and abut against the first rotating shaft.

[0014] Furthermore, the orientation angle scale piece is secured to the support column by a first locking fastener. The orientation angle scale piece is provided with a first through hole. The first locking fastener passes through the first through hole and abuts against the support column. The lower end of the first fixing block is sleeved on the first rotating shaft. The first fixing block is engraved with an orientation angle zero scale line at the location where it matches the orientation angle scale piece. The first fixing block rotates with the rotation of the first rotating shaft.

[0015] Furthermore, the first fixing block has a second slot along the X-axis. The pitch angle simulation component includes a second rotating shaft and a second fixing block disposed on the second rotating shaft. The second rotating shaft is locked in the second slot. The pitch angle simulation component rotates around the second rotating shaft. A pitch angle scale is provided at one end of the second rotating shaft. The pitch angle scale is sleeved on one end of the second rotating shaft. Pitch angle scale lines are engraved on the pitch angle scale. A second screw hole is provided on one side of the first fixing block. A second locking member is locked in the second screw hole. The second locking member is used to pass through the second screw hole and abut against the second rotating shaft.

[0016] Furthermore, the pitch angle scale piece is secured to the second rotating shaft by a second locking fastener. The pitch angle scale piece has a second through hole, through which the second locking fastener passes and abuts against the second rotating shaft. The first fixing block has a pitch angle zero mark engraved at the location where it matches the pitch angle scale piece. The pitch angle scale piece rotates as the second rotating shaft rotates.

[0017] Furthermore, the second fixing block is disposed at the other end of the second rotating shaft, and the second fixing block has a third slot along the Y-axis. The roll angle simulation component includes a third rotating shaft and a fixing plate disposed on the third rotating shaft. The fixing plate is used to fix the array sensor. The third rotating shaft is locked in the third slot. The roll angle simulation component rotates around the third rotating shaft. A roll angle scale piece is disposed at one end of the third rotating shaft. The roll angle scale piece is engraved with roll angle scale lines. A third screw hole is disposed on one side of the second fixing block. A third locking piece is locked in the third screw hole. The third locking piece is used to pass through the third screw hole and abut against the third rotating shaft.

[0018] Furthermore, the roll angle scale piece is secured on the third rotating shaft by a third locking fastener. The roll angle scale piece is provided with a third through hole. The third locking fastener passes through the third through hole and abuts against the third rotating shaft. The second fixing block is engraved with a roll angle zero mark at the location where it matches the roll angle scale piece. The roll angle scale piece rotates as the third rotating shaft rotates.

[0019] In summary, this utility model provides a sensor motion attitude angle simulation testing device. By setting up a slide block, a slide rail, and a testing fixture, the testing fixture is configured as a pitch angle simulation component, a roll angle simulation component, and a azimuth angle simulation component. The array sensor is placed on one of these components to achieve spatial rotation of the array sensor. In conjunction with the linear motion of the slide block along the slide rail, the device simulates the spatial curvilinear motion of the array sensor as it is towed in seawater. This simulates the motion state of the array sensor to be installed, effectively collecting motion data of the array sensor under simulated conditions. This ensures the accuracy of the collected array sensor test data, facilitating subsequent quality assessment of the array sensor. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the sensor motion attitude angle simulation testing device of this utility model after the testing fixture is hidden;

[0021] Figure 2 This is a schematic diagram of the structure of the sensor motion attitude angle simulation testing device of this utility model after hiding the testing fixture and drive mechanism;

[0022] Figure 3 This is a schematic diagram of the structure of the testing fixture of this utility model;

[0023] Figure 4 This is a schematic diagram of the structure of the orientation angle simulation component of this utility model after the base plate is hidden;

[0024] Figure 5 for Figure 4 The image shown is a partial enlarged view of the orientation angle simulation component of this utility model;

[0025] Figure 6 This is a schematic diagram of the structure of the test fixture of this utility model after the support column is hidden;

[0026] Figure 7 This is a structural schematic diagram of the test fixture of this utility model from another perspective after the support column is hidden.

[0027] Figure 8 This is an exploded view of the structure of the test fixture of this utility model after the support pillar is hidden.

[0028] Explanation of key component symbols:

[0029] 1000. Test fixtures;

[0030] 100. Slide rail; 110. Slide groove;

[0031] 200, slide block; 210, slider; 211, limit block; 220, drive mechanism; 221, drive plate; 222, roller; 230, support base; 231, column; 232, support plate;

[0032] 300, Direction angle simulation component; 310, Base plate; 320, Support column; 321, First slot; 330, First pivot seat; 331, First pivot; 332, First fixing block; 333, Second slot; 334, Second screw hole; 340, Direction angle scale component; 341, First through hole; 350, First locking component;

[0033] 400. Pitch angle simulation component; 410. Second rotating shaft; 420. Second fixing block; 421. Third slot; 422. Third screw hole; 430. Pitch angle scale component; 440. Second locking component;

[0034] 500. Roll angle simulation component; 510. Third pivot; 520. Fixing plate; 530. Roll angle scale component; 540. Third locking component;

[0035] 600, array sensor. Detailed Implementation

[0036] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0037] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0039] The array sensor consists of a 3-axis (orthogonal) accelerometer, a 3-axis (orthogonal) magnetometer, and a 3-axis (orthogonal) MEMS gyroscope. Ignoring the centripetal force due to the Earth's rotation, the magnitude and direction of the object's gravity are constant. The 3-axis accelerometer measures the magnitude of gravity along the three axes, the 3-axis magnetometer measures the components of the Earth's magnetic field along the three axes, and the gyroscope measures the Coriolis force during its own rotation. Integrating the Coriolis force calculates the gyroscope's rotation angle. This data is then fused with the accelerometer and magnetometer data to calculate the correct roll and pitch angles. Finally, based on the roll and pitch angles, the magnetic field components of the three axes are projected onto the mounting plane to calculate the heading angle.

[0040] The array sensors follow the towed array in spatial curvilinear motion in the seawater. Referring to the concept of the Frenet coordinate frame, the spatial curvilinear motion can be decomposed into variable-speed linear motion and spatial rotation.

[0041] Because it is impossible to simulate ideal uniformly accelerated motion, the functional relationship between attitude angle accuracy and acceleration cannot be measured using acceleration as a variable. Only the impact of acceleration variation on attitude accuracy can be qualitatively measured. Since the straight-line speed of the experimental vessel and the speed of the sea current are very small, the straight-line speed of the experimental vessel corresponds to the linear motion of the array sensors, and the speed of the sea current corresponds to the rotation of the array sensors. Newton's classical mechanics model can be applied: forces interact instantaneously, without the need for transmission time. Inertial forces act instantaneously on the accelerometer and gyroscope, affecting the pitch and roll outputs, and thus affecting the accuracy of the azimuth angle. Therefore, motion over an infinitely long distance, including both linear motion and rotation, can be simulated using extremely short-distance motion.

[0042] Because the Earth's magnetic field lines are spatial curves, the magnetic field directions at two adjacent points on the ground will not be exactly the same. Therefore, during linear motion, we can only observe the magnitude of the azimuth change, and cannot expect it to remain absolutely constant.

[0043] To avoid the inconvenience and excessive cost of collecting motion data from array sensors mounted on towed arrays of ships in practical applications, this invention employs a simulation testing device. In a laboratory or assembly setting, this sensor motion attitude angle simulation testing device simulates the motion state of the array sensor to be installed in the sea. External intelligent devices are used to collect motion data of the array sensor under simulated conditions, ensuring the accuracy of the collected motion data and facilitating more precise subsequent assessment of the sensor's quality. These external intelligent devices include computers, mobile phones, or tablets, etc., which analyze the collected motion data of the array sensor under simulated conditions. This is known technology and will not be elaborated upon here. Specifically, those skilled in the art use data analysis software to process the collected motion data and generate corresponding response curves. By observing these curves... The quality of the array sensor is judged by analyzing the changing trend of the collected motion data. This includes examining the dynamic response process of the array sensor to external forces (such as acceleration), assessing the magnitude and convergence speed of the changes in the sensor's attitude angles, and determining whether it reflects the actual operating attitude of the simulation test device. Criteria can be set by the absolute changes in pitch, roll, and azimuth angles during linear acceleration; the absolute changes in one attitude angle (roll angle) and the other two attitude angles (pitch and azimuth angles) during rotation; and the similarity between the software-recorded trajectory of attitude angle changes and the actual trajectory during linear or rotational movements. For array sensors that fail the test, they are recalibrated and placed in the simulation test device for further testing. The recalibration of the array sensor is a known technique to those skilled in the art and will not be elaborated upon here.

[0044] Please see Figures 1 to 8 This utility model discloses a sensor motion attitude angle simulation testing device, which provides a simulated scenario for testing the motion attitude of an array sensor. It includes a slide rail 100, a slide block 200 mounted on the slide rail 100, and a testing fixture 1000 fixed on the slide block 200. The testing fixture 1000 includes a pitch angle simulation component 400, a roll angle simulation component 500, and a yaw angle simulation component 300. The testing fixture 1000 is used to place the array sensor 600. Specifically, one of the pitch angle simulation component 400, roll angle simulation component 500, and yaw angle simulation component 300 is used to place the array sensor 600. The pitch angle simulation component 400, roll angle simulation component 500, and yaw angle simulation component 300 together realize the spatial rotation of the array sensor 600, thereby simulating the corresponding changes of the array sensor 600 in pitch angle, roll angle, and yaw angle, achieving the effect of the array sensor 600 simulating spatial rotation in seawater as a towed array is moved.

[0045] In addition, the slide 200 moves in a linear motion with varying speed along the slide rail 100 to simulate the effect of the array sensor 600 moving in a linear motion with varying speed in seawater as it is dragged along the array. In conjunction with the test fixture 1000, the array sensor 600 is simulated to rotate in space, thereby simulating the effect of the array sensor 600 moving in a spatial curve in seawater as it is dragged along the array. This simulates the motion state of the array sensor 600 to be installed, effectively collecting motion data of the array sensor 600 in the simulated state, ensuring the accuracy of the collected test data of the array sensor 600, and facilitating subsequent judgment of the quality of the array sensor 600.

[0046] In one embodiment, a slider 210 is provided at the bottom end of the slide block 200. The slider 210 moves linearly along the slide rail 100, thereby achieving the effect of the slide block 200 moving linearly along the slide rail 100. Specifically, under the limiting action of the slide rail 100, the slider 210 moves linearly in conjunction with manual or driving mechanisms, thereby achieving the linear movement of the slide block 200, to simulate the effect of the array sensor 600 moving linearly at varying speeds in seawater along with the towed array.

[0047] Furthermore, a slide groove 110 is provided on the slide rail 100, and a limit block 211 is provided at the bottom end of the slider 210. The limit block 211 is locked in the slide groove 110, thereby realizing the limiting effect of the slide rail 100 on the slider 210. As the limit block 211 moves in the slide groove 110, the slider 210 also moves on the slide rail 100.

[0048] Alternatively, a groove 110 is provided at the bottom end of the slider 210. The groove 110 is engaged on the slide rail 100, thereby achieving the limiting effect of the slide rail 100 on the slider 210. As the limiting block 211 moves in the groove 110, the slider 210 also moves on the slide rail 100.

[0049] In one embodiment, the slide 200 further includes a drive mechanism 220. The slider 210 is connected to the drive mechanism 220, and the drive mechanism 220 drives the slider 210 to move linearly along the slide rail 100. Specifically, the drive mechanism 220 includes a drive plate 221 and rollers 222 disposed at the four corners of the drive plate 221. The drive plate 221 is disposed above the slide rail 100, the slider 210 is fixed on the drive plate 221, and the limiting block 211 protrudes downward from the bottom surface of the drive plate 221, so that the structure of the drive plate 221 does not affect the fixing effect of the slide rail 100. By driving the rollers 222 to rotate, the drive plate 221 drives the slider 210 to move synchronously along the slide rail 100, thereby realizing the linear motion of the slide 200 to simulate the effect of the array sensor 600 moving linearly at varying speeds in seawater along with the towed array. The rotation of the rollers 222 on the drive mechanism 220 is a known technology and will not be described in detail here.

[0050] In one embodiment, the slide 200 further includes a support base 230, a slider 210 is disposed at the bottom end of the support base 230, and a test fixture 1000 is placed on the support base 230. The slider 210 moves in a variable-speed linear motion along the slide rail 100, and the support base 230 also synchronously drives the test fixture 1000 to move in a variable-speed linear motion along the slide rail 100, so as to simulate the effect of the array sensor 600 moving in a variable-speed linear motion in seawater along with the towed array. In conjunction with the test fixture 1000, the array sensor 600 is simulated to rotate in space, thereby simulating the effect of the array sensor 600 moving in a spatial curve in seawater along with the towed array. The motion state of the array sensor 600 to be installed is simulated, and the motion data of the array sensor 600 in the simulated state is effectively collected, ensuring the accuracy of the collected test data of the array sensor 600, so as to facilitate the subsequent judgment of the quality of the array sensor 600.

[0051] Specifically, the support base 230 includes a column 231 and a support plate 232. The column 231 is vertically mounted on the slider 210, and the support plate 232 is horizontally placed on the upper end of the column 231. The test fixture 1000 is placed on the support plate 232. As the slider 210 moves in a variable-speed linear motion along the slide rail 100, the support plate 232 also synchronously drives the test fixture 1000 to move in a variable-speed linear motion along the slide rail 100, simulating the effect of the array sensor 600 moving in a variable-speed linear motion in seawater along with the towed array. In conjunction with the test fixture 1000, the array sensor 600 is simulated to rotate in space, thereby simulating the effect of the array sensor 600 moving in a spatial curve in seawater along with the towed array. This simulates the motion state of the array sensor 600 to be installed, effectively collecting motion data of the array sensor 600 in the simulated state, ensuring the accuracy of the collected test data of the array sensor 600, and facilitating subsequent judgment of the quality of the array sensor 600.

[0052] In one embodiment, the azimuth angle simulation component 300 is fixed on the slide 200, the pitch angle simulation component 400 is disposed on the azimuth angle simulation component 300, and the roll angle simulation component 500 is disposed on the pitch angle simulation component 400. The roll angle simulation component 500 is used to place the array sensor 600. Movement of the azimuth angle simulation component 300 can drive the pitch angle simulation component 400, the roll angle simulation component 500, and the array sensor 600 to move synchronously, simulating the spatial rotation effect of the array sensor 600 in the azimuth angle; by driving the pitch angle... The movement of the simulation component 400 can drive the roll angle simulation component 500 and the array sensor 600 to move synchronously, thereby simulating the spatial rotation effect of the array sensor 600 in the pitch angle. By driving the roll angle simulation component 500 to move, the array sensor 600 can be driven to move synchronously, thereby simulating the spatial rotation effect of the array sensor 600 in the roll angle. This simulates the changes in pitch angle, roll angle and azimuth angle of the array sensor 600 during linear speed change, achieving the effect of the array sensor 600 simulating spatial rotation in the seawater as the towed array moves.

[0053] In one embodiment, the orientation angle simulation component 300 includes a base plate 310, a support column 320, and a first rotating shaft seat 330. The base plate 310 is fixed on the slide 200. Specifically, the base plate 310 is fixed on the support plate 232. The support column 320 is arranged perpendicular to the base plate 310. The first rotating shaft seat 330 includes a first rotating shaft 331 and a first fixing block 332 disposed on the first rotating shaft 331. The first rotating shaft 331 is held in the support column 320. The first rotating shaft seat 330 rotates around the first rotating shaft 331 as the axis, thereby realizing the orientation angle simulation component 300 changing in orientation angle. An orientation angle scale component 340 is provided between the support column 320 and the first rotating shaft seat 330. The orientation angle scale component 340 has a circular structure and orientation angle scale lines are engraved on the orientation angle scale component 340 to facilitate reading the rotation angle of the first rotating shaft seat 330.

[0054] Furthermore, the azimuth scale component 340 is secured to the support column 320 by a first locking fastener (not shown). The azimuth scale component 340 has a first through hole 341. The first locking fastener passes through the first through hole 341 and abuts against the support column 320, thereby fixing the azimuth scale component 340 to the support column 320. The lower end of the first fixing block 332 is sleeved on the first rotating shaft 331. The first fixing block 332 has an azimuth zero scale line engraved at the position where it matches the azimuth scale component 340. The first fixing block 332 rotates with the rotation of the first rotating shaft 331, while the azimuth scale component 340 is fixed to the support column 320. By aligning the azimuth zero scale value with different scale lines on the azimuth scale, the rotation angle of the first rotating shaft seat 330 can be read.

[0055] Furthermore, a first slot 321 is provided on the support column 320, and a first rotating shaft 331 is placed in the first slot 321. A first screw hole (not shown) is provided on one side of the support column 320, and a first locking member 350 is inserted in the first screw hole. The first locking member 350 is used to pass through the first screw hole and abut against the first rotating shaft 331, so that the first rotating shaft 331 is tightly locked in the first slot 321, thereby preventing the first rotating shaft 331 from rotating in the first slot 321. This can achieve the simulation test effect of the array sensor 600 to be installed while keeping the direction angle unchanged.

[0056] In one embodiment, the first fixing block 332 has a second slot 333 along the X-axis direction. The pitch angle simulation component 400 includes a second rotating shaft 410 and a second fixing block 420 disposed on the second rotating shaft 410. The second rotating shaft 410 is engaged in the second slot 333. The pitch angle simulation component 400 rotates around the second rotating shaft 410 as the axis, thereby realizing the pitch angle variation effect of the pitch angle simulation component 400. A pitch angle scale component 430 is provided at one end of the second rotating shaft 410. The pitch angle scale component 430 has a T-shaped cross-section and is sleeved on one end of the second rotating shaft 410, moving synchronously with the movement of the second rotating shaft 410. Pitch angle scale lines are engraved on the pitch angle scale component 430 to facilitate reading the rotation angle of the second fixing block 420. The X-axis direction is horizontal and perpendicular to the direction of the first rotating shaft 331.

[0057] Furthermore, the pitch angle scale component 430 is secured to the second rotating shaft 410 by a second locking fastener (not shown). The pitch angle scale component 430 has a second through hole 431. The second locking fastener passes through the second through hole 431 and abuts against the second rotating shaft 410, thereby fixing the pitch angle scale component 430 to the second rotating shaft 410. The first fixing block 332 has a pitch angle zero scale line engraved at the position where it matches the pitch angle scale component 430. The pitch angle scale component 430 rotates with the rotation of the second rotating shaft 410. Since the pitch angle scale component 430 is fixed to the second rotating shaft 410, the rotation angle of the pitch angle simulation component 400 can be read by aligning the pitch angle zero scale value with different scale lines on the pitch angle scale.

[0058] Furthermore, a second screw hole 334 is provided on one side of the first fixing block 332. A second locking member 440 is inserted into the second screw hole 334. The second locking member 440 is used to pass through the second screw hole 334 and abut against the second rotating shaft 410, so that the second rotating shaft 410 is tightly inserted into the second slot 333, thereby preventing the second rotating shaft 410 from rotating in the second slot 333. This allows the simulation test effect of the array sensor 600 to be installed to be achieved while maintaining a constant pitch angle.

[0059] In one embodiment, the second fixing block 420 is disposed at the other end of the second rotating shaft 410, and the second fixing block 420 has a third slot 421 along the Y-axis direction. The roll angle simulation component 500 includes the third rotating shaft 510 and a fixing plate 520 disposed on the third rotating shaft 510. The array sensor 600 is fixed on the fixing plate 520, and the third rotating shaft 510 is engaged in the third slot 421. The roll angle simulation component 500 rotates around the third rotating shaft 510 as the axis, thereby realizing the effect of the roll angle simulation component 500 changing in the roll angle direction. One end of the third rotating shaft 510 is provided with There is a roll angle scale component 530 with a T-shaped cross-section. The roll angle scale component 530 is sleeved on one end of the third rotating shaft 510 and moves synchronously with the movement of the third rotating shaft 510. The fixing plate 520 is set on the other end of the third rotating shaft 510. Roll angle scale lines are engraved on the roll angle scale component 530 to facilitate reading the rotation angle of the fixing plate 520. The Y-axis direction is horizontal and perpendicular to the X-axis direction. The fixing plate 520 has an L-shaped cross-section. In the initial state, the array sensor 600 is fixed horizontally on the fixing plate 520.

[0060] Furthermore, the roll angle scale component 530 is secured to the third rotating shaft 510 by a third locking fastener (not shown). The roll angle scale component 530 has a third through hole 531, through which the third locking fastener passes and abuts against the third rotating shaft 510, thereby fixing the roll angle scale component 530 to the third rotating shaft 510. The second fixing block 420 has a roll angle zero mark engraved at the position where it matches the roll angle scale component 530. The roll angle scale component 530 rotates with the rotation of the third rotating shaft 510, and the roll angle scale component 530 is fixed to the third rotating shaft 510. By aligning the roll angle zero mark value with different marks on the roll angle scale, the rotation angle of the roll angle simulation component 500 can be read.

[0061] Furthermore, a third screw hole 422 is provided on one side of the second fixing block 420. A third locking member 540 is inserted into the third screw hole 422. The third locking member 540 is used to pass through the third screw hole 422 and abut against the third rotating shaft 510, so that the third rotating shaft 510 is tightly inserted into the third slot 421, thereby preventing the third rotating shaft 510 from rotating in the third slot 421. This allows the simulation test effect of the array sensor 600 to be installed to be achieved while maintaining a constant roll angle.

[0062] In practical use, the rotation of an object such as the array sensor 600 in space can be decomposed into the vector superposition of three independent rotating axes: the first rotating axis 331, the second rotating axis 410, and the third rotating axis 510. By manually rotating the first rotating axis 331, the second rotating axis 410, or the third rotating axis 510, the simulation test effect of the array sensor 600 can be achieved. By fixing two of the first rotating axes 331, the second rotating axis 410, and the third rotating axis 510, and manually rotating the third rotating axis, the slide 200 makes linear speed change motion on the slide rail 100, simulating the motion state of the array sensor 600 to be installed. This effectively collects the motion data of the array sensor 600 in the simulated state, ensuring the accuracy of the collected test data of the array sensor 600, so as to facilitate the subsequent judgment of the quality of the array sensor 600.

[0063] In summary, this utility model provides a sensor motion attitude angle simulation testing device. By setting up a slide block 200, a slide rail 100, and a testing fixture 1000, the testing fixture 1000 is configured as a pitch angle simulation component 400, a roll angle simulation component 500, and a yaw angle simulation component 300. The array sensor 600 is mounted on one of these components to achieve spatial rotation. This, combined with the linear motion of the slide block 200 along the slide rail 100, simulates the spatial curvilinear motion of the array sensor 600 as it is towed in seawater. This simulates the motion state of the array sensor 600 to be installed, effectively collecting motion data under simulated conditions, ensuring the accuracy of the collected test data, and facilitating subsequent quality assessment of the array sensor 600.

[0064] The above-described embodiments are merely illustrative of several implementations of this utility model, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A sensor motion attitude angle simulation testing device, characterized in that: The system includes a slide rail, a slide block mounted on the slide rail, and a test fixture fixed on the slide block. The test fixture includes a pitch angle simulation component, a roll angle simulation component, and a yaw angle simulation component. The test fixture is used to place an array sensor. Among them, one of the pitch angle simulation component, the roll angle simulation component, and the azimuth angle simulation component is used to place the array sensor. The pitch angle simulation component, the roll angle simulation component, and the azimuth angle simulation component together realize the spatial rotation of the array sensor, and the slide moves linearly along the direction of the slide rail.

2. The sensor motion attitude angle simulation testing device according to claim 1, characterized in that: The slide block has a slider at its bottom end, which moves linearly along the slide rail. The slide rail has a groove, and the slider has a limit block at its bottom end, which is engaged in the groove. The slide block also includes a drive mechanism, and the slider is connected to the drive mechanism. The drive mechanism drives the slider to move linearly along the slide rail. The drive mechanism includes a drive plate and rollers at the four corners of the drive plate. The drive plate is positioned above the slide rail, the slider is fixed to the drive plate, and the limit block protrudes downward from the bottom surface of the drive plate.

3. The sensor motion attitude angle simulation testing device according to claim 2, characterized in that: The slide block also includes a support base, the slider is disposed at the bottom end of the support base, and the test fixture is placed on the support base; the support base includes a column and a support plate, the column is vertically disposed on the slider, the support plate is horizontally disposed at the upper end of the column, and the test fixture is placed on the support plate.

4. The sensor motion attitude angle simulation testing device according to claim 1, characterized in that: The azimuth angle simulation component is fixed on the slide block, the pitch angle simulation component is disposed on the azimuth angle simulation component, the roll angle simulation component is disposed on the pitch angle simulation component, and the roll angle simulation component is used to place the array sensor.

5. The sensor motion attitude angle simulation testing device according to claim 4, characterized in that: The orientation angle simulation component includes a base plate, a support column, and a first rotating shaft seat. The base plate is fixed on the slide block, and the support column is perpendicular to the base plate. The first rotating shaft seat includes a first rotating shaft and a first fixing block disposed on the first rotating shaft. The first rotating shaft is held in the support column and rotates around the first rotating shaft. An orientation angle scale is provided between the support column and the first rotating shaft seat, and orientation angle scale lines are engraved on the scale. A first slot is provided on the support column, and the first rotating shaft is placed in the first slot. A first screw hole is provided on one side of the support column, and a first locking member is disposed in the first screw hole. The first locking member is used to pass through the first screw hole and abut against the first rotating shaft.

6. The sensor motion attitude angle simulation testing device according to claim 5, characterized in that: The orientation angle scale component is secured to the support column by a first locking fastener. The orientation angle scale component has a first through hole. The first locking fastener passes through the first through hole and abuts against the support column. The lower end of the first fixing block is sleeved on the first rotating shaft. The first fixing block has an orientation angle zero scale line engraved at the position where it matches the orientation angle scale component. The first fixing block rotates as the first rotating shaft rotates.

7. The sensor motion attitude angle simulation testing device according to claim 5, characterized in that: The first fixing block has a second slot along the X-axis. The pitch angle simulation component includes a second rotating shaft and a second fixing block disposed on the second rotating shaft. The second rotating shaft is locked in the second slot. The pitch angle simulation component rotates around the second rotating shaft. A pitch angle scale is provided at one end of the second rotating shaft. The pitch angle scale is sleeved on one end of the second rotating shaft. Pitch angle scale lines are engraved on the pitch angle scale. A second screw hole is provided on one side of the first fixing block. A second locking member is locked in the second screw hole. The second locking member is used to pass through the second screw hole and abut against the second rotating shaft.

8. The sensor motion attitude angle simulation testing device according to claim 7, characterized in that: The pitch angle scale is secured to the second rotating shaft by a second locking fastener. The pitch angle scale has a second through hole, through which the second locking fastener passes and abuts against the second rotating shaft. The first fixing block has a pitch angle zero mark engraved at the location where it matches the pitch angle scale. The pitch angle scale rotates as the second rotating shaft rotates.

9. The sensor motion attitude angle simulation testing device according to claim 7, characterized in that: The second fixing block is disposed at the other end of the second rotating shaft. The second fixing block has a third slot along the Y-axis. The roll angle simulation component includes a third rotating shaft and a fixing plate disposed on the third rotating shaft. The fixing plate is used to fix the array sensor. The third rotating shaft is locked in the third slot. The roll angle simulation component rotates around the third rotating shaft. A roll angle scale is disposed at one end of the third rotating shaft. The roll angle scale is engraved with roll angle scale lines. A third screw hole is disposed on one side of the second fixing block. A third locking member is locked in the third screw hole. The third locking member is used to pass through the third screw hole and abut against the third rotating shaft.

10. The sensor motion attitude angle simulation testing device according to claim 9, characterized in that: The roll angle scale component is secured on the third rotating shaft by a third locking fastener. The roll angle scale component has a third through hole. The third locking fastener passes through the third through hole and abuts against the third rotating shaft. The second fixing block is engraved with a roll angle zero mark at the location where it matches the roll angle scale component. The roll angle scale component rotates as the third rotating shaft rotates.

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