Multi-mission reconnaissance payload suitable for AUV and reconnaissance method

Abstract

A multi-mission reconnaissance payload suitable for an AUV, comprising a photoelectric detection payload and an electromagnetic signal reconnaissance payload. The photoelectric detection payload is used for acquiring image data of water surface, shore-based, and / or aerial targets, and scene image data, and processing the data to generate corresponding target information data. The electromagnetic signal reconnaissance payload is used for acquiring radio signals and radar signals of the water surface, shore-based, and / or aerial targets, and processing the data to generate corresponding target information data. When an AUV is located below a water surface, both the photoelectric detection payload and the electromagnetic signal reconnaissance payload are hermetically arranged in corresponding compartments. When the AUV is located on or near the water surface, both the photoelectric detection payload and the electromagnetic signal reconnaissance payload can rise out of the corresponding compartments, achieving reconnaissance of shore-based, water surface, and aerial targets.

Description

A multi-mission reconnaissance payload and reconnaissance method suitable for AUVs Technical Field

[0001] This invention belongs to the field of autonomous unmanned underwater vehicle technology, specifically relating to a multi-mission reconnaissance payload and reconnaissance method suitable for AUVs. Background Technology

[0002] Autonomous unmanned underwater vehicles (AUVs) utilize their own power sources and various sensors or detection equipment to perform marine exploration activities such as acquiring marine environmental parameters, monitoring the marine environment, communicating, and detecting and identifying underwater targets. Traditional AUVs primarily focus on underwater exploration, typically carrying acoustic equipment such as side-scan sonar, forward-looking sonar, synthetic aperture sonar, passive sonar, and hydrographic sensors to conduct marine exploration activities including acquiring marine environmental parameters, monitoring the marine environment, underwater reconnaissance and communication, and detecting and identifying underwater targets.

[0003] In recent years, with the development of sensor and information technologies, underwater vehicles (AUVs) have received increasing attention from various countries, further promoting their development towards intelligence and integration. As demand increases, AUVs are gradually becoming larger in size and weight, and their functions are expanding from single-purpose to multi-purpose, with their reconnaissance capabilities and applications extending from traditional underwater to surface and air target detection. However, currently, there is no specific basis or conventional deployment mode for surface reconnaissance payloads carried by large AUVs. Summary of the Invention

[0004] In view of this, the present invention provides a multi-mission reconnaissance payload and reconnaissance method suitable for AUVs, which realizes the reconnaissance of shore-based, surface and air targets by distributing the multi-mission reconnaissance payload inside the AUV.

[0005] This invention is achieved through the following technical solution:

[0006] A multi-mission reconnaissance payload suitable for AUVs includes: an optoelectronic detection payload and an electromagnetic signal reconnaissance payload;

[0007] The photoelectric detection payload is used to acquire image data and scene image data of water surface, shore-based and / or air targets, and process them to generate corresponding target information data, which is then transmitted to the AUV's control center for local storage and / or uploaded to external systems via satellite.

[0008] The electromagnetic signal reconnaissance payload is used to acquire radio and radar signals from surface, shore-based, and / or air targets, and to process and generate corresponding target information data which is then transmitted to the AUV's control center for storage and / or uploaded to external systems via satellite.

[0009] The AUV is equipped with two compartments. When the AUV is underwater, the photoelectric detection payload and the electromagnetic signal reconnaissance payload are sealed in their respective compartments. When the AUV is on or near the water surface, both the photoelectric detection payload and the electromagnetic signal reconnaissance payload can be raised out of their respective compartments to conduct reconnaissance.

[0010] Furthermore, the two compartments are located at the bow and stern of the AUV, respectively.

[0011] Furthermore, the electromagnetic signal reconnaissance payload includes an electromagnetic mast and an electronic compartment II; the electromagnetic mast is electrically connected to the electronic compartment II.

[0012] The electromagnetic mast is a lifting mast, and it contains a drive module II and an antenna module. The drive module II is used to drive the electromagnetic mast to lift and lower, and the antenna module is used to collect radio signals and radar signals.

[0013] The electronic compartment II is equipped with a control module II, a power module II, and a signal processing module. The power module II is used to supply power to the drive module II and the antenna module.

[0014] Control module II can be used to receive the corresponding mission parameters of the electromagnetic signal reconnaissance payload configured by the AUV control center, and control the electromagnetic mast to move according to the mission parameters;

[0015] The signal processing module is used to receive and process radio and radar signals.

[0016] Furthermore, the antenna module includes a radio signal reconnaissance antenna and a radar signal reconnaissance antenna;

[0017] The radio signal reconnaissance antenna uses an omnidirectional broadband conical dipole antenna, while the radar signal reconnaissance antenna uses four planar helical antennas. The radar signal reconnaissance antenna is positioned below the conical dipole antenna, and the four planar helical antennas are evenly distributed around the central axis of the electromagnetic mast.

[0018] Furthermore, the photoelectric detection payload includes a photoelectric mast and an electronic compartment I; the photoelectric mast is electrically connected to the electronic compartment I.

[0019] The photoelectric mast is a lifting mast, and it contains a drive module I, an infrared imaging module, and a television imaging module. The drive module I is used to drive the photoelectric mast to rise and fall, the television imaging module is used to acquire daytime image data and target distance, and the infrared imaging module is used to acquire day and night image data and target distance.

[0020] The electronic compartment I is equipped with control module I, power module I, and data processing module. Power module I draws power from the AUV and is used to power the data processing module, drive module I, infrared imaging module, and television imaging module.

[0021] Control module I is used to receive the corresponding mission parameters of the photoelectric detection payload configured by the AUV control center and control the photoelectric mast to move according to the mission parameters;

[0022] The data processing module is used to receive and process daytime and nighttime image data.

[0023] Furthermore, the photoelectric mast also includes a pitch motor, a pitch angle measuring module, an azimuth motor, and a rotary transformer;

[0024] The pitch motor is used to control the infrared imaging module and the television imaging module to perform up and down pitch movements, and the pitch angle measurement module is used to measure the angle of rotation.

[0025] The azimuth motor is used to control the left and right rotation of the infrared imaging module and the television imaging module; the rotary transformer is used to measure the rotation angle of the azimuth motor.

[0026] Control module I can also control the pitch motor and azimuth motor to rotate by the corresponding angle, so that the target is always within the imaging range of the infrared imaging module and the television imaging module.

[0027] Furthermore, the photoelectric mast is a folding lifting mast, and the drive module I includes a hydraulic component I and a tilting device I; the photoelectric mast also includes a support device;

[0028] Both the infrared imaging module and the television imaging module are mounted on the support device; the bottom of the support device is connected to one end of the flipping device I, and the other end of the flipping device I is connected to the hydraulic assembly I. The hydraulic assembly I hydraulically drives the flipping device I, causing the support device to fold inside the cabin or unfold and rise out of the cabin.

[0029] A multi-mission reconnaissance method, based on a multi-mission reconnaissance payload suitable for AUVs, comprises the following steps:

[0030] Step 1: Before the AUV goes to sea, manually set up the reconnaissance mission, including the reconnaissance location and reconnaissance process;

[0031] Step 2: When the AUV reaches the preset reconnaissance location, the large AUV powers on the photoelectric detection payload and the electromagnetic reconnaissance payload. The photoelectric detection payload and the electromagnetic reconnaissance payload perform self-checks and generate equipment status information, which is then transmitted to the AUV's control center. The control center determines whether the status of the photoelectric detection payload and the electromagnetic reconnaissance payload is normal based on the equipment status information.

[0032] If the photoelectric detection payload and / or electromagnetic reconnaissance payload are in normal condition, the control center will control the photoelectric mast and / or electromagnetic mast in normal condition to rise out of the cabin and configure the corresponding mission parameters to the photoelectric detection payload and / or electromagnetic reconnaissance payload.

[0033] Step 3: After receiving the corresponding mission parameters, the photoelectric detection payload and / or electromagnetic reconnaissance payload shall complete the reconnaissance action according to the corresponding mission parameters and the preset reconnaissance procedure. After obtaining the target information data, the data shall be sent to the AUV control center for local storage or uploaded to an external system via satellite.

[0034] Step 4: After the reconnaissance is completed, the AUV's control center controls the photoelectric detection payload and / or electromagnetic reconnaissance payload to enter the corresponding compartment; the photoelectric detection payload and / or electromagnetic reconnaissance payload are automatically powered off, or the AUV's control center can terminate the reconnaissance; if necessary, the control center can control the data self-destruction. Beneficial effects:

[0035] (1) This invention provides a multi-mission reconnaissance payload suitable for AUVs. By setting up photoelectric detection payloads and electromagnetic signal reconnaissance payloads in the two compartments of the AUV respectively, when the AUV is on or near the water surface, the photoelectric detection payloads and electromagnetic signal reconnaissance payloads work together or work independently. They can realize the reconnaissance and acquisition of image data of the water surface, shore base and / or air at close range, and can also realize the reconnaissance and acquisition of radio signals and radar signals at long range, so as to obtain target information data locally or remotely, and realize the comprehensive reconnaissance and detection of targets by large AUVs.

[0036] (2) In this invention, the two compartments are located at the bow and stern of the AUV respectively, so that the photoelectric detection payload and the electromagnetic signal reconnaissance payload are located at the bow and stern of the AUV respectively when they are raised out of the compartments, so as to reduce the obstruction between the photoelectric detection payload and the electromagnetic signal reconnaissance payload.

[0037] (3) The antenna module of the present invention detects radar and radio communication signals of shore-based, sea surface and air targets. It does not actively emit electromagnetic waves, but only receives electromagnetic waves emitted by radar or other radiation sources. It is a passive operation and has the characteristics of good concealment.

[0038] (4) In this invention, since the radio signal reconnaissance antenna and the radar signal reconnaissance antenna cannot share the same antenna, the four planar spiral antennas for reconnaissance radar signals are placed below the omnidirectional broadband conical dipole antenna for reconnaissance radio signals, thereby realizing the integration and miniaturization of the antenna module and making it suitable for use on AUVs; in addition, the uniform distribution of the four planar spiral antennas around the central axis of the electromagnetic mast is also conducive to the reception of signals in all directions.

[0039] (5) In this invention, infrared imaging module and television imaging module are used, which have the characteristics of passive operation, good concealment and intuitive information, and can realize the acquisition of water surface, shore base and / or air target data in all weather.

[0040] (6) In this invention, by setting up a pitch motor, a pitch angle measuring module, an azimuth motor and a rotary transformer, the control module I can control the pitch motor and the azimuth motor to rotate at the corresponding angles, so that the target is always within the imaging range of the infrared imaging module and the television imaging module.

[0041] (7) In this invention, both the photoelectric mast and the electromagnetic mast are folding-down lifting masts and are hydraulically driven. The mechanism is simple, reliable, highly repeatable, and low in cost.

[0042] In summary, this invention adopts an integrated approach to enable the mounting and reconnaissance of photoelectric detection payloads and electromagnetic signal reconnaissance payloads on an AUV platform. It features high concealment, a combination of long-range and short-range capabilities, a wide reconnaissance range, and reduced risks associated with manned platforms, effectively expanding the scope and functionality of AUVs. Attached Figure Description

[0043] Figure 1 is a schematic diagram of an AUV;

[0044] Figure 2 is a schematic diagram of the multi-mission reconnaissance payload distribution;

[0045] Figure 3 is a structural diagram of the multi-mission reconnaissance payload (I);

[0046] Figure 4 is a structural diagram of the multi-mission reconnaissance payload (II).

[0047] Among them, 1-AUV, 2-Photoelectric mast, 3-Electromagnetic mast, 4-Watertight cable I, 5-Watertight cable II, 6-Electronic compartment I, 7-Electronic compartment II, 8-Hydraulic component I, 9-Hydraulic component II, 10-Pitch motor, 11-Pitch angle measuring module, 12-Infrared imaging module, 13-Television imaging module, 14-Azimuth motor, 15-Rotary transformer, 16-Support device, 17-Tilting device I, 18-Antenna module, 19-Support rod, 20-Tilting device II. Detailed Implementation

[0048] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] Example 1:

[0050] This embodiment provides a multi-mission reconnaissance payload suitable for AUVs, as shown in Figures 1 and 2, including an optoelectronic detection payload and an electromagnetic signal reconnaissance payload;

[0051] The photoelectric detection payload is used to acquire image data and scene image data of water surface, shore-based and / or air targets, and process them to generate corresponding target information data, which is then transmitted to the control center of AUV1 for local storage and / or uploaded to external systems via satellite.

[0052] The electromagnetic signal reconnaissance payload is used to acquire radio and radar signals from surface, shore-based, and / or air targets, and to process and generate corresponding target information data, which is then transmitted to the AUV1's control center for storage and / or uploaded to external systems via satellite.

[0053] The AUV1 is equipped with two compartments. When the AUV1 is underwater, the photoelectric detection payload and the electromagnetic signal reconnaissance payload are sealed in their respective compartments. When the AUV1 is above or near the water surface, both the photoelectric detection payload and the electromagnetic signal reconnaissance payload can be raised out of their respective compartments to conduct reconnaissance.

[0054] This embodiment provides a multi-mission reconnaissance payload and reconnaissance method suitable for AUV1. By setting up an electro-optical detection payload and an electromagnetic signal reconnaissance payload in two compartments of the AUV1 respectively, when the AUV1 is on or near the water surface, the electro-optical detection payload and the electromagnetic signal reconnaissance payload work together or independently, which can realize the comprehensive reconnaissance of image data, radio signals and radar signals from the water surface, shore-based and / or air, so as to acquire target information data locally or remotely.

[0055] The targets include aircraft, vehicles, surface vessels, ships, patrol aircraft, radar, radio communication signals, and other electronic equipment.

[0056] Furthermore, the two compartments are located at the bow and stern of the AUV1, respectively, so that the electro-optical detection payload and the electromagnetic signal reconnaissance payload are located at the bow and stern of the AUV1 when they are raised out of the compartments, thereby reducing obstruction between the two types of masts.

[0057] In one embodiment, referring to Figure 3, the photoelectric detection payload includes a photoelectric mast 2 and an electronic compartment I6; the center of the photoelectric mast 2 is located on the longitudinal section of the parallel body of the AUV1; the electronic compartment I6 is located below the photoelectric mast 2, and the photoelectric mast 2 and the electronic compartment I6 are electrically connected through a watertight cable I4;

[0058] The photoelectric mast 2 is a lifting mast, and the photoelectric mast 2 is equipped with a drive module I, an infrared imaging module 12 and a television imaging module 13.

[0059] Drive module 1 is used to receive instructions from the AUV 1 control center to drive the photoelectric mast 2 to rise and fall; TV imaging module 13 is used to acquire daytime image data and target distance; infrared imaging module 12 is used to acquire day and night image data and target distance.

[0060] The electronic compartment I6 is equipped with a power module I and a data processing module. The power module I draws power from the AUV1 and is used to power the data processing module, drive module I, infrared imaging module 12 and television imaging module 13. The data processing module is used to receive and process daytime and nighttime image data, including data calculation and data transmission.

[0061] Specifically, both the infrared imaging module 12 and the television imaging module 13 are miniaturized devices, and the infrared imaging module 12 uses an infrared sensor.

[0062] This embodiment uses an infrared imaging module 12 and a television imaging module 13, which features passive operation, good concealment, and intuitive information, and can acquire data on water surface, shore-based and / or aerial targets in all weather conditions.

[0063] Furthermore, referring to Figure 4, the photoelectric mast 2 also includes a pitch motor 10, a pitch angle measuring module 11, an azimuth motor 14, and a rotary transformer 15; the pitch motor 10 is used to control the infrared imaging module 12 and the television imaging module 13 to perform up and down pitch movements, and the pitch angle measuring module 11 is used to measure the rotation angle; the azimuth motor 14 is used to control the infrared imaging module 12 and the television imaging module 13 to perform left and right rotation movements; the rotary transformer 15 is used to measure the rotation angle of the azimuth motor 14.

[0064] The electronic compartment I6 is equipped with a control module I, which can control the pitch motor 10 and the azimuth motor 14 to rotate by corresponding angles, so that the target is always within the imaging range of the infrared imaging module 12 and the television imaging module 13. The control module I is also used to receive the corresponding mission parameters of the photoelectric detection payload configured by the AUV 1 control center, and control the photoelectric mast 2 to act according to the mission parameters. The corresponding mission parameters of the photoelectric detection payload include the recording / photographing mode, detection time, number of rotations of the photoelectric mast, and detection angle of the photoelectric mast.

[0065] In this embodiment, the pitch motor 10 and azimuth motor 14 are configured to achieve target acquisition over a wide range and in multiple directions.

[0066] Furthermore, the optoelectronic mast 2 is a folding and lifting mast. The drive module I includes a hydraulic assembly I8 and a tilting device I17. The optoelectronic mast 2 also includes a support device 16. The infrared imaging module 12, the television imaging module 13, the pitch motor 10, the pitch angle measuring module 11, the azimuth motor 14, and the rotary transformer 15 are all mounted on the support device 16. The bottom of the support device 16 is connected to one end of the tilting device I17, and the other end of the tilting device I17 is connected to the hydraulic assembly I8. The hydraulic assembly I8 receives instructions from the AUV 1 control center to hydraulically drive the tilting device I17, so that the support device 16 folds inside the cabin or unfolds and rises out of the cabin.

[0067] This embodiment uses hydraulic drive and folding lifting, which is simple, reliable, highly repeatable, and low in cost.

[0068] In one embodiment, referring to Figure 3, the electromagnetic signal reconnaissance payload includes an electromagnetic mast 3 and an electronic compartment II 7. The center of the electromagnetic mast 3 is located on the longitudinal section of the parallel body of the AUV1. The electronic compartment II 7 is located below the electromagnetic mast 3, and the electromagnetic mast 3 and the electronic compartment II 7 are electrically connected through a watertight cable II 5.

[0069] The electromagnetic mast 3 is a lifting mast. The electromagnetic mast 3 is equipped with a drive module II and an antenna module 18. The drive module II is used to receive commands from the AUV 1 control center to drive the electromagnetic mast 3 to lift and lower. The antenna module 18 is used to collect radio signals and radar signals.

[0070] The electronic compartment II 7 houses a control module II, a power module II, and a signal processing module. Power module II supplies power to drive module II and antenna module 18. Control module II receives the corresponding mission parameters of the electromagnetic signal reconnaissance payload configured by the AUV 1 control center and controls the electromagnetic mast 2 to operate according to these parameters. The corresponding mission parameters of the electromagnetic signal reconnaissance payload include the radio reconnaissance mode (such as a frequency band set or a frequency set), the corresponding frequency band parameters or frequencies, and the type of reconnaissance signal. The signal processing module receives and processes radio and radar signals, including amplification, filtering, digital sampling, channelization, signal feature extraction, and signal feature transmission. Target information data can be obtained through signal feature extraction.

[0071] The electromagnetic signal reconnaissance payload used in this embodiment detects radar and radio communication signals of shore-based, sea-surface, and air targets. It does not actively emit electromagnetic waves, but only receives electromagnetic waves emitted by radar or other radiation sources. It is a passive operation and has the characteristics of good concealment.

[0072] Furthermore, the antenna module 18 includes a radio signal reconnaissance antenna and a radar signal reconnaissance antenna. The radio signal reconnaissance antenna adopts an omnidirectional broadband conical dipole antenna, and the radar signal reconnaissance antenna adopts four planar helical antennas. The radar signal reconnaissance antenna is placed below the conical dipole antenna, and the four planar helical antennas are evenly distributed around the central axis of the electromagnetic mast 3.

[0073] In this embodiment, the radio signal reconnaissance antenna and the radar signal reconnaissance antenna cannot share the same antenna. Therefore, four planar spiral antennas are placed below the omnidirectional broadband conical dipole antenna, thereby achieving the integration and miniaturization of the antenna module 18, making it suitable for use on the AUV1. In addition, it is also beneficial for the reception of signals in all directions.

[0074] Furthermore, referring to Figure 4, the electromagnetic mast 3 is a folding lifting mast. The drive module II includes a hydraulic component II 9 and a tilting device II 20. The electromagnetic mast 3 also includes a support rod 19, with an antenna module 18 located on top of the support rod 19. The bottom of the support rod 19 is connected to one end of the tilting device II 20, and the other end of the tilting device II 20 is connected to the hydraulic component II 9. The hydraulic component II 9 receives instructions from the AUV 1 control center to hydraulically drive the tilting device II 20, causing the support rod 19 and the antenna module 18 to fold inside the cabin or unfold and rise out of the cabin.

[0075] This embodiment uses hydraulic drive and folding lifting, which is simple, reliable, highly repeatable, and low in cost.

[0076] In one embodiment, the photoelectric mast 2, the electromagnetic mast 3, the electronic compartment I 6, and the electronic compartment II 7 all adopt a streamlined shape, are pressure-resistant individually, and are suitable for deep-sea environments.

[0077] In one embodiment, the infrared imaging module 12 and the television imaging module 13 are rotated and sealed to achieve 360-degree all-around watertight detection.

[0078] Example 2:

[0079] A multi-mission reconnaissance method, based on a multi-mission reconnaissance payload suitable for AUV as described in Example 1, comprises the following steps:

[0080] Step 1: Before the AUV1 sets sail, manually set the reconnaissance mission, including the reconnaissance location and reconnaissance process;

[0081] Step 2: When AUV1 reaches the preset reconnaissance location, AUV1 powers on the photoelectric detection payload and the electromagnetic reconnaissance payload. The photoelectric detection payload and the electromagnetic reconnaissance payload perform self-checks and generate equipment status information, which is then transmitted to the control center of AUV1. The control center determines whether the status of the photoelectric detection payload and the electromagnetic reconnaissance payload is normal based on the equipment status information.

[0082] If the photoelectric detection payload and / or electromagnetic reconnaissance payload are in normal condition, the control center will control the photoelectric mast 2 and / or electromagnetic mast 3 in normal condition to rise out of the cabin and configure the corresponding mission parameters to the photoelectric detection payload and / or electromagnetic reconnaissance payload.

[0083] Step 3: After receiving the corresponding mission parameters, the photoelectric detection payload and / or electromagnetic reconnaissance payload shall complete the reconnaissance action according to the corresponding mission parameters and the preset reconnaissance procedure. After obtaining the target information data, the data shall be sent to the control center of AUV1 for local storage or uploaded to an external system via satellite.

[0084] Specifically, during reconnaissance by the photoelectric detection payload, the center of the image of the infrared imaging module 12 or the television imaging module 13 can move with the target; furthermore, after the infrared imaging module 12 or the television imaging module 13 obtains the corresponding image data, the data processing module in the electronic compartment I6 calculates in real time the angle that the pitch motor 10 and / or the azimuth motor 14 should rotate, and controls the pitch motor 10 and / or the azimuth motor 14 to rotate. The pitch angle measurement module 11 measures the angle of rotation of the pitch motor 10 in real time, and the rotary transformer 15 measures the angle of rotation of the azimuth motor 14 in real time. When the actual angle of rotation of the pitch motor 10 is consistent with the calculated angle, the pitch motor 10 stops rotating; when the angle of rotation of the azimuth motor 14 is consistent with the calculated angle, the azimuth motor 14 stops rotating.

[0085] Specifically, during electromagnetic reconnaissance, the weak electromagnetic signals of the target are collected within the detection range, and after amplification, filtering, signal processing, and other measures, the target's technical parameters and location information are obtained, the characteristics of the signals are identified, and the target information is acquired.

[0086] Specifically, when target information data is stored by the AUV1, after the AUV1 returns, the reconnaissance data and files can be downloaded and exported via data download cable or wirelessly, facilitating later analysis and information collection.

[0087] Step 4: After the reconnaissance is completed, the control center of AUV1 controls the photoelectric detection payload and / or electromagnetic reconnaissance payload to fold into the corresponding compartment, and the photoelectric detection payload and / or electromagnetic reconnaissance payload are automatically powered off. Alternatively, the control center of AUV1 can terminate the reconnaissance. If necessary, the control center can control the data self-destruction.

[0088] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-mission reconnaissance payload suitable for AUVs, characterized in that, include: Photoelectric detection payload and electromagnetic signal reconnaissance payload; The photoelectric detection payload is used to acquire image data and scene image data of water surface, shore-based and / or air targets, and process them to generate corresponding target information data, which is then transmitted to the AUV's control center for local storage and / or uploaded to external systems via satellite. The electromagnetic signal reconnaissance payload is used to acquire radio and radar signals from surface, shore-based, and / or air targets, and to process and generate corresponding target information data, which is then transmitted to the AUV's control center for storage and / or uploaded to external systems via satellite. The AUV is equipped with two compartments. When the AUV is underwater, the photoelectric detection payload and the electromagnetic signal reconnaissance payload are sealed in their respective compartments. When the AUV is on or near the water surface, both the photoelectric detection payload and the electromagnetic signal reconnaissance payload can be raised out of their respective compartments to conduct reconnaissance.

2. The multi-mission reconnaissance payload suitable for AUV as described in claim 1, characterized in that, The two compartments are located at the bow and stern of the AUV, respectively.

3. The multi-mission reconnaissance payload suitable for AUV as described in claim 1, characterized in that, The electromagnetic signal reconnaissance payload includes an electromagnetic mast and an electronic compartment II; the electromagnetic mast is electrically connected to the electronic compartment II. The electromagnetic mast is a lifting mast, and it contains a drive module II and an antenna module. The drive module II is used to drive the electromagnetic mast to lift and lower, and the antenna module is used to collect radio signals and radar signals. The electronic compartment II is equipped with a control module II, a power module II, and a signal processing module. The power module II is used to supply power to the drive module II and the antenna module. Control module II can be used to receive the corresponding mission parameters of the electromagnetic signal reconnaissance payload configured by the AUV control center, and control the electromagnetic mast to move according to the mission parameters; The signal processing module is used to receive and process radio and radar signals.

4. The multi-mission reconnaissance payload suitable for AUV as described in claim 3, characterized in that, The antenna module includes a radio signal reconnaissance antenna and a radar signal reconnaissance antenna; The radio signal reconnaissance antenna uses an omnidirectional broadband conical dipole antenna, while the radar signal reconnaissance antenna uses four planar helical antennas. The radar signal reconnaissance antenna is positioned below the conical dipole antenna, and the four planar helical antennas are evenly distributed around the central axis of the electromagnetic mast.

5. A multi-mission reconnaissance payload suitable for AUV as described in any one of claims 1-4, characterized in that, The photoelectric detection payload includes a photoelectric mast and an electronics compartment I; the photoelectric mast is electrically connected to the electronics compartment I. The optoelectronic mast is a lifting mast, and the optoelectronic mast contains a drive module I, an infrared imaging module, and a television imaging module; Drive module I is used to drive the photoelectric mast to rise and fall; television imaging module is used to acquire daytime image data and target distance; infrared imaging module is used to acquire day and night image data and target distance. The electronic compartment I is equipped with control module I, power module I, and data processing module. Power module I draws power from the AUV and is used to power the data processing module, drive module I, infrared imaging module, and television imaging module. Control module I is used to receive the corresponding mission parameters of the photoelectric detection payload configured by the AUV control center and control the photoelectric mast to move according to the mission parameters; The data processing module is used to receive and process daytime and nighttime image data.

6. The multi-mission reconnaissance payload suitable for AUV as described in claim 5, characterized in that, The optoelectronic mast also includes a pitch motor, a pitch angle measuring module, an azimuth motor, and a rotary transformer; The pitch motor is used to control the infrared imaging module and the television imaging module to perform up and down pitch movements, and the pitch angle measurement module is used to measure the angle of rotation. The orientation motor is used to control the left and right rotation of the infrared imaging module and the television imaging module; Rotary transformers are used to measure the rotation angle of azimuth motors; Control module I can also control the pitch motor and azimuth motor to rotate by the corresponding angle, so that the target is always within the imaging range of the infrared imaging module and the television imaging module.

7. A multi-mission reconnaissance payload suitable for AUV as described in claim 5, characterized in that, The photoelectric mast is a folding and lifting mast. The drive module I includes a hydraulic component I and a tilting device I; the photoelectric mast also includes a support device. Both the infrared imaging module and the television imaging module are mounted on the support device; the bottom of the support device is connected to one end of the flipping device I, and the other end of the flipping device I is connected to the hydraulic assembly I. The hydraulic assembly I hydraulically drives the flipping device I, causing the support device to fold inside the cabin or unfold and rise out of the cabin.

8. A multi-mission reconnaissance method, based on a multi-mission reconnaissance payload suitable for AUV as described in any one of claims 1-7, characterized in that, The steps are as follows: Step 1: Before the AUV goes to sea, manually set up the reconnaissance mission, including the reconnaissance location and reconnaissance process; Step 2: When the AUV reaches the preset reconnaissance location, the large AUV powers on the photoelectric detection payload and the electromagnetic reconnaissance payload. The photoelectric detection payload and the electromagnetic reconnaissance payload perform self-checks and generate equipment status information, which is then transmitted to the AUV's control center. The control center determines whether the status of the photoelectric detection payload and the electromagnetic reconnaissance payload is normal based on the equipment status information. If the photoelectric detection payload and / or electromagnetic reconnaissance payload are in normal condition, the control center will control the photoelectric mast and / or electromagnetic mast in normal condition to rise out of the cabin and configure the corresponding mission parameters to the photoelectric detection payload and / or electromagnetic reconnaissance payload. Step 3: After receiving the corresponding mission parameters, the photoelectric detection payload and / or electromagnetic reconnaissance payload shall complete the reconnaissance action according to the corresponding mission parameters and the preset reconnaissance procedure. After obtaining the target information data, the data shall be sent to the AUV control center for local storage or uploaded to an external system via satellite. Step 4: After the reconnaissance is completed, the AUV's control center controls the photoelectric detection payload and / or electromagnetic reconnaissance payload to enter the corresponding compartment; the photoelectric detection payload and / or electromagnetic reconnaissance payload are automatically powered off, or the AUV's control center can terminate the reconnaissance; if necessary, the control center can control the data self-destruction.

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