The invention provides an underwater hovering control underwater navigation body based on multiple propellers and a control method of the underwater hovering control underwater navigation body. The underwater navigation body comprises an underwater navigation body shell, a horizontal propeller, a vertical propeller, a horizontal steering engine, a vertical wing plate, inertial navigation equipment, a depth meter, a Doppler log, a wireless communication and positioning device, a battery unit, a power supply control unit, a foresight sonar and an underwater television. The inertial navigation equipment, the Doppler log, the wireless communication and positioning device and the depth gauge provide the position information of the underwater body for the autopilot, and the autopilot calls an internal preset algorithm. The horizontal propeller and the vertical propeller arranged on the left side and the right side of the submerging body are combined with the horizontal steering engine arranged on the rear portion of the shell of the stern section of the submerging body for use, the submerging body is controlled to be close to a target at a low speed, the effect of ocean currents can be effectively overcome, the target hovers above the target or is close to the target after being confirmed, and the target can be accurately processed.
本发明提供一种一种基于多个推进器的水下悬停控制潜航体及其控制方法,本潜航体包括:潜航体壳体、水平推进器、垂向推进器、水平舵机、垂直翼板、惯性导航设备、深度计、多普勒计程仪、无线通信及定位装置、电池单元、电源控制单元、前视声呐、水下电视;本发明的惯性导航设备、多普勒计程仪、无线通信及定位装置、深度计给自动驾驶仪提供潜航体的位置信息,自动驾驶仪调用内部预设的算法,通过潜航体左右两侧设置的水平推进器和垂向推进器以及潜航体艉段壳体后部设置的水平舵机结合使用,控制潜航体低速抵近目标,能有效克服海流的作用,目标确认后悬停在目标上方或抵近目标,可对目标进行精确处理。
Underwater hovering control underwater navigation body based on multiple propellers and control method of underwater hovering control underwater navigation body
一种基于多个推进器的水下悬停控制潜航体及其控制方法
2023-07-07
Patent
Elektronische Ressource
Chinesisch
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