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Buoyancy measurement method applicable to total sea depth AUV

A measurement method and buoyancy technology, which is applied in the field of buoyancy measurement of full-sea deep AUVs, and can solve problems such as inapplicability of buoyancy estimation methods

Pending Publication Date: 2018-12-14
HARBIN ENG UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the diversity of materials and shapes of the various parts of the AUV carrier itself, as well as the complexity of factors affecting its displacement volume, the traditional buoyancy estimation method is not applicable, and it is necessary to propose a buoyancy measurement method suitable for full-sea depth AUVs

Method used

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  • Buoyancy measurement method applicable to total sea depth AUV
  • Buoyancy measurement method applicable to total sea depth AUV
  • Buoyancy measurement method applicable to total sea depth AUV

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Embodiment Construction

[0036] The following examples describe the present invention in more detail.

[0037] The specific implementation method is divided into two parts:

[0038] 1. The first part is mainly to analyze the force condition of the full-sea deep AUV during the unpowered dive, establish its force expression, and consider the coefficients in it item by item. In the process of unpowered diving, buoyancy, gravity, and resistance are respectively affected. The specific force equation can be expressed as:

[0039]

[0040] Among them, M AUV is the mass of the AUV carrier itself, M P1 is the mass of the dive dump P1 mounted on the AUV, M P is the floating and dumping load mounted on the AUV, g is the gravitational acceleration of the sea area, B AUV , B P1 , B P are the buoyancy produced by the AUV carrier itself, the buoyancy produced by the dive load P1 and the buoyancy produced by the float load P, M A1 is the additional mass of the whole system composed of AUV, dive load dump P1, ...

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Abstract

The invention provides a buoyancy measurement method applicable to a total sea depth AUV. Diving throwaway loads P1 and P2 with different masses are mounted to obtain two different stress equations, so as to form a system of binary linear equations, and the system of the binary linear equations is solved to obtain two unknown variables, namely a viscous drag coefficient D(v) and buoyancy of an AUVcarrier self BAUV in a stress expression (described in the specification) when the total sea depth AUV dives in an unpowered manner, so as to achieve the aim of measuring the buoyancy of the total sea depth AUV on a certain depth profile. The method provided by the invention is not only applicable to buoyancy measurement of the total sea depth AUV in an unpowered diving process but also can be applicable to a longitudinal-trim-free diving process of a deep sea AUV.

Description

technical field [0001] The invention relates to a method for measuring buoyancy, in particular to a method for measuring buoyancy of a full-sea depth AUV. Background technique [0002] With the rapid development of ocean development, the depth of human exploration of the ocean is also increasing, and some underwater robots suitable for deep sea exploration have emerged as the times require. The deepest sea area in the world is the "Challenger Abyss" located in the Mariana Trench, which has attracted the attention of many ocean exploration powers. Underwater robots that can reach the bottom of the Challenger Abyss have the ability to operate at full sea depths. Because the operating depth of the full-sea deep AUV is too large, it generally adopts unpowered diving to reach the specified working depth. During the diving process, the physical parameters of seawater (temperature, salinity, pressure, density, etc.) vary greatly. The essence of the influence of carrier buoyancy ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/00
Inventor 李晔王友康姜言清安力孙叶义何佳雨张伟丛正潘凯文
Owner HARBIN ENG UNIV
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