Method for using navigational hydro-acoustic system by underwater apparatuses with determining of position by difference between distances to leading underwater device and response beacons

IPC classes for russian patent Method for using navigational hydro-acoustic system by underwater apparatuses with determining of position by difference between distances to leading underwater device and response beacons (RU 2285273):

G01S5/18 - using ultrasonic, sonic, or infrasonic waves

G01S3/80 - using ultrasonic, sonic, or infrasonic waves

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Method for using navigational hydro-acoustic system by underwater apparatuses with determining of position by difference between distances to leading underwater device and response beacons / 2285273

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FIELD: sea navigation, in particular, method for determining position of autonomous underwater device relatively to a point on sea bottom, for example, during execution of science research, searching or other underwater operations.

SUBSTANCE: method for using navigational hydro-acoustic system by underwater devices includes determining position of leading underwater device relatively to responder beacons on basis of distances to responder beacons, determined by measuring expansion times of acoustic signal from underwater device to responder beacons and back. Position of each following underwater device is determined on basis of difference of total distances from leading underwater device to each responder beacon and from each responder beacon to following underwater device and distance from leading underwater device to following underwater device, determined by measuring onboard the following underwater device of differences between moments of receipt of acoustics signals of request of responder beacons by leading underwater device and responses of responder beacons, and distance to leading underwater device and direction towards it, known onboard the following autonomous underwater device.

EFFECT: increased operation time of navigational hydro-acoustic system during group actions of autonomous underwater apparatuses in one zone of operations due to decreased number of response signal transmissions by responding beacons by simultaneous determining of position of all underwater devices of group during querying responder beacons by one of underwater devices of group (leader).

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The invention relates to the field of Maritime navigation, in particular to a method of determining the location of an Autonomous underwater vehicle relative to the point on the bottom of the sea, for example, when performing scientific research, search and other works under water.

In marine navigation known way to use the navigation sonar system is a group of Autonomous underwater vehicles based on the determination of the location of the Autonomous underwater vehicle relative to the point on the sea bottom, marked with three or more bottom sonar beacon navigation sonar system, in which by measurements on Board the underwater apparatus of the differences between the times of reception of acoustic signals synchronously emitted by the beacons navigation sonar system operating on a continuous program, determined by the difference of the distances to the beacons. Place the submersible is the point of intersection of hyperboloids rotation, the foci of which are beacons [1].

However, this method has the following disadvantages. Practice shows that the radiation of acoustic signals in a continuous program, without prompting, leads to a significant reduction of the service life of the beacons because of the irrational use of their energy, which causes contraction of the term navigation hydroacoustics the Oh system. In addition, due to the volatility of the reference generator and the resulting errors formation intervals in the beacons disrupted synchrony radiation of acoustic signals beacons, which increases the error to determine the location of the Autonomous underwater vehicle and causes a reduction of the period of operation of the navigation sonar system.

The closest technical solution is the way to use the navigation sonar system is a group of Autonomous underwater vehicles based on the determination of the location of the Autonomous underwater vehicle relative to the point on the bottom of the sea, marked by two or more bottom sonar beacon-defendants navigation sonar system, in which by measuring the propagation time of the acoustic signal from the underwater vehicle to beacons navigation sonar system and back are determined by the distances to the beacons. The location of the apparatus is as the point of intersection of the spheres, the centers of which are located at the points of installation of beacons, and the radii of the slanted equal distances from the beacons to the device [2] is a prototype.

However, when group action Autonomous underwater vehicles in the same area using beacons in this way is difficult because of appeared what I mutual interference. In addition, beacons defendants emit signals to the needs of each underwater vehicle, which also leads to a waste of energy beacons and shortens the operation of the navigation sonar system.

The technical result of the proposed method is an extension of the period of operation of the navigation sonar system for group actions of Autonomous underwater vehicles in one area at the expense of reducing the number of parcels signal response beacons by simultaneous determination of all underwater vehicles group in the survey beacons one of the submersibles group (lead).

The technical result is achieved by the fact that the leading Autonomous underwater vehicle is determined in a known way in which by measuring the propagation time of the acoustic signal from the underwater vehicle to beacons navigation sonar system and back are determined by the distances to the beacons. Place the host apparatus is the point of intersection of the spheres, the centers of which are located at the points of installation of beacons, and the radii of the slanted equal distances from the beacons to the apparatus. On the other (slave) Autonomous underwater vehicles group is the reception request signal is traveling underwater apparatus beacons and signal response beacons. Place each slave underwater vehicle is determined by the difference of the sums of the distances from the leading submersible to each beacon the Respondent and from each beacon to the Respondent to slave underwater vehicle and the distance from the master to the slave underwater vehicles defined by measurements on Board the slave submersible difference of times of reception of acoustic signals request beacons leading the submersible and answers beacons, and known on Board the slave Autonomous underwater vehicle distance to the lead submersible and directions on it. Place the slave device is set as the point of intersection of the ellipsoids, the number of which corresponds to the number of beacons, one of the focuses of which is located at the point of installation of the respective beacon-defendant, and the second focus is located relative to the first direction, parallel to the direction from the master to the slave submersibles, and at a distance equal to the distance between the master and the slave underwater devices.

Comparable analysis of the proposed technical solution with the prototype shows that the inventive method differs from the known fact that the emission signals of the query beacons is only one sub group, but ODA is the division of all places underwater devices group. Place each slave underwater vehicle is determined by the difference of the sums of the distances from the leading submersible to each beacon the Respondent and from each beacon to the Respondent to slave underwater vehicle and the distance from the master to the slave underwater vehicles defined by measurements on Board the slave submersible difference of times of reception of acoustic signals request beacons leading the submersible and answers beacons, and known on Board the slave Autonomous underwater vehicle distance to the lead submersible and directions on it. Place the slave device is set as the point of intersection of the ellipsoids, the number of which corresponds to the number of beacons. Thus, the claimed method meets the criteria of the invention of "novelty."

In the proposed method for ensuring the activity of Autonomous underwater vehicles require fewer parcels of acoustic signals beacons due to the fact that once the locations of all submersibles group is for single parcels acoustic signal beacons-defendants. This allows to make a conclusion about its compliance with the criterion of "inventive step".

The proposed method use the navigation sonar system which we are a group of Autonomous underwater vehicles can be implemented as follows.

Detecting underwater vehicles produce equipment consumer navigation sonar system DPR-10. Pre-modernization of the equipment of the consumer navigation sonar system submersibles thus, to be able to use it in two modes: "lead", in which hardware counters time signal run time radiation equipment request signal beacons and stop everyone in the moments of reception of response signals of the respective beacon-responder that will allow us to determine the location of the underwater apparatus in a known manner by measuring the propagation time of the acoustic signal from the underwater vehicle to beacons navigation sonar system and back and determine distances to beacons and "slave", in which hardware counters time signal run time of reception of the request signal beacons leading the submersible and stop everyone in the moments of reception of response signals of the respective beacon-responder that will allow us to determine the location of an underwater apparatus according to the difference of the sums of the distances from the leading submersible to each beacon the Respondent and from each beacon to the Respondent to slave underwater up the Arata and distance from the master to the slave underwater vehicles, defined by measurements on Board the slave submersible difference of times of reception of acoustic signals request beacons leading the submersible and answers beacons, and known on Board the slave Autonomous underwater vehicle distance to the lead submersible and directions on it.

Before working in the area of the upgraded equipment consumer navigation sonar system DPR-10 is installed on the master sub mode "master", on the other underwater devices group is in slave mode.

In the process of work in the area on Board a slave underwater vehicle intermittently when the radiation leading underwater device request signal beacons that are received by the apparatus user navigation sonar system request signal leading the submersible beacons and signal response beacons and measured the difference of the time they are received, are determined by the difference of the sums of the distances from the leading submersible to each beacon the Respondent and from each beacon to the Respondent to slave underwater vehicle and a known distance leading underwater vehicle. Place the driven underwater vehicle relative to the beacons is defined in the coordinate system is inat Oxyz, the center Of which is located at the point of installation of one of the beacons, and the x axis is connected with the main axis of the ellipsoid provisions slave underwater vehicle relative to the beacon-defendant, taken as the center of coordinates (see the drawing), by solving the system of nonlinear equations

where i=1, 2, 3 ... n (n is the number of beacons);

ΔL_i- difference of the sums of the distances from the leading underwater vehicle to the i-th beacon-defendant and from the i-th beacon-responder to slave underwater vehicle and the distance from the leading underwater vehicle to the driven submersible;

D - the distance between the underwater devices;

X, Y, Z is the desired coordinates of the slave submersible;

x_i, y_i, z_ithe coordinates of the beacons.

To convert the received position coordinates of the slave underwater vehicle in a more convenient system of rectangular coordinates with the geographic orientation of the axes Oenh take into account that the position of the coordinate system Oxyz relative to the coordinate system with the geographical orientation of the axes Oenh is determined by the angles

Θ=90°-(P-180°) (2)

where P is the geographical direction from the slave to the master underwater vehicle, degrees, and

where g_VS, g_BM- the depth of immersion, respectively master and slave under adnych apparatus (drawing).

Coordinates x, y, z slave underwater vehicle is converted into the coordinates e, n, h coordinate system Oenh using matrix expressions

The period of operation of the navigation sonar system DPR-10 beacons-defendants-type device 16, which is the total number of responses to requests is not less than 5000 [2], when using the proposed method for providing frequency determine where every 3 min group of Autonomous underwater vehicles is 250,0 PM

The period of operation of the navigation sonar system DPR-10 when used in a known manner to provide definitions designated with the same frequency groups of two Autonomous underwater vehicles is 125,0 h, groups of three Autonomous underwater vehicles - 83,3 h, groups of four Autonomous underwater vehicles - 62,5 PM

Thus, the use of the proposed method to extend the period of operation of the navigation sonar system DPR-10 2-4 times.

The proposed method use the navigation sonar system is a group of Autonomous underwater vehicles can be implemented in hardware, consumers most navigational sonar systems that are implemented prototype method.

The application of the proposed method using navigation the hydroacoustic system a group of Autonomous underwater vehicles with determining the place of the slave underwater vehicles relative to the bottom sonar beacons in the difference of the distances from the leading underwater apparatus and beacons provides in comparison with existing methods the following benefits:

1. The reception on the slave underwater vehicles signal request beacons leading scuba apparatus and signal response beacons allows the determination of the places driven underwater vehicles without additional, specially for each slave PA, radiation beacons-defendants hydroacoustic signals, thereby reducing the number of parcels signal response beacons-responders and significantly increase the working life NGS for group actions Autonomous underwater vehicles in the same area of operations.

2. The reception on the slave underwater vehicles signal request beacons leading scuba apparatus and signal response beacons allows you to define any number of underwater vehicles.

Sources of information

1. Vijanden, Gestirne, Nastala, Gevallen. Hydroacoustic navigation AIDS, Leningrad: Sudostroenie", 1983, 262 pages

2. Navigation sonar system DPR-10. -Notes on hydrography, No. 216, 1986, p.59-63.

Way to use the navigation sonar system underwater devices with determination of the places on the difference of the distances from the leading underwater vehicle and the beacons, namely the radiation in one of the submersibles group (leading) of the acoustic signal request seabed beacons navigation sonar system, the reception on the other underwater devices group (slave) request signal leading the submersible bottom beacons, taking on all underwater devices of the group of response signals beacons, the measurement on the slave underwater vehicles group direction and distance to the leading underwater vehicle, which by measuring the leading submersible times of propagation of the acoustic signal from the leading underwater vehicle to beacons and back are determined by the distance from the beacons to the leading underwater vehicle, which is determined by the location of the leading underwater vehicle relative to the beacons, wherein each slave underwater vehicle is determined the difference of the sums of the distances from the leading submersible to each beacon the Respondent and from each beacon to the Respondent to slave underwater vehicle and the distance from the leading underwater vehicle to the driven submersible defined by measurements on Board the slave submersible difference of times of reception of acoustic signals request beacons leading the submersible and answers beacons, and known on Board the slave Autonomous underwater vehicle distance to the lead submersible and directions on it.

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