Mode of using by underwater vehicles of a hydro acoustic system with determination of the location by differences of distances to responder beacons

IPC classes for russian patent Mode of using by underwater vehicles of a hydro acoustic system with determination of the location by differences of distances to responder beacons (RU 2292057):

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

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

Another patents in same IPC classes:

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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Mode of using by underwater vehicles of a hydro acoustic system with determination of the location by differences of distances to responder beacons / 2292057

Mode of using by underwater vehicles of a navigational hydro acoustic system is in simultaneous determination of the locations of all underwater vehicles of the group at inquiry by a hydro acoustic signal-command of one of the underwater vehicles of the group of (leading) responder beacons by one of the (driven) responder beacons. The location of each of underwater vehicles is determined by differences of distances to the leading responder beacon and to the drive responder beacon defined by measured intervals of time between reception of an acoustic signal of the request of the responder beacons by the leading responder beacon and acoustic signals of the response of the driven responder beacons. The location of the underwater vehicle is found as an intersection plot of hyperboloid of revolution whose number corresponds to the number of pairs of "leading-driven" responder beacons and focal points are located in installation plots of the corresponding responder beacons and the flatness passing through the center of the hydro acoustic antenna of the underwater vehicle transversely to the flatness of the true horizon.

FIELD: the invention refers to the field of marine navigation particularly to the mode of using a navigational hydro acoustic system for determination of locations of autonomous underwater vehicles relatively to a plot on the seabed, for example, at fulfillment of scientific, searching and other underwater works.

SUBSTANCE: mode of using by underwater vehicles of a navigational hydro acoustic system is in simultaneous determination of the locations of all underwater vehicles of the group at inquiry by a hydro acoustic signal-command of one of the underwater vehicles of the group of (leading) responder beacons by one of the (driven) responder beacons. The location of each of underwater vehicles is determined by differences of distances to the leading responder beacon and to the drive responder beacon defined by measured intervals of time between reception of an acoustic signal of the request of the responder beacons by the leading responder beacon and acoustic signals of the response of the driven responder beacons. The location of the underwater vehicle is found as an intersection plot of hyperboloid of revolution whose number corresponds to the number of pairs of "leading-driven" responder beacons and focal points are located in installation plots of the corresponding responder beacons and the flatness passing through the center of the hydro acoustic antenna of the underwater vehicle transversely to the flatness of the true horizon.

EFFECT: increases the term of work of the navigational hydro acoustic system with three or more seabed responder -beacons at group operations of autonomous underwater vehicles.

1 dwg

The invention relates to the field of Maritime navigation, in particular to a method of using the navigation sonar system for detecting Autonomous underwater vehicles 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 bottom of the sea, marked by two or more bottom sonar beacon-defendants navigation sonar system, in which by measuring the time intervals of propagation 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 [1-3].

However, when group action Autonomous underwater vehicles in the same area using beacons in this way is difficult because of the emergence of mutual interference. In addition, beacons defendants emit signals is s on the needs of each underwater vehicle, which leads to a waste of energy beacons and shortens the 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 sea bottom, marked with three or more bottom sonar beacon navigation sonar system, in which by measurements on Board the underwater apparatus intervals of time between the 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, and the plane passing through the sub parallel to the plane of the true horizon [4] is a prototype. This method has no restrictions on the number of Autonomous underwater vehicles within the work zone hydroacoustic navigation system using the navigation sonar system, but it also has the following disadvantages. Practice shows that the radiation of acoustic signals in C is eravnoe program without a request leads to a significant reduction of the service life of the beacons because of the irrational use of their energy, what causes the reduction of the period of operation of the navigation sonar system. In addition, due to the volatility of the reference generator and the resulting errors formation intervals in the beacons, disrupted the timing of the 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 technical result of the proposed method is an extension of the period of operation of the navigation sonar system with three or more beacons bottom-respondents in group actions Autonomous underwater vehicles in the same area by reducing the number of radiation beacons-defendants hydroacoustic signals due to the simultaneous determination of the locations of all underwater vehicles group in the survey on the hydroacoustic signal to the command of one of the submersibles group (leading underwater vehicle) beacons one of the beacons (leading lighthouse by the Respondent).

The technical result is achieved in that on the hydroacoustic signal-team leading underwater vehicle leading the lighthouse-the defendant sonar emits a request signal common to the other (slave) beacons and led beacons-responders to a request signal of the t leading to the lighthouse defendant emit sonar signals response. Aboard submersibles receive a request signal from the master beacon Respondent and response signals from the slave beacons and measured the time intervals between the reception of the request signal from the master beacon Respondent and receiving response signals of the slave beacons. Place each underwater vehicle is determined by the difference of the distances from the leading beacon to the Respondent and to each slave lighthouse Respondent determined from the measured time intervals. Place the submersible is the point of intersection of hyperboloids rotation, the number of which corresponds to the number of sonar bases, formed by pairs of master-slave beacons, and the foci are at the points of installation of the beacons, with a horizontal plane passing through the sub.

Comparable analysis of the proposed technical solution with the prototype shows that the inventive method differs from the known fact that beacons the defendants emit sonar signals only when their survey leading lighthouse by the Respondent on the hydroacoustic signal-team leading the submersible, but at the same time is the determination of its place all underwater devices group. Thus, the claimed method meets the criteria of the invention of "novelty."

Known for the technical solutions [4, 5], in which sonar beacons-responders NGS emit sonar signals by signal request of one of the beacons, but there is no reception on Board the submersible request signal leading lighthouse by the Respondent slave beacons and signal response of the slave beacons to determine the location of the submersible. This allows to make a conclusion on the conformity of the proposed method the criterion of "inventive step".

Radiation hydroacoustic signals beacons-respondents in their survey leading lighthouse by the Respondent on the hydroacoustic signal-team leading Autonomous underwater vehicle and a one-time locations of all submersibles group on single parcels of acoustic signals beacons-defendants in the proposed method provides a reduction in the number of parcels of acoustic signals beacons-defendants and, consequently, increasing the period of operation of the navigation sonar system.

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

Detecting underwater vehicles produce equipment consumer navigation sonar system DPR-10. Pre-moder who isace equipment consumer navigation sonar system underwater vehicles and leading to the lighthouse of the defendant.

Equipment user navigation sonar system underwater vehicles modernized in such a way as to be able to use it in a mode in which counts intervals of time starts when the reception request signal beacons leading lighthouse by the Respondent and stop everyone in the moments of reception of a signal response corresponding to the lighthouse of the defendant.

Equipment leading to the lighthouse defendant modernized so that on the hydroacoustic signal to the master of the underwater apparatus to emit sonar request signal common to the other (slave) beacons.

In the process of work in the area aboard submersibles periodically, when the radiation leading the submersible sonar signal commands leading to the lighthouse, the Respondent accepts the equipment user navigation sonar system request signal from the master beacon Respondent and response signals from the slave beacons and measured the time intervals between them, are determined by the difference of the distances from the leading lighthouse the Respondent and the corresponding slave lighthouse-defendant.

Place the submersible relative to the leading lighthouse-defendant in the coordinate system with the geographical orientation of the axes (in the line is the reattaching the navigation sonar system with two sonar bases - see the drawing. The center 0 of the coordinate system coincides with the point of installation leading to the lighthouse defendant WS, axle 7 is directed to the East, 2 North, 6 - up) by solving the system of nonlinear equations (1).

where i=1, 2, ...k (k is the number of slave BM₁, VM₂, ...BM_kbeacons);

ΔL_i- the difference of the distances from the leading US lighthouse-defendant and i-domestic slave lighthouse Respondent;

D_i- the length of the i-postal sonar base (D₁D₂,..., D_k);

x_i=e·cosΘ_i-n·sinΘ_i·cosγ_i-h·sinΘ_i·sinγ_i;

y_i=e·sinΘ_i+n·cosΘ_i·cosγ_i+h·cosΘ_i·sinγ_i;

x_i=-n·sinγ_i+h·cosγ_i;

h - elevation 5 submersible PA over the leading lighthouse by the Respondent;

g_WSMO- installation depth leading beacon Respondent;

g_PAthe depth of the underwater vehicle;

e - the desired coordinate of the 8 designated underwater vehicle axis 7;

n is the desired coordinate 1 submersible axis 2;

Θ_ithe orientation angle of the i-postal database concerning the adopted coordinate system in the plane of the horizon (4, 9).

γ_ithe orientation angles of the i-postal database concerning the adopted coordinate system in the vertical flat is STI (3, 10).

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 to determine the space group of Autonomous underwater vehicles every 3 min is 250,0 PM

The period of operation of the navigation sonar system DPR-10 when used in a known manner to define a space 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 application of the proposed method allows 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 on the equipment users and lighthouses-responders most hydroacoustic navigation systems with multiple beacons-defendants.

The application of the proposed method using hydroacoustic navigation system underwater devices with determination of the places on the difference of the distances to the beacons provides in comparison with existing methods the following mainly usesto.

Welcome to underwater vehicles signal request beacons leading lighthouse by the Respondent and response signals beacons allows you to determine where underwater vehicles without specifically for each underwater vehicle emission beacons-defendants hydroacoustic signals, thereby reducing the number of radiation beacons-defendants hydroacoustic signals and substantially extend the period of operation of the navigation sonar system for group actions of Autonomous underwater vehicles in the same area of operations.

Sources of information:

1. Practical corallioides / edited Applicationscope. - L.: Gonima, 1988, - 896 S.

2. Navigation sonar system DPR-10 / Ed.: Adipocere, Eouano, Geasphere. - Notes on hydrography, No. 216, 1986, p.59-63.

3. The definition of rectangular coordinates designated by the system DPR-20. - Notes on hydrography, No. 211, 1984, s-96.

4. Vijanden, Gestirne, Nastala, Gevallen. Hydroacoustic navigation tools. Leningrad: Sudostroenie, 1983, - 262 C.

5. Some features of modern sonar systems beacons-defendants / Ed.: Aigooo, Averages, Gevallen. Shipbuilding abroad, No. 1, 1990, p.72-84.

Way to use the navigation sonar system underwater devices with determination of what the difference of distances to the beacons, consisting of radiation on one of the submersibles group (leading submersible) hydroacoustic signal commands to one of the bottom beacons navigation sonar system (leading to the lighthouse is the defendant), the radiation leading lighthouse-defendant hydroacoustic signal request other bottom beacons navigation sonar system (slave beacons), the radiation slave beacons-defendants hydroacoustic signal response, taking underwater hydroacoustic devices request signal of the slave beacons leading lighthouse by the Respondent and the response signals of the slave beacons, the measurement of underwater vehicles intervals of time between the reception of the acoustic signal request slave beacons leading lighthouse by the Respondent and the response signals of the slave beacons and the depth of the submersible, the definition of underwater vehicles on the measured time intervals of the difference of the distances from the leading lighthouse the Respondent and each slave lighthouse the Respondent and the magnitude of the elevation of the submersible on the leading lighthouse by the Respondent on the measured depth of the underwater vehicle and known in the submersible depth installation leading to the lighthouse of the defendant, which is determined by the location of the submersible Rel is relatively beacons, characterized in that the beacons-the defendants emit sonar signals during questioning their leading lighthouse by the Respondent on the hydroacoustic signal-team leading underwater vehicle and identify the locations of all underwater vehicles group.