Method of determining heading angle to radiation source from mobile subsurface object and device for realising said method |
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IPC classes for russian patent Method of determining heading angle to radiation source from mobile subsurface object and device for realising said method (RU 2402785):
                      
 Device for detection of narrow-band noise hydroacoustic signals based on calculation of integral wavelet-spectrum / 2367970
Invention is related to the field of hydroacoustics, namely to devices for detection of narrow-band noise hydroacoustic signals (with spectral density of power in the form of separate discrete components or their scales) at the background of additive noise. Invention is based on calculation of continuous wavelet transformation of input process on the basis of complex analytical wavelet, relative band of amplitude spectrum of which matches relative band of spectral density of detected signal power. Device comprises analog-digital converter (ADC) 1, recirculator 2, the first calculator of fast Fourier transform (FFT) 3, complex multipliers 4.1 - 4.M, scaling devices 5.1 - 5.M, device of complex conjugation 6, device of negative frequencies nulling 7, the second calculator FFT 8, permanent memory (PM) 9, calculators of reverse FFT 10.1 - 10.M, calculator of module square 11, averaging device 12, threshold device 13, control device 14.
 Method for protection of water barriers / 2364883
Invention is related to hydroacoustics and may be used for protection of objects from the barrier side in water medium. According to method, signal is generated from hydroacoustic antenna arranged in the form of piezoelectric cable sections, ends of which are connected to radio frequency cable with the help of matching devices fed from common source, signal voltage is picked up from loading resistor and is sent through separating capacitor to inlet of alarm signal generator, object parametres are identified by results of analysis of spectral and time variation of signal.
 Method and system of determining trajectory of supersonic projectile / 2358275
Present invention can be used for determining the trajectory of a supersonic projectile. At least the initial part of signals is measured, containing information only on impact wave, using five or more acoustic sensors, spread out in space such that they form an antenna. From this measured initial part of signals, the difference in arrival time for a pair of sensors is determined. A genetic algorithm is applied to the initial chromosome, which contains initial estimated parameters of the projectile trajectory. For a given number of generations, projection errors are calculated for solutions, obtained from chromosomes from the genetic algorithm. The ratio of solution with the least values of projection errors to the ambiguous solution is calculated, and if this ratio is greater than a given value, the solution with the least value of calculated projection error is chosen as the correct trajectory of the projectile.
 Method to receive information on sound-producing objects in sea / 2353946
Noise signals are received in horizontal and vertical plane, frequency-time processing is carried out in every spatial channel of observation, output voltages of formed space channels are squared and summed in all frequency samples, then averaged in time, signals are centered and normalized to noise, signal energy and information parameters are accompanied, route detection is carried out by comparison of generalised weight of signal local maximums with threshold of signal detection, which corresponds to threshold ratio of signal-noise. Method is based on the fact that in every cycle of viewing noise signals are received, primarily processed, squared, secondarily processed and route-detected in at least another two frequency ranges and additionally, at least, for two angles of observation in vertical plane, creating new expanded set of space channels.
 Method of navigational support of autonomous underwater robot controlled from control ship / 2344435
Determined is the starting point for autonomous underwater robots (AUR), taken for the beginning coordinates. Control ship in moved in accordance with the movement of the AUR. Onboard of the AUR the coordinates are determined, which are then controlled by the base hydro-acoustic beacon, on which is additionally added a transmitter of navigational signals which emits navigational signals. Navigational signals are received onboard the AUR, processed and combined with the information signal. Evaluation of the AUR coordinates are obtained by the data of the hydro-acoustic navigation system (HANS), which is made complex, and a deliberate evaluation is made of the coordinates AUR. This data is transmitted with AUR by the hydro-acoustic channel, the base hydro-acoustic beacon is set, then transmitted through a cable link to onboard the control ship and is reflected in real time.
 Method of sea noisy objects detection / 2339050
Method includes as follows. Horizontal and vertical orientation characteristic static fan receives noise signals in combination with frequency-time processing within each spatial observation channel, quadrating, time averaging, alignment and signal normalising to interference, observation of current view cycle for received normalised signals and detection decision-making comparing to limit value of signal-interference relation. Thus within each view cycle for each frequency sample the adaptive spatial observation channels are formed, at least by three adjacent spatial channels in horizontal or vertical plane.
 Underwater video-arm / 2332328
Invention concerns television systems for underwater inspection. The arm contains underwater research equipment with photographic and video equipment mounted thereon, connected to picture monitor on control panel and supplied with electrically driven lifting gear. The arm is provided with flat arrow-shaped steel wing front-located with three vertical stabilisers serving as construction supporting foot. The wing is cable-towed through lifting gear by water vehicle. Transmitter of surveying echosounder is placed with direction response pattern on the bottom side vertically coaxial with the receiver of satellite grid station. Emitting sector contains control unit, electric motor case with headed screw and two bars fixing provisional weight attached to wing. Two guides between bars are furnished with sealed boxes and underwater lamps provided on both sides. View areas of photographic and video equipment established in sealed boxes are mutually crossed within surveyed surface. The whole view area of photographic and video equipment is overlapped with illumination sectors and two acoustic signal transmitters detecting wing plane position relative to surveyed surface. Real-time control, management and data transfer is performed through multicore cable connecting control unit, picture monitor and operator's stand.
 Method for determination of sound source bearing / 2323449
The basic wind parameters in the ground surface layer of the atmosphere and the air temperature in this layer are measured, the parameters, standard characteristics of the directivity of the sound detector line groups are computed, the sound detectors are disposed in a definite manner so as to receive the acoustic signals, which then are transformed to electric signals, processed in a special manner, the maximum amplitudes of voltages of these signals at outputs 1 and 2 of the signal processing channels are automatically measured, the difference of the maximum voltage amplitude at output 1 of the signal processing channels and the maximum voltage amplitude at output 2 of the signal processing channels is calculated, the sum of these amplitudes, relation of this difference to their sum are calculated, and the bearing of the sound source is automatically determined.
Method for determination of sound source bearing / 2323449
The basic wind parameters in the ground surface layer of the atmosphere and the air temperature in this layer are measured, the parameters, standard characteristics of the directivity of the sound detector line groups are computed, the sound detectors are disposed in a definite manner so as to receive the acoustic signals, which then are transformed to electric signals, processed in a special manner, the maximum amplitudes of voltages of these signals at outputs 1 and 2 of the signal processing channels are automatically measured, the difference of the maximum voltage amplitude at output 1 of the signal processing channels and the maximum voltage amplitude at output 2 of the signal processing channels is calculated, the sum of these amplitudes, relation of this difference to their sum are calculated, and the bearing of the sound source is automatically determined.
 Navigation system, electronic-mechanical chart and autopilot / 2313105
The navigation system uses transmitting radio stations in angles of an equilateral triangle and an electronic-mechanical chart, in which three axles with threaded rods (rotating on these axles) are located under a glass plate with a chart in locations of the radio stations. These rods are coupled in the axis of the location marker on the chart, and two rods are rotated by electric motors from the device for comparison of the differences of the arrival of radio signal pulses from the radio stations and of the difference of propagation of pulses through the rods of acoustic signals. The electronic-mechanical chart is supplemented by an autopilot consisting of a target fix marker with equal-length links with lightly braked ends attached to which are tubes inserted in one another and stretched by springs through which the acoustic signal is propagated in the changed-length line. These tubes are coupled on the location marker on the electronic-mechanical chart, and the device for comparison of the acoustic length of the lightly braked tubes produces a signal for drive of the actuators at a difference of the tube acoustic lengths.
 Adaptive seismic correlation object direction finder / 2248015
Direction finder can be used for taking azimuth relatively guarded objects at guarded areas, calculating number of objects in group target and classifying found objects. Direction finder has two seismic receivers, two processing channels with delay lines and correlators, maximal signal selector, correlator, testing module, commutator and calculator. To realize the direction finding function the method of passive diversity detection and ranging is used. The main information criterion for finding direction to object has to be the function of mutual signals correlation in two signal processing channels. Value of azimuth is judged from value of signal delay. Change in value of signal delay is equivalent to controlling directional diagram of seismic active aerial which allows classifying detected objects separately. Test influence is used for adaptation of speed of propagation of seismic wave which changes under influence of meteorological conditions. Current value of speed of propagation of seismic wave is judged from time of delay of test influence signal coming to second seismic receiver. Tuning of lines of delay is conducted correspondingly to those changes.
 Method of classification of noisy objects / 2262121
The method includes reception of the signal of noise radiation of the noisy object by the first receiving antenna and spectral analysis of the received signal of noise radiation of the noisy object, reception of the signal of noise radiation is also performed by the second receiving antenna, separated is the reciprocal spectrum of the signals of noise radiation received by the first and second receiving antennas, measured is the value of the carrier frequency of the autocorrelation function, and the decision on the class of the noisy object is taken at comparison of the measured carrier frequency of the autocorrelation function with threshold frequencies, each being determined as an average frequency of the initial noise radiation band of each standard object of a definite class.
 Method for detecting underwater objects and device for realization of said method / 2271551
Method includes determining, in the moment of temporary position of expanding spatial angles wave front, tracking belonging to acoustic beam (bearings) for each reflective element, positioned in wave packet of reflected signal (in space between frontal and back fronts of signal pulse, and limited body angle of direction characteristic of receiving antenna. Spatial receipt on basis of spatial-phase and spatial-correlative processing of reflected signal provides for detecting difference between spatial positions of reflecting objects within received signal wave front, which provides more information for object detection and, due to that, principally distinguishes the method from commonplace amplitude-temporal signals processing technology.
 Method for determining distance to sound source / 2276383
In the method, receipt of acoustic signals is performed by two linear groups of sound receivers. In first and second processing channels, electric signals are processed at frequency f, received by first and second linear groups of sound receivers, and in channel of frequency f1 - signals with frequency f1, received by first one of linear groups of sound receivers. Bearing to sound source is determined with utilization of relation of voltage amplitudes at outputs of first and second processing channels. Amplitude of signal voltage at output of first processing channel is connected, with supposition, that sound source is positioned on working axis of normalized characteristic of direction of first one of linear groups of sound receivers. Amplitude of sound pressure at input of first one of linear groups of sound receivers at frequency f is formed by dividing calculated value on proportionality coefficient, determined experimentally at frequency f. Level of sound pressure is calculated at input of first one of linear groups of sound receivers. Analogical calculations are performed for signal at frequency f1. Type of substrate surface is determined, and decrease of sound pressure level, caused by influence from obstructions, meteorological and atmospheric factors. Distance and topographic coordinates are calculated with consideration of influence of aforementioned factors.
Method for determining distance to sound source / 2276383
In the method, receipt of acoustic signals is performed by two linear groups of sound receivers. In first and second processing channels, electric signals are processed at frequency f, received by first and second linear groups of sound receivers, and in channel of frequency f1 - signals with frequency f1, received by first one of linear groups of sound receivers. Bearing to sound source is determined with utilization of relation of voltage amplitudes at outputs of first and second processing channels. Amplitude of signal voltage at output of first processing channel is connected, with supposition, that sound source is positioned on working axis of normalized characteristic of direction of first one of linear groups of sound receivers. Amplitude of sound pressure at input of first one of linear groups of sound receivers at frequency f is formed by dividing calculated value on proportionality coefficient, determined experimentally at frequency f. Level of sound pressure is calculated at input of first one of linear groups of sound receivers. Analogical calculations are performed for signal at frequency f1. Type of substrate surface is determined, and decrease of sound pressure level, caused by influence from obstructions, meteorological and atmospheric factors. Distance and topographic coordinates are calculated with consideration of influence of aforementioned factors.
 Device for determining direction towards a source of sound / 2276795
In device for determining direction to a source of sound, consisting of two photo-electric shadow devices and information processing systems, laser beams are directed at an angle of 90° to each other. In each photo-electric shadow device after focusing objective laser beam is split onto two laser beams, and these two laser beams go to two knives with mutually perpendicular edges. Edge of one of aforementioned knives in each photo-electric shadow device is parallel to plane, parallel to laser beams. Information, received from two photo-receivers, standing behind these knives, is utilized for maintaining similar sensitivity of both photo-electric shadow devices. Output signals from one of these photo-receivers and two other photo-receivers of photo-electric shadow devices are squared, amplified and added. Signal at output of adder is maintained constant due to loop of negative check connection from output of adder to inputs of amplifiers. On basis of signals at outputs of amplifiers with consideration of mutual phases of signal at outputs of photo-detectors by means of phase detectors and electronic computing machine, direction towards sound source is determined.
 Noise direction finder / 2284543
Noise direction finder comprises three vector receivers whose directional characteristics are oriented along the Cartesian co-ordinate system, amplifiers, band filters, three-channel unit for processing information, and computer.
 Method for determining position of a rifleman in an area / 2285272
In accordance to method, recording of sound signals is enabled in case of registration of impact waves from by-flying ultrasound bullet and barrel wave from expanding gases from barrel edge by sensitive elements, processing of these signals by means of processor, on basis of results of which position of sound source is determined. Method contains following innovations: sensitive elements are preliminarily fastened immovably relatively to optical axis of video recording device, synchronously with recording of sound signal by not less than 3 sensitive elements, recording of video image of possible position of sound source is performed by means of at least one video recording device, mounted with possible change of filming direction and position in space, during following processing of signals moment of arrival of barrel wave and frame from recorded video row, closest to aforementioned moment, are combined, and mark of rifleman position is placed on that frame. Recording of video image is performed in optical or infrasound or other range.
 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
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.
 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.
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FIELD: physics. SUBSTANCE: method involves generation and emission from a source of a harmonic signal with frequency ω, reception of an acoustic signal using a set of N≥8 hydrophones which form a circular measuring base directed into the horizontal plane, picking up quadrature components of the complex envelope of received acoustic signals, measurement of the phase of acoustic signals, preliminary phasing of the measuring base into N directions passing through the centre of the measuring base and each of the N hydrophones, determination of the direction which corresponds to the maximum of the signal and a hydrophone lying in that direction, calculation of the heading angle to the source in a local coordinate system associated with the measuring base using corresponding formulas. The hydrophone lying in the direction of the signal maximum is taken as the first hydrophone. The mobile subsurface object is also fitted with a pair of hydrophones spaced out in a diametrical plane along the mobile subsurface object at a distance of 1≤λ/4σθ. After calculating the bearing, the heading angle β0 to the source is calculated using formula β0=β1±θ0, σβ0=σβ, where β1 is the heading angle of the first hydrophone of the circular measuring base, the sign (+) is taken for the heading angle of the starboard side, the sign (-) is taken for the heading angle of the port side, σβ0 is the error in determining the heading angle, σθ is the bearing measurement error. The mobile subsurface object then synthesises a beam path on which the condition β0=180°+σθ is satisified, and a traversing path on which the condition β0=±90°+σθ is satisfied. Further, phase difference of acoustic signals Fm received using an extra pair of hydrophones is measured on the traversing path at time moments tm, m=1-M. The values of phase difference of acoustic signals Fm(tm) measured on the acoustic path are approximated with a linear function F=a(t-t0). Parametres a are determined through a least-squares method using corresponding formulas, and the true heading angle to the source at point t=t0 is determined using formula EFFECT: reduced error in measuring heading angle at low frequencies without increase in overall dimensions of the direction finder. 2 cl, 3 dwg
The invention relates to the field of hydro-acoustics and can be used to determine the location of underwater objects using acoustic waves. There is a method of determining the direction toward the source of radiation and a device for its implementation [1]. The method consists in the formation of directional reception using the device in the form of a multi-element antenna aperture which is sufficiently large compared with the wavelength. A common disadvantage of such a method and such a device is relatively large error finding. There is also known a method of determining the direction toward the radiation source, in order to reduce the error of finding uses phase information [2]. There is a method of determining the direction toward the radiation source includes the generation and emission of the source of the harmonic signal with frequency ω, the reception of the acoustic signal by a set of N≥8 hydrophones forming oriented in the horizontal plane of the circular measurement base the selection of the quadrature components of the complex envelope of the received acoustic signals, the measurement phase of the acoustic signals, the preliminary phase of the measuring base on the N directions, passing through its center and each of N hydrophones, the determination of the direction corresponding to the maximum signal is, and hydrophone lying in this direction, calculating a bearing to the source in the local coordinate system associated with the measuring base, according to the formula:
where:
At a known bearing on the radiation source is calculated and heading angle to the radiation source according to the formula: β0=β1±θ0where β1- heading angle of the first hydrophone circular measurement base the sign (+) is taken for course angle starboard, and the sign (-) is taken for course angle of the left side, if the direction finder is located on the movable object (ship or submersible). Know the fair way to determine the true bearing to the source of radiation is carried out through a known device [2], containing oriented in the horizontal plane of the circular base of N≥8 receiving hydrophones, N-channel receiver, the inputs of which are connected to the outputs of N hydrophones base, the N-channel block selection quadrature components of the complex envelope of the received signals, the N inputs of which are connected to the outputs of the N-channel receiver, generator reference signal frequency ω, the output of which is connected with the second N-inputs unit selection quadrature components of the complex envelope of the received signals, the N-channel measuring the phase of received signals, 2N inputs of which are connected to 2N outputs block selection quadrature components of the complex envelope of the received signals, the block phasing the received signal at the N-directions passing through the center of the base and each of N hydrophones, 2N inputs of which are connected to 2N outputs block selection quadrature components of the complex envelope of the received signals, the block selecting maximum values, the input of which is connected to N outputs of the block phasing of the signals received and the transmitter bearing, the first N inputs of which are connected to N outputs of measuring the phase of received signals, and the second input - output section for selecting the maximum value. There is a method of determining the direction toward the radiation source and the known device for determining the bearing to the source and the radiation according to its functional purpose, in its technical essence and the achieved technical result is the closest to the claimed method and device for its implementation. A disadvantage of the known method for determining the direction toward the radiation source and the device, it implements is quite a large error finding at large distances from the radiation source, and therefore, at a low operating frequency, when the direction finder is on the underwater medium, small size, such as Autonomous underwater apparatus. The reason is that with the decrease of the operating frequency increases, the accuracy of direction finding, since the size of the measuring base direction finder remains limited on the media, small size, and its wave size decreases. Error finding impacts the calculation of the magnitude and course angle. The basis of the invention tasked to develop a way to determine bearing and course angle to the radiation source with the rolling of the underwater object and device for its implementation, which will reduce the accuracy of direction finding at low frequencies without increasing the overall dimensions of the radio signal, but at the expense of synthesizing the measuring base movable carrier of the radio signal. The problem is solved in that in the method of determining the course angle on the radiation source is movable underwater object, consisting in the generation and radiation of the source of the harmonic signal with frequency ω, the reception of the acoustic signal by a set of N≥8 hydrophones forming oriented in the horizontal plane of the circular measuring base, the allocation of the quadrature components of the complex envelope of the received acoustic signals, measuring the phase of the acoustic signals, the preliminary phase of the measuring base on the N directions, passing through its center and each of N hydrophones, the direction corresponding to the maximum signal and the hydrophone, lying in this direction, calculating a bearing to the source in the local coordinate system associated with the measuring base, according to the formula:
where:
β0=β1±θ0, σβ0=σθwhere β1- heading angle of the first hydrophone circular measurement base the sign (+) is taken for course angle starboard sign (-) is taken for course angle left side, and σβ0- the error in determining the course angle, and then synthesize a moving underwater object beam trajectory on which the condition β0=180°+σθthen synthesize uniform rectilinear motion rolling underwater object Traverso trajectory on which the condition β0=±90°+σθmeasure on traverses trajectory at time tmm=1÷M, the phase difference between acoustic signals Fmtaken an extra pair of hydrophones approximate the measured values of the phase difference between acoustic signals Fm(tm) traverses trajectory linear dependence F=a(t-t0), determined by the method of least squares the parameters a, t0by the formulas:
and determine the true heading angle at the source at the point t=t0by the formula
The task is solved in that the device for determining the course angle to the radiation source with rolling underwater object containing oriented in the horizontal plane of the circular base of N≥8 receiving hydrophones, N-channel receiver, the inputs of which are connected to the outputs of N hydrophones base, the N-channel block selection quadrature components of the complex envelope of the received signals, the N inputs of which are connected to the outputs of the N-channel receiver, generator reference signal frequency ω, the output of which is connected with the second N inputs unit selection quadrature components of the complex envelope of the received signals, the N-channel measuring the phase of the received signals, 2N inputs of which are connected to 2N outputs block selection quadrature components of the complex envelope of the received signals, the block phasing of the signals received on the N directions passing through the center of the base and each of N hydrophones, 2N inputs of which are connected to 2N outputs block selection quadrature components of the complex envelope of the received signals, the block selecting maximum values, the input of which is connected to N outputs of the block phasing of the signals received and the transmitter bearing, the first N the moves which is connected to the N outputs of measuring the phase of received signals, and the second input - output section for selecting the maximum value, and the distance between the hydrophones circular measuring base more than half of the wavelength and smaller than the wavelength of the acoustic radiation at the operating frequency ω, we have introduced the unit synthesizing beam path, an input connected to Pervin output transmitter bearing block synthesizing traverses trajectory, the first input connected to the second output of the transmitter bearing, and a second input coupled to the output unit synthesizing beam trajectory, two additional hydrophone that was posted in the median plane along the rolling underwater object at a distance of 1≤λ/4σθ, (λ is the wavelength of the acoustic radiation at the operating frequency ω), 2-channel receiver, the inputs of which are connected to the outputs of two additional hydrophones, dual block allocation quadrature components of the complex envelope of the received signals, the inputs of which are connected to the outputs 2-channel receiver, the second measuring phase, the first input connected to the output channel block selection quadrature components of the complex envelope of the received signals, a timer, an input connected to the output of the block synthesizing traverses trajectory, and the first output is connected to the second input of the phase meter, the transmitter ku is spot angle, first input connected to the output of the second measuring phase, and the second input is connected with the second output of the timer. The use of synthesized traverses trajectory, which is the measurement of the phase difference of the signals received an extra pair of hydrophones, and calculates the bearing and heading angle to the radiation source with the rolling of the underwater object, and whose length is substantially greater than the wavelength, can reduce the accuracy of direction finding at large distances from the source and at low frequencies without increasing the overall dimensions of the direction finder, placed on a moving underwater object of small dimensions. Therefore, the method of determining the course angle to the radiation source with the rolling of the underwater object and device for its implementation of the United inventive concept for the solution of which they are directed, because only through all the essential features of the claimed method and device for its implementation is achieved by a single technical result - the reduction of measurement error and course angle at large distances from the source, i.e. at low frequencies. The set of essential features of the claimed method for determining the course angle to the radiation source with the rolling of the underwater object and device for its implementation is tvline have a causal relationship with the achieved technical result because the essential features of the method and the device has become possible to solve the technical problem. Based on the above it can be concluded that the claimed method of determining the course angle to the radiation source with the rolling of the underwater object and device for its implementation are new, inventive, i.e. they are not explicitly follow from the prior art and suitable for industrial applications. The essence of the claimed method for determining the course angle to the radiation source with the rolling of the underwater object and device for its implementation is illustrated by drawings, where figure 1 shows (a) diagram of the formation of radiation and traverses trajectories moving underwater object, and b) linear approximation of the array measurement data (Fm, tm); figure 2 shows the block diagram of the device for measuring and course angle to the radiation source; figure 3 shows the definition of the course angle β0the radiation source at bearing θ0in the local coordinate system associated with a circular measuring base, and azimuth β1at first hydrophone circular measurement bases: a) the left side βLB=β1-θ0b) starboard βUB=β1+θ0. For implementing the inventive method determined the program and course angle generate and emit the source of the harmonic signal with frequency ω acoustic signal, which take N hydrophones measuring base, oriented in the horizontal plane. The signals received by the hydrophones base, pre-phase to N directions passing through the center of the base and each of the hydrophones. Then allocate the quadrature components of the complex envelope of the received acoustic signals to measure the phase of the received acoustic signals to determine the direction corresponding to the maximum signal and the hydrophone, lying in this direction. The bearing to the source in the local coordinate system associated with a circular measuring base is determined by the formula (1). To Refine bearing, measured with an error of σθand his conversion in heading angle moving underwater object signal, synthesizes the radial trajectory and moves along the beam, on which the heading angle of the source is equal to 180°, and the radiation source is from the aft corners, as shown in figure 1. For the implementation of such trajectories on Board rolling underwater object is a standard unit of traffic control that contains the meter and course angle, unit and course angle, which is a parameter of the synthesized trajectory, the comparator generating the error signal, and a control device that supplies a control signal to the motors. After ka is the error signal is less than some cutoff value, the signal control unit synthesizing traverses trajectory on which the heading angle of the source is 90°+σθas shown in figure 1(a). When the rolling movement of the underwater object uniformly and rectilinearly along traverses trajectory measured phase difference of the acoustic signals received an extra pair of hydrophones placed on a movable carrier in the median plane along its length at a distance of 1≤λ/4σθthat can be much bigger than the wavelength of the acoustic radiation, but is limited in a real situation, the size of the object. The array of measured values of the phase difference (Fm, tmthroughout synthesized traverses trajectory easily approximated by a linear dependence, as shown in figure 1 (b), and zero phase difference corresponds to the true azimuth to the source, the measurement error which is reduced to Device for determining the course angle to the radiation source with rolling underwater object contains a circular measuring base 1, an N-channel receiver 2, unit 3 selection quadrature components of the complex envelope of the signal reference generator 4, block 5 phasing into N areas, block 6 select the maximum value, block 7, phase measurement, vychisliteljnogo 8, the block forming beam path 9, the shaping unit traverses trajectory 10. In addition, the structure of the device to determine the course angle introduced two additional hydrophone G1, G2, 2-channel receiver 11, block 12 allocation quadrature components of the complex envelope of the signal, the phase meter 13, a timer 14 and the transmitter and course angle 15. Additional hydrophones placed on a moving underwater object in the median plane along its length at a distance of 1≤λ/4σθ. Device for determining the course angle to the radiation source with the rolling of the underwater object works as follows. Acoustic signal passed N hydrophones circular measuring base 1, oriented in the horizontal plane, increasing N-channel receiver 2 and is supplied to the first N inputs of unit 3 selection quadrature components of the complex envelope of the received signals to the second input of which receives the frequency signal from the reference oscillator 4. Then the output signal of the unit 3 selection quadrature components arrive at the 2N inputs of block 5 phasing into N areas and block 7 of the phase measurement. From the output of the unit 5 signals in a block of 6 selecting the maximum value. The measured N values of the cumulative phase from the output of the block 7 and roughly defined in the block 6 is a bearing received in cyclical bearing 8, which handles all of the measurement information according to the algorithm (1) with an error of σθ. To further reduce errors in the determination of the bearing and course angle to the radiation source, the outputs of the transmitter 8 of the bearing is fed to the inputs of blocks 9 and 10 of synthesizing radiation and traverses trajectories and moving underwater object executes this movement. When driving on traverses trajectory of the acoustic signals received an extra pair of hydrophones G1, G2, enhanced dual-channel receiver 11, is received in block 12 allocation quadrature components of the complex signal envelope and then in the probe phase 13. A complete set of measurement data, including the measured phase difference Fmand the corresponding time reference tmwhich number is determined by the timer 14, enters the evaluator course angle 15. Sources 1. Asconfidence, "Hydroacoustic station, L., Shipbuilding, 1982, p.42-49. 2. RF patent №2158430, "method for determining the direction toward the radiation source and the device for its implementation", IPC 7 G01S 3/80, 1998 prototype. 1. The method of determining the course angle to the radiation source with the rolling of the underwater object, which consists in the generation and radiation of the source of the harmonic signal with frequency ω, the reception of the acoustic signal is a PR of N≥8 hydrophones, forming oriented in the horizontal plane of the circular measuring base, the allocation of the quadrature components of the complex envelope of the received acoustic signals, measuring the phase of the acoustic signals, the preliminary phase of the measuring base on the N directions, passing through its center and each of N hydrophones, the direction corresponding to the maximum signal and the hydrophone, lying in this direction, calculating a bearing to the source in the local coordinate system associated with the measuring base, according to the formula: 2. Device for determining the course angle to the radiation source with rolling Obvodnogo object, containing oriented in the horizontal plane of the circular base of N≥8 receiving hydrophones, N-channel receiver, the inputs of which are connected to the outputs of N hydrophones base, the N-channel block selection quadrature components of the complex envelope of the received signals, the N inputs of which are connected to the outputs of the N-channel receiver, generator reference signal frequency ω, the output of which is connected with the second N-inputs unit selection quadrature components of the complex envelope of the received signals, the N-channel measuring the phase of received signals, 2N inputs of which are connected to 2N outputs block selection quadrature components of the complex envelope of the received signals, the block phasing the received signal at the N-directions passing through the center of the base and each of N hydrophones, 2N inputs of which are connected to 2N outputs block selection quadrature components of the complex envelope of the received signals, the block selecting maximum values, the input of which is connected to N outputs of the block phasing of the signals received and the transmitter bearing, the first N inputs of which are connected to N outputs of measuring the phase of received signals, and the second input - output section for selecting the maximum value, and the distance between the hydrophones circular measuring base more than half of the wavelength and smaller than the wavelength of offering the th radiation at the operating frequency ω, characterized in that it introduced the block synthesizing beam path, an input connected to the first output of the transmitter bearing block synthesizing traverses trajectory, the first input connected to the second output of the transmitter bearing, and a second input coupled to the output unit synthesizing beam trajectory, two additional hydrophone that was posted in the median plane along the rolling underwater object at a distance of 1≤λ/4σθ(λ is the wavelength of the acoustic radiation at the operating frequency ω), 2-channel receiver, the inputs of which are connected to the outputs of two additional hydrophones, dual block allocation quadrature components of the complex envelope of the received signals, the inputs of which are connected to the outputs 2-channel receiver, the second measuring phase, the first input connected to the output channel block selection quadrature components of the complex envelope of the received signals, a timer, an input connected to the output of the block synthesizing traverses trajectory, and the first output is connected to the second input of the phase meter, the transmitter and course angle, the first input connected to the output of the second measuring phase, and the second input is connected with the second output of the timer.
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