System for determining coordinates of underwater objects

IPC classes for russian patent System for determining coordinates of underwater objects (RU 2437114):

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

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Method for determining distance to sound source / 2276383

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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

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.

FIELD: physics.

SUBSTANCE: coordinate system is created from GIB buoys with base length of 1-3 km, which receives ping signals of underwater objects, synchronised with GPS clocks and time-spaced. Through correlation reception, the GIB buoys determine lag time from each object and relay these data to a control station. Based on the lag time and data on hydrostatic pressure on the underwater object, the control station calculates coordinates and displays the position of each object.

EFFECT: high accuracy and reliability of determining coordinates of an underwater object, increase in number of controlled objects.

3 cl, 2 dwg

The invention relates to the field of underwater navigation and can be applied in the determination of geographical coordinates of a group of Autonomous underwater mobile objects or remotely managed objects underwater swimmers, underwater managed devices, robots, marine animals, etc. in the process.

For example, the invention relates to the field of sonar navigation systems, which allows to determine the spatial geographical coordinates of a moving object as it moves under the surface of the water. The proposed invention allows more accurate and more reliable to define the navigation settings of each moving object from the group. The proposed navigation system includes a measuring device that uses measurement methods in the base and geographic coordinate systems of the object. As the base coordinate system is chosen remote measuring base as the geographic coordinate system is a global satellite positioning system (Global Positioning System, GPS).

There are three types of systems determine the coordinates of underwater objects using hydro-acoustics, differing sizes measuring bases (base lines), which represent the distance between hydroacoustic antennas forming the measuring lattice [1, p.23]. It is a system with ultrashort base (Ultra Short Baseline, USBL)systems with short base (Short Baseline, SBL), systems with a long base (Long Baseline, LBL).

USBL systems belong to the goniometric systems in which the direction of an object is determined by measuring the phase difference between antenna elements formed by at least two acoustic transducers mounted at a distance from each other less than 10 see, However, such systems have limited accuracy and low immunity.

SBL systems relate to differential-ranging systems in which the coordinates of the underwater object is calculated from the difference in arrival times (Time of Arrival, TOA) of the front edges of the pulses emitted by the sonar transmitter with an underwater object in three hydroacoustic receiver located under water and forming two intersecting base. The positional accuracy depends on the length of the base, which for systems with short base is about 20 meters, These systems are also susceptible to noise, and, in addition, the equipment of the ship tripping devices with hydroacoustic antennas for the formation of the short base requires a large amount of expensive when setting the ship into the dock. This baseline must be accurately aligned with respect to the median plane of the ship. The accuracy of determining the coordinates of SN is low also due to inaccuracies in the orientation of the baselines and also because of the necessity of including pitch and roll of the vessel.

Closest to the claimed technical solution is LBL system. They relate to distance measuring systems in which the location of the underwater object is calculated from the measurement results of the distance between the underwater object and at least three beacons-defendants established at various points on the seabed a few kilometers from each other.

Known invention "Method and device for monitoring and remote control of unmanned mobile underwater devices", US patent No. 5579285, IPC G01S 5/00, G01S 5/14, G01S 11/14, publ. 21.08.1995, in accordance with which at various points on the surface of the sea are drifting buoys, forming a long base. Each buoy has a navigation receiver for the global positioning system (GPS)clock synchronized with the clock of the GPS, sonar receiving system with inverter, buried under the surface of the sea, and radio. These buoys was named GIB-buoys (GIB - Global Intelligent Buoy). Each buoy measures its own coordinates and the time lag TOA, and at predefined points in time transmits the data over the air via radio modem to the vessel support or ground control station. Sonar transmitter underwater object (Pinger adjustably) peri is legally emits a signal at predefined points in time. According to the received TOA speed of sound in water is calculated distances from the underwater object to each of the buoys, and by the well-known algorithm calculates and displays the coordinates of the underwater object and the coordinates of all buoys.

The advantage of this method is the following:

1) does not require precise alignment reference lines, because the coordinates of the buoys is known at any point in time, respectively, decreases the accuracy positioning is due to improper installation of the buoys;

2) because it emits only Pinger adjustably underwater object, significantly reduces the amount of transferred water data, which significantly increases the service life of the battery beacon (beacon-defendant).

The disadvantage of this method is the following:

1) drifting buoys can be removed from the area control at distances greater than the range of the sonar system and radio modems;

2) since TOA is determined only on the leading edge coming from the Pinger adjustably signal, the low signal-to-noise ratio (at considerable remove from Pinger adjustably buoy, a significant interference in the coastal zone) there is ambiguity in determining the time lag due to the hiding of the useful signal noise [1, p.19].

Closest to the proposed invention is the invention of "System definition of coordination is underwater objects", patent RU 2303275, IPC G01S 3/80, publ. 20.07.2007.

In this invention may be errors in the determination of the coordinates of the underwater object, resulting from noise escort ships, by performing the measurement base in the form of a system of buoys, towed away from the ship. Cable binding buoys allows them to always be in sight of the escort ships and quickly transfer data. Controlled underwater object is also fulfilled towed and is always within the measuring base that allows you to do three buoys regardless of the length of the tow. Frequent, at least once in a few seconds, the coordinates of the buoys eliminates errors due to drift buoys.

The disadvantages of this invention are:

1) performance measurement database in the form of a towed system, the geometry of which is formed due to the constant movement (tow), does not allow determination of coordinates of underwater objects in an arbitrary place in a static position;

2) measurement error range from the underwater object to the buoy, caused, as was discussed earlier, the definition of time-delay edge signal Pinger adjustably;

3) the impossibility of determining the coordinates of several underwater objects due to the equivalence of their signals;

4) measurement error range from the underwater volume of the TA to the buoy, due to the fact that in the measurement range does not take into account the dependence of the propagation velocity of sound in water from the aquatic environment parameters.

The technical objective of the proposed invention is the provision of accurate geographical coordinates group of underwater objects by using the correlation method of reception Pinger adjustably given species and account for the dependence of the propagation velocity of sound in water from the aquatic environment parameters.

Propagation of acoustic signal in the water, especially in shallow water, is characterized by multiple reflections of the signal from the water surface, bottom and other underwater objects. This leads to multipath signal propagation in the aquatic environment and the significant weakening of the signal at the receiver input due to the summation of the direct signal and the reflected signals coming from different phases, i.e. the deterioration of the ratio signal/noise [1, p.16]. In the useful direct signal may randomly be masked by noise, and there is ambiguity in determining the TOA for the detection of the leading edge of the signal Pinger adjustably. Using the proposed correlation method of receiving a preset signal Pinger adjustably with the calculation of the maximum of the correlation function can be defined TOA with a high degree of certainty. In the example, it is known that the length of synchrophasing 16 bits and the signal-to-noise ratio of 12 dB, the probability of correct reception of all 16 bits is not less than 99.9%.

Numerous formulas [1, p.55], reflecting the dependence of speed of sound in water from some parameters. From these parameters have most impact depth (hydrostatic pressure), salinity and water temperature. In the present invention these parameters are taken into account in the following ways:

- the depth or hydrostatic pressure is measured directly on the underwater object by any known method and is transmitted in digital form via GIB-buoy station control;

to compensate for the influence of water temperature and salinity measured actual speed of sound in water, by measuring the time of passage of the acoustic signal emitted from one buoy on command control station, to another buoy. Coordinates buoys, obtained using a GPS system, and time is transmitted to the control station, where the calculated actual speed of sound. This procedure can be performed once, at the beginning of the underwater work, or at any time on command control station (for example, changing weather conditions, near estuaries and so on).

To determine the coordinates of several underwater objects in the present invention each underwater lens is equipped with a high-stability clock, pre-synchronized by the clock of the GPS. Pinger adjustably certain underwater object emits a signal only in a preset time, depending on the numbers assigned to the object - the object i emits its signal at time i·t, the object i+1 at time (i+1)·t, etc. the Time t must be greater than the transmission time of a signal Pinger adjustably t_pat the time of signal propagation on the greatest length of the measuring base (between the most remote buoys) t_l:

t>t_p+t_l.

Signals pinhero n objects will be transferred over time

T=n·t.

For example, Pinger adjustably emits an information package of 10 bytes with a speed of 600 baud, and the distance between the most remote buoys is 1000 m transmission Time of the Pinger adjustably will be

t_p=10·8·(1/600)=of 0.133 c.

The propagation time of signals between the buoys at an average speed of sound in water of 1500 m/s will be

t_l=1000/1500=0,667 C.

Therefore, the time t must be at least

t=>of 0.133+0,667=0,8 C.

Taking into account the times of on/off sonar transmitter choose t=1 S. Speed signal of pinhero underwater objects with this transfer format will be 1 unit/second.

All buoys must for a time t to transmit data about the object and its coordinates by radio channel control station. Processing time data, calculations, CCW is dinat and display computer control station must also be less than the time t. When these conditions is the determination of the coordinates at a rate of 1 object per second (for example, updating a coordinate group of 10 mobile underwater objects completely determined for 10 s).

Thus, the technical result is to increase the accuracy and reliability of determination of the coordinates and the increase in the number of controlled underwater objects.

The claimed technical result is achieved through the system of coordinates of underwater objects. The problem is solved as follows. The positioning system of underwater objects containing an underwater object, buoys, located on the surface of the sea, and the control station, and the buoys are made as part of a system in an amount not less than three and equipped with radio navigation receiver, Global Positioning System, sonar receiving system emitting and receiving the signal from the Pinger adjustably radiating acoustic signal at predefined points in time and which are each equipped with an underwater object, the controller measuring time intervals and the radio modem according to the claimed technical solution is characterized by the fact that controlled the coordinates of a group of underwater objects, and an underwater object further comprises a high-stability clock, pre-synchronized by the clock Global Positioning System, the sensor Hydra is the static pressure, the microcontroller and the digital modulator signal, with the signal from the Pinger adjustably this is a digital parcel containing synchrophasing of a certain type and information about hydrostatic pressure, and buoys also include correlation receiver-demodulator, and one of the buoys further comprises a sonar transmitter.

As a form of digital modulation can be used energetically economical type quadrature phase-shift keying (for example, DQPSK, π/4 DQPSK and the like), which allows to increase the signal transmission speed in the water and, accordingly, the rate determining coordinates of each of the group of underwater objects.

In the modulator the digital signal may be additionally used frequency seal (for example, Orthogonal Frequency-Division Multiplexing, OFDM [2]), which allows to increase the range of the sonar system and, accordingly, increase the value of the measurement base, the accuracy of the coordinates and the area of motion control of underwater objects.

The essence of the invention shown in the drawings, illustrating the positioning system of underwater objects.

1 shows a General diagram of the system of coordinates in a perspective view.

Figure 2 shows a block diagram of nodes in the system coordinates.

The invention is illustrated in Fig, where 1 is an underwater object, 2 - GIB-buoys on the sea surface, 3 - station control, 4 - Pinger adjustably, R1, R2, R3 is the horizontal distance between the buoys on the sea surface, forming a measuring base hydroacoustic navigation system, L1, L2, L3 - sloping range from underwater object 1 to hydroacoustic transducer 5 of each of the GIB-buoys, L1*, L2*, L3* projection inclined ranges on the sea surface, And the projection point of the underwater object on the surface, 6 - satellite constellation GPS.

Hydroacoustic transducer - Pinger adjustably 4 on a submerged object 1 timestamp clocks synchronized with GPS clock buoys 2, preset for each object point in time emits a signal containing digital data, including synchrophasing of a certain type and data about hydraulic pressure on the object. The signal received by each sonar receiver 5 buoys 2, is delayed relative to the timestamp of the GPS clock buoys by an amount proportional to the inclined distance from the underwater object to each of the buoys. Measured by means of a correlation receiver time delay proportional inclined ranges, together with its own coordinates obtained by the GPS receiver, and data about pressure on a submerged object each buoy transmits to the control station 3 and the radio is. Onboard equipment station 3 receives data over the air and enters the information into the computer, where known algorithm calculates the coordinates of each of the underwater object and displayed as points on the map the sea and in the form of digital data.

The system structure is shown in Figure 2.

LBL system form underwater objects 1, three GIB-buoy 2, 7, 8, and the control station 3.

Each GIB-buoy contains a GPS receiver 9, sonar receiver 5, the correlation receiver-demodulator 10, the controller measuring time intervals 11 and unit 12. GIB-buoy 2 is equipped with an additional acoustic transmitter 13, intended to determine the actual speed of sound in water.

Each underwater object contains Pinger adjustably 4, high-stability clock 14, a pre-synchronized by the clock of the GPS, the pressure transducer 15, the microcontroller 16, a modulator digital signal 17.

The control station 3 contains unit 18 and the computer 19.

The system works as follows.

GIB-buoys 2, 7, 8 are mounted on the surface of the sea, forming the measuring base. Underwater objects 1 in the process of movement under water must be within the measurement database.

The system starts with procedures for determining the actual speed of sound in water. Command control station 3, is transmitted by the radio modem 18 to radiok the Nala on buoys 2 and 7, buoy 2 in the preset time, synchronized by the GPS receiver 9, using sonar transmitter 13 emits a signal consisting of synchrophasing of a certain type. Hydroacoustic receiver 5-buoy 7 receives this signal using a correlation receiver-demodulator 10 and controller-meter intervals 11 calculates the lag time. Next, the control station 3 receives over the air from all the buoys their coordinates, and from buoy 7 additionally, the time lag signal from the buoy 2-buoy 7, and on the basis of these data using the computer 19 to the well-known formula calculates the actual speed of sound in water.

The calculation of the coordinates is based on the longest measurement base (R1, R2, R3), using spatial principle on the basis of calculation of distances defined by hydroacoustic method by measuring the time lag hydroacoustic signal TOA correlation receiver-demodulator 10 buoys 2, 7, 8 relative to radiated by Pinger adjustably 4 underwater objects 1 synchrophasing of a certain type. While underwater objects 1 provide highly stable clock 14, a pre-synchronized by the clock GPS with GPS receivers 9 each buoy 2, 7, 8. The radiation from the Pinger adjustably produced in a preset time, synchronous with the clock 14 and is different for each underwater what about the object. The signal from a particular object is subject to correlation receiver-demodulator 10 buoys 2, 7, 8, where the controller is measuring time intervals 11 calculates the delay time to each buoy. Then each buoy using a wireless modem 12 transmits these times on the radio channel control station 3, where the computer calculates the coordinates of a particular object and displays them on the display.

Changing geographical coordinates buoys 2, 7, 8 under the influence of external factors does not lead to occurrence of errors of determination of the coordinates of underwater objects, because each buoy together with the time TOA underwater object transmits to the control station 3 coordinates, defined by the GPS receiver 9.

To increase the accuracy of determination of coordinates uses additional information about hydrostatic pressure on each object obtained by using the pressure transducer 15. This information is in the form of digital data from the Pinger adjustably 4 together with sidhropoulos and after receiving relayed buoy 2, 7, 8 on the control station 3, where it is used to correct the value of the speed of sound in water for each of the underwater object using a known formula.

In the reach of the claimed technical result.

The proposed solution provides increased accuracy and a reliable determination of coordinates of a group of mobile underwater objects, and a little while expanding and ready to work.

Sources of information

1. Milne PH Hydroacoustic positioning system. Translation from English. Accalia, Leningrad: Sudostroenie, 1989 - S.

2. Method and apparatus for carrying out high data rate and underwater voice communication. US Patent 6130859 Int. C1, H04B 11/00, Oct. 10, 2000.

1. The positioning system of underwater objects containing an underwater object, buoys, located on the surface of the sea, and the control station, and the buoys are made as part of a system in an amount not less than three and equipped with radio navigation receiver, Global Positioning System, sonar receiving system emitting and receiving the signal from the Pinger adjustably radiating acoustic signal at predefined points in time, and which are each equipped with an underwater object, the controller measuring time intervals and the radio modem, wherein the control coordinate group of underwater objects, and an underwater object further comprises a high-stability clock, pre-synchronized by the clock Global Positioning System, the hydrostatic pressure sensor, a microcontroller and a digital modulator signal, with the signal from the Pinger adjustably this is a digital parcel containing synchrophasing of a certain type and information about hydrostatic pressure, and buoys additionally contain correlation the first receiver demodulator, one of the buoys further comprises a sonar transmitter.

2. The system according to claim 1, characterized in that as a form of digital modulation used energy-saving type quadrature phase manipulation.

3. The system according to claim 2, characterized in that the modulator digital signal further use frequency seal.