RU2702700C1 - Method of positioning underwater objects - Google Patents

Abstract

FIELD: navigation; positioning.

SUBSTANCE: invention relates to methods of navigating underwater objects (submarines, inhabited and uninhabited submarines), specifically to methods of their positioning. Solved technical problem is improvement of UO positioning methods. Technical result is achieved by using UO itself, which periodically determines its coordinates by one of known methods (for example, by signals of satellite or radio navigation system) and uses this information to calculate current speeds of signal propagation between each hydroacoustic beacon and UO, in contrast to the prototype method for determining (specifying) the propagation speed of the hydroacoustic signal between hydroacoustic beacons and the UO, and in place of the radio-hydroacoustic buoy.

EFFECT: technical result is higher accuracy and reduced labor intensity of UO positioning.

1 cl, 2 dwg

Description

The invention relates to methods for navigating underwater objects (submarines, inhabited and uninhabited underwater vehicles), and specifically to methods for positioning them.

One of the main directions of positioning of underwater objects (ON) is the use of sonar beacons (GM). There are a number of known methods for positioning software using GM: the method of long base, short base, ultra-short base, the method of single-lane navigation, etc. [1-6]. The advantages of these methods are stealth and, as a rule, high accuracy of software positioning. Their disadvantages include a small radius of action (up to 10 km).

A known method for positioning software [7], selected as a prototype, including:

- installation in the marine environment outside the coastal zone at depths exceeding 5-10 times the wavelength of the emitted sonar signal, at least two stationary GM, periodically emitting sonar signals at a frequency below 10 kHz and synchronized by the system of the same time with each other and with the acoustic a receiver located on the software;

- setting at least one radio-acoustic buoy (RSL) in the software work area with a satellite navigation system receiver and hydrophone;

- Periodic determination of the RSL own coordinates based on the received hydroacoustic signals of the satellite navigation system;

- reception by the hydrophone of the RSL of hydroacoustic signals from all GMs and their broadcasting, as well as their own coordinates via radio channel to the control point;

- determination at the control point of the propagation times of the hydroacoustic signal between each GM and RSL and the distance between them and using them, calculation of the current velocity of propagation of the hydroacoustic signal between each GM and RSL;

- transfer from the command post to each GM the current propagation velocity of the hydroacoustic signal between it and the RSL;

- periodic emission by all GM of hydroacoustic signals containing encoded information about the conditional number of the GM that emitted the hydroacoustic signal, the time of radiation and the current propagation velocity of the hydroacoustic signal;

- reception and decoding of each emitted sonar signal with a sonar software receiver with measurement and storage of the moment of detection of the sonar signal;

- calculation of the current distance to each GM as a product of the propagation velocity of the hydroacoustic signal by the difference between the times of reception and emission of the hydroacoustic signal of each GM;

- determination of the current coordinates of the software using the calculated distances to each GM and stored in the memory of the calculator of the coordinates of each GM.

The prototype method is illustrated in figure 1.

The advantage of the described prototype method is the possibility of covert (without surfacing) positioning of all underwater objects located in an area of up to 100 thousand km ² , and not periodically, but almost continuously (with an interval of several minutes).

The disadvantages of the described prototype method are:

- limited accuracy in determining the coordinates of the software, due to the fact that the propagation velocity of hydroacoustic signals determined on the GM - RSL route can significantly differ from the propagation velocity of hydroacoustic signals on the GM - software path. Modeling carried out for an area of 100 thousand km ² located in the northwestern part of the Pacific Ocean showed that this difference, depending on the relative position of the GM and the software, can reach 1%, thus a 500 km error on the “GM - Software” route in determining the coordinates can be 5 km.

- the need to set up in the area with a ship or aircraft a special RSL to determine the propagation velocity of the hydroacoustic signal from each GM and its periodic replacement (due to the limited duration of the action). The consequence of this is the high complexity and cost of implementing the method.

Solved technical problem - improving methods of positioning software.

The technical result is to increase accuracy and reduce the complexity of positioning software.

The specified technical result is achieved by the fact that, in contrast to the prototype method, the software itself is used instead of the RSL to determine (clarify) the propagation speed of the hydroacoustic signal between the GM and the software, which periodically determines its coordinates using one of the known methods (for example, by signals from a satellite or radio navigation system ) and uses this information to calculate the current propagation velocity of the hydroacoustic signal between each GM and software.

An illustration of the proposed method is shown in FIG. 2.

The inventive method includes:

- installation in the marine environment outside the coastal zone at depths exceeding 5-10 times the wavelength of the emitted sonar signal, at least two stationary GM, periodically emitting sonar signals at a frequency below 10 kHz and synchronized by the system of the same time with each other and with the acoustic a receiver located on the software;

- periodic emission by all GMs of complex hydroacoustic signals containing encoded information about the conditional number of the GM that emitted the hydroacoustic signal and the time of radiation;

- reception and decoding of each emitted sonar signal by the sonar software receiver with fixing the time of detection of the sonar signal;

- using the times of emission and reception of GM hydroacoustic signals, the calculation in the on-board device of calculating the coordinates of the propagation time to the software of the hydroacoustic signal of each GM;

- periodically:

определение координат ПО с использованием сигналов спутниковой навигационной либо радионавигационной системы;

determination of software coordinates using signals from a satellite navigation or radio navigation system;

с использованием полученных координат ПО и известных координат ГМ вычисление текущих расстояний между каждым ГМ и ПО;

using the obtained coordinates of the software and known coordinates of the GM, the calculation of the current distances between each GM and software;

с использованием вычисленных текущих расстояний и времен распространения гидроакустического сигнала вычисление и запоминание текущей скорости распространения гидроакустического сигнала между каждым ГМ и ПО;

using the calculated current distances and propagation times of the hydroacoustic signal, calculating and storing the current propagation velocity of the hydroacoustic signal between each GM and software;

- calculating the current distance to each GM as the product of the propagation time to the software of the sonar signal of the GM and the coordinate velocity last stored in the on-board device for calculating coordinates, the speed of propagation of the sonar signal between the GM and the software;

- determination of the current coordinates of the software using the calculated distances to each GM and the coordinates of each GM stored in the memory of the on-board coordinate calculation device.

The inventive method is free from the disadvantages of the prototype method, because:

- the propagation speed of hydroacoustic signals between the GM and the software is determined directly on the route "GM - software", which allows to increase the accuracy of determining the coordinates of software (according to the simulation results by 1% of the distance between the GM and software);

- the time interval between successive determinations of the propagation velocity of the GM hydroacoustic signals can be chosen in such a way that a change in the propagation velocity of the GM hydroacoustic signals in this interval will not significantly affect the accuracy of determining the coordinates of the software;

- eliminates the need to exhibit in the area of the RSL.

Thus, the claimed technical result - improving accuracy and reducing the complexity of positioning software - can be considered achieved.

Information sources:

1. Navigator Handbook, ed. V.D. Shandabylova // M .: Military Publishing House, 1968, 540 p.

2. Kinsey J.C., Eustice R.M., Whitcomb L.L. A Survey of Underwater Vehicle Navigation: Recent Advances and new Challenges // IF AC Conference on maneuvering and control of marine craft, 2006, Lisbon, Portugal.

3. Maleev P.I. Problems of navigation means of the AUV and possible solutions // Navigation and hydrography, 2015, No. 39. - S. 7-11.

4. Kebkal K.G., Mashoshin A.I. Hydroacoustic methods for positioning autonomous uninhabited underwater vehicles // Gyroscopy and Navigation, 2016, No. 3 (94), p. 115-130.

5. Dubrovin F.S., Scherbatyuk A.F. The study of some algorithms of single-lane mobile navigation AUV: simulation results and marine tests // Gyroscopy and navigation, 2015, No. 4, p. 160-170.

6. Milne P.H. Hydroacoustic positioning systems // L .: Shipbuilding, 1989.

7. RF patent No. 2469346.

Claims (1)

A method for positioning at least one underwater object (PO) equipped with a sonar receiver and an on-board coordinate calculation device, including installing in the marine environment outside the surf zone at depths exceeding 5-10 times the wavelength of the emitted sonar signal, at least two stationary sonar beacons (GM) synchronized by the system of the same time between themselves and with the software, the introduction of the coordinates of each GM in the on-board device for calculating the coordinates of the software, the radiation of the GM complex hydraulic of natural signals at a frequency below 10 kHz embedded in them by encoding the conventional GM number and radiation time, receiving hydroacoustic signals with a sonar receiver with fixation of the reception time, extracting by decoding from the received hydroacoustic signals the GM number and radiation time of the sonar signal, calculating the coordinates of using the known coordinates of the GM, the current propagation velocity of hydroacoustic signals between each GM and software, and the propagation times of hydroacoustic signals between each GM and software, characterized in that the software periodically uses the signals of the satellite navigation system to determine its current coordinates, using which, as well as the known coordinates of the GM and the propagation times of sonar signals between each GM and the software, it calculates and stores the current propagation velocities of sonar signal between each GM and software, which are then used to determine software coordinates.

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