RU2555479C2 - High-precision coordination of underwater complex for underwater navigation - Google Patents

Abstract

FIELD: physics, navigation.

SUBSTANCE: invention relates to underwater navigation and can be used for determination of self-contained unmanned submarine proper coordinates in navigation under ice in high Arctic latitudes. This invention allows ruling out of limiting conditions of said submarine coordinates evaluation because of geometrical (spatial) position of gyro motor and submarine. Application of radio navigation receivers GPS/GLONASS, VHF navigation system at determination of gyro motor position with the help of TV-controlled unmanned submarine system as well as elimination of the use of self-contained unmanned submarine heading and OS direct measurement. Said use brings about incorrect data in high Arctic altitudes. Increase in gyro motor mobility allows decision of the problem of definition of proper coordinates of self-contained unmanned submarine in navigation of under ice.

EFFECT: higher accuracy of locating of self-contained unmanned submarine in high Arctic latitudes.

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Description

The invention relates to the field of underwater navigation and, in particular, can be used to determine its own coordinates on board an autonomous uninhabited underwater vehicle (AUV) when moving under ice in high Arctic latitudes.

The task of determining the AUV's own coordinates is important to ensure real-time adjustment of the trajectory of the apparatus, as well as spatial reference of the survey results at the post-processing stage. The proposed invention allows to determine the output navigation parameters AUV (coordinates) in the local coordinate system (LSC) in the conditions of ice use.

The existing traditional navigation methods of the AUV are based on the airborne number system. To reduce the error that accumulates over time, it is necessary to periodically perform the procedure for correcting the calculated coordinates based on data received from other navigation systems. Among the latter, hydroacoustic navigation systems (HANS) are most widely used.

There is a known method of under-ice navigation of the AUV, in which the coordinates of the apparatus on its board are determined by measuring the distance to the sonar beacon (GM), the geographical coordinates of which are known, and directions to it, i.e. bearing and elevation angle (Arctic underwater operations / Edited by L. Rey: Transl. from English. - L .: Sudostroenie, 1989. - S.263-264). The method is implemented in systems called HANS with an ultrashort base (HANS-UKB). For under-ice navigation of the AUV, the ultrashort-base system can be used in several ways: suspend the GM through an ice hole in the ice, fix it on the bottom, tow it or place it on the retractable device of the support vessel (OS).

There is a method of ice navigation based on the processing of data on the ranges of AUVs relative to a network of three or more GMs with known geographical and mutual coordinates (Arctic underwater operations / Ed. By L. Rey: Transl. From English - L .: Sudostroenie, 1989. - S.264-266). The method is implemented in systems called HANS with a long base (HANS-DB), while the GM is suspended through the ice hole under the ice edge or placed on the seabed.

The use of ultrashort-base and long-range systems is limited by a number of circumstances:

- the typical error in determining the location of most modern GANS-UKB is 0.2-0.5% of the inclined range, i.e. 2-5 m at a distance of 1 km (IMCA S 017. Guidance on Vessel USBL Systems for Use in Offshore Survey and Positioning Operations. April 2011); at distances of more than 1 km GANS-UKB cannot provide acceptable accuracy;

- to determine the bearing, the HANS-UKB is equipped with a magnetic heading sensor, the readings of which in high arctic latitudes should be treated critically;

- the GANS-DB transmit-receive antenna has a wide directivity characteristic (HN), which is necessary in order to “cover” the signal with all GM simultaneously; the use of an antenna with a wide CN makes the system sensitive to echoes reflected from ice and various water inhomogeneities;

- staging in the area of work of the GM may be ineffective due to the significant drift of the ice field;

- when examining large areas, it becomes necessary to repeatedly reinstall the system, which significantly increases the time and cost of the work.

There is a method based on the use of satellite navigation and modem sonar communication, which allows you to synchronously exchange navigation data packets between AUV and a single GM and simultaneously measure the propagation time of an acoustic signal between them (M. Larsen. ″ Synthetic Long Baseline Navigation of Underwater Vehicles ″ , presented at Oceans 2000 MTS / IEEE Conference and Exhibition, vol. 3, 11-14 September 2000, pages 2043-2050, XP002901743 ISBN: 0-7803-6551-8; Patent No. EP 1275012 B1 of 01/15/2003, international publication No. WO 2001/065274 of 09/07/2001).

Closest to the claimed technical solution, an analog (prototype) is a single-lane navigation method, implemented on the basis of information from sensors of the AUVA autonomous navigation system and ranges to a mobile GM towed by an OS or an autonomous uninhabited water (surface) device (ANVA) (Shcherbatyuk A.F. ., Dubrovin FS, Algorithms for determining the location of AUVs based on information about the range to one mobile sonar beacon // Information-measuring and control systems. - 2012. - No. 9. - P.26-39). The method is carried out by means of a system containing AUV and GM, which is towed behind the vessel along a trajectory that minimizes the error in estimating the location of the apparatus, while the GM is equipped with the first hydroacoustic equipment for transmitting information (GAPI) using a receiving-emitting antenna that emits a navigation data packet about horizontal coordinates and depth of movement of the GM in the LSC, as well as the time stamp of the packet radiation, while the AUV is equipped with a second GAPI, with the help of which the navigation pa em, measure the time interval of the propagation of the navigation package between the GM and the AUV and determine the distance between them, while the AUV is equipped with a depth sensor, a heading sensor and a Doppler sonar lag (DGAL), with which they measure the depth of the apparatus, the heading of the vehicle in the LSC, and the module of the velocity vector of its movement, while the AUV is equipped with a reckoning system, which, based on data on the speed and course of the AUV, determines the actual movement of the device in the LSC, while the AUV is equipped with a correction system coordinates with the help of which, based on the Kalman filter, based on the results of measuring the distances from AUV to GM, the depths of movement of a GM and AUV, and the estimated movements of the underwater vehicle, its coordinates in LSC are estimated.

Significant disadvantages of this prototype method are:

- to determine the actual movement of the AUV to LFK, it is required to use data from the heading sensor, which in high Arctic latitudes does not provide the required accuracy;

- in conditions of ice cover, the maneuverability of the OS and the towed GM is significantly limited, which reduces the accuracy of coordination, not allowing the GM to be in such a position that minimizes the error in estimating the location of the apparatus.

Lack of accounting for these shortcomings leads to the appearance of significant errors in determining the location of AUVs in the conditions of ice navigation.

The objective of the proposed invention is the provision of under-ice research in high arctic latitudes using AUVs by linking its location to local coordinates.

The technical result consists in increasing the accuracy of the positioning of the AUV by eliminating the AUU course sensor from the system, i.e. eliminating the influence of errors in its measurements on the overall assessment of the horizontal coordinates of the apparatus. The proposed technical solution also allows to exclude the limiting conditions for evaluating the coordinates of the apparatus due to the unfavorable geometric (spatial) location of the GM and AUV.

To achieve this technical result, in a known method for coordinating an underwater complex, performed by means of a system containing AUV and GM, which is moved behind the OS, the GM is equipped with the first GAPI using a receiving-emitting antenna, which emits a package of navigation data on horizontal coordinates and depth into the water volume the location of the GM in the LSC 0XYZ, as well as the time stamp of the packet radiation, while the AUV is equipped with a second GAPI, with which the navigation packet is received and isolated, the time interval ΔT is measured _{k the} distribution of the k-th navigation package (k = 1, ..., N) between the GM and the AUV and determine the distance between them R _AUA (t _k ) at time t _k , while the AUV is equipped with a depth sensor and a DGAL, with which they measure the depth of movement of the apparatus Z of the _AUV (t _k ) in the LFV and the module of the velocity vector of its movement V _AUV (t _k ) by the time t _k , while the AUV is equipped with a coordinate correction system with which the horizontal coordinates of the unit are evaluated (X _AUU (t _k ); Y _ANPA (t _k )) in LSC, new features were introduced, namely:

- at the end of the deepening process (the device has reached the required depth or height above the bottom) using the first GAI, the navigation data packet with the initial horizontal coordinates (X _ANA (t ₀ ); Y _ANA (t ₀ )) of the device in LSC, where t ₀ - start time of the coordinate correction system,

- by the time of radiation of the k-th navigation package (t _k -ΔT _k ), horizontal coordinates are determined (X _GM (t _k -ΔT _k ); Y _GM (t _k -ΔT _k )) GM in LSC, while as a GM they use a remote-controlled uninhabited underwater vehicle (TNLA), for this purpose a sonar transponder (GMO) is additionally placed on the TNLA, with which acoustic pulses are emitted into the volume of water with a given sounding period, while the OS is equipped with HANS-UKB equipment, with which receiving acoustic pulses and determining the distance R _GM (t _k - T _k) of the GMO to DF antenna phase center HANS-PCBs and heading angle KU (t _k -ΔT _k) between the bow of the ship construction and the axis direction on GMO, the OS is provided with first and second radio navigation receiver GPS / GLONASS receiver antennas which are placed along the ship’s construction axis in the bow and stern, respectively, while repeatedly determining the geographical coordinates of the antennas, which, using a computing device (WU) located on the OS, are converted for each pair of measurements into local coordinates with by further calculation of the angle between the 0X axis and the bow of the ship’s construction axis (ship heading), and then using the least squares group of received heading estimates, a smoothed course estimate OS K _OC (t _k -ΔT _k ) in LSC is formed, then taking into account linear displacements the phase center of the HANS-UKB direction-finding antenna relative to the second antenna of the GPS / GLONASS radio navigation receiver, the horizontal coordinates of the OS are determined in the WU (X _OC (t _k -ΔT _k ); Y _OC (t _k -ΔT _k )) in LSC and then the horizontal coordinates of TNLA (X _GM (t _k -ΔT _k ); Y _GM (t _k -ΔT _k )) in LSC according to the formulas

D _GM (t _k -ΔT _k ) = (R _GM (t _k -ΔT _k ) ² -Z _GM (t _k -ΔT _k ) ² ) ^0.5 ,

X _GM (t _k -ΔT _k ) = X _OC (t _k -ΔT _k ) + D _GM (t _k -ΔT _k ) × cosβ,

Y _GM (t _k -ΔT _k ) = Y _OC (t _k -ΔT _k ) + D _GM (t _k -ΔT _k ) × sinβ,

where D _GM (t _k -ΔT _k ) is the distance between the GMO and the phase center of the HANS-UKB direction-finding antenna in the X0Y plane, Z _GM (t _k -ΔT _k ) is the depth of the TNLA in the LSC, β = KU (t _k -ΔT _k ) -360 + K _OC (t _k -ΔT _k ) if

(K _OC (t _k -ΔT _k ) + KU (t _k -ΔT _k )) ≥360 deg, or β = KU (t _k -ΔT _k ) + K _OC (t _k -ΔT _k ) if 0 deg ≤ (K _OC (t _k -ΔT _k ) + KU (t _k -ΔT _k )) <360 degrees,

- and the horizontal coordinates of the AUV in LSC at the time t _k are estimated by the results of solving the system of equations

where D _ANPA (t _k ) ² = R _ANPA (t _k ) ² -Z _ANPA (t _k ) ² , D _ANPA (t _k ) - the distance between the first and second GAPI in the X0Y plane, and the choice of the final solution based on a comparison of travel angles K ₁ (t _k ) and K ₂ (t _k ) with K (t _k-1 ), while the first solution of the system is true if the condition

, в остальных случаях истинным является второе решение, где K₁(t_k) - путевой угол АНПА, рассчитанный по двум смежным оценкам местоположения аппарата (в моменты времени t_k и t_k-1 соответственно), в предположении, что первое решение системы уравнений является истинным, K₂(t_k) - путевой угол АНПА в предположении, что второе решение системы уравнений является истинным, K(t_k-1) - путевой угол АНПА в момент времени t_k-1 получения k-1-го навигационного пакета. $$\left|K_{\mathrm{one}}(t_k)-K(t_{k-\mathrm{one}})\right|<\left|K_2(t_k)-K{(}_{t-\mathrm{one}})\right|$$

, in other cases, the second solution is true, where K ₁ (t _k ) is the AUV path angle calculated from two adjacent estimates of the vehicle’s location (at times t _k and t _k-1, respectively), assuming that the first solution to the system of equations is true, K ₂ (t _k ) is the ANU path angle under the assumption that the second solution to the system of equations is true, K (t _k-1 ) is the ANU path angle at the time t _{k-1 of} receiving the k-1 navigation packet .

We show the ability to achieve the specified technical result.

The invention is shown in the drawings, illustrating the method of coordinating AUV in ice-swimming conditions.

Figure 1 shows the LSC 0XYZ, in which the AUV is coordinated, as well as the projection of the OS and AUV positions on the X0Y plane when the device reaches the desired depth or height above the bottom.

Figure 2 shows a General diagram of a method for coordinating AUV in ice-swimming conditions.

Figure 3 shows the projection of the provisions of the OS and TNLA on the X0Y plane to explain the formulas for determining the horizontal coordinates of TNLA at a time (t _k -ΔT _k ).

Consider an example implementation of the method.

When OS 1 approaches (Fig. 1), a fixed right-sided LSK 0XYZ is formed in a given area of under-ice research, placed in the phase center of the HANS-UKB 6 direction-finding antenna (position 1) and oriented by the 0X axis along the line of the true course of OS 1 at the beginning of the spiral-shaped deepening process AUV 2 (position 1).

It is assumed that at the end of the deepening process (the apparatus reached the required depth or height above the bottom), the coordinates (X _AUV (t ₀ ); Y _AUV (t ₀ )) AUV 2 (position 2) in the X0Y plane are determined with high accuracy (Fig. one).

GMO 5 (figure 2) at TNLA 3 with a predetermined sensing period by an electrical activation signal coming through a cable cable 4 with OS 1 emits an acoustic impulse into the volume of water. This impulse is received by the GANS-UKB 6 shipboard equipment, where the distance from the GMO 5 to the phase center of the GANS-UKB 6 direction-finding antenna and the heading angle between the bow of the OS 1 construction axis and the direction to GMO 5 are determined.

Using the first 7 and second 8 radionavigation GPS / GLONASS receiver, the antennas of which are located along the ship’s construction axis in the bow and stern, respectively, the geographical coordinates of the receiving antennas are determined. The obtained coordinates are received in VU 9, where each pair of measurements is converted to local coordinates, followed by calculation of the angle between the 0X axis and the bow of the ship’s construction axis (vessel heading) using the formulas:

where a = X ₂ (t _m ) -X ₁ (t _m ).

where b = Y ₂ (t _m ) -Y ₁ (t _m );

where (X ₁ (t _m ); Y ₁ (t _m )) and (X ₂ (t _m ); Y ₂ (t _m )) are the horizontal coordinates of the antennas of the first 7 and second 8 radionavigation GPS / GLONASS receiver in LSC; m = 1, ..., M is the number of the coordinate pair of the receiving antennas; K _OC (t _m ) - partial assessment of the course of OS 1.

Then, according to the group of received partial course estimates in WU 9, a smoothed estimate of the OS 1 K _OC rate (t _k -ΔT _k ) at the time point (t _k -ΔT _k ) is formed by the least squares method.

Then, taking into account the linear displacements of the phase center of the GANS-UKB 6 direction-finding antenna relative to the second antenna of the GPS / GLONASS 8 radio navigation receiver, the horizontal coordinates of OS 1 (X _OC (t _k -ΔT _k ); Y _OC (t _k -ΔT _k ) are determined ) in LSC.

Using the pressure sensor 10 located on TYPE 3, the immersion depth of the TNPA 3 Z _GM (t _k -ΔT _k ) in the LSC is determined.

The heading angle and the distance from the GMO 5 to the HANS-UKB 6 direction-finding antenna, as well as the immersion depth of the TNPA 3, are received in the VU 9, where, taking into account the horizontal coordinates and the smoothed course estimate of OS 1, the horizontal coordinates of the TNPA 3 in the LCF are determined at the time moment (t _k -ΔT _k ) according to the following formulas (figure 3):

where β = KU (t _k -ΔT _k ) -360 + K _OC (t _k -ΔT _k ) if

(K _OC (t _k -ΔT _k ) + KU (t _k -ΔT _k )) ≥360 deg, or β = KU (t _k -ΔT _k ) + K _OC (t _k -ΔT _k ) if 0 deg ≤ (K _OC (t _k -ΔT _k ) + KU (t _k -ΔT _k }} <360 deg.

At a point in time (t _k −ΔT _k ), the first GAPI 11 emits a packet of navigation data about the horizontal coordinates and the depth of TNPA 3 in the LCF using a receiving-emitting antenna in the water volume, as well as the time stamp of the packet radiation. At time t _{k, the} second GAPI 12 receives the navigation packet and determines the distance between TNPA 3 and AUV 2. Using the depth gauge 13 and DGAL 14, the depth of movement of the device in the LSC and the module of its velocity vector at time t _k are measured.

The depth of the apparatus’s movement, the module of the velocity vector of its movement, the coordinates of the TNLA in the LSC, as well as the measured distance between the TNLA and the ANU are sent to the coordinate correction system 15, where the horizontal coordinates of the device are estimated (X _ANU (t _k ); Y _ANU (t _k ) } in LSC according to the results of solving the system of equations:

where D _ANPA (t _k ) ² = R _ANPA (t _k ) ² -ZA _NPA (t _k ),

, в остальных случаях истинным является второе решение, где K₁(t_k) - путевой угол АНПА, рассчитанный по двум смежным оценкам местоположения аппарата (в моменты времени t_k и t_k-1 соответственно), в предположении, что первое решение системы уравнений является истинным, K₂(t_k) - путевой угол АНПА в предположении, что второе решение системы уравнений является истинным, K(t_k-1) - путевой угол АНПА в момент времени t_k-1 получения k-1-го навигационного пакета.and choosing the final solution based on a comparison of the path angles K ₁ (t _k ) and K ₂ (t _k ) with K (t _k-1 ), while the first solution of the system is true if the condition $$\left|K_{\mathrm{one}}(t_k)-K(t_{k-\mathrm{one}})\right|<\left|K_2(t_k)-K{(}_{t-\mathrm{one}})\right|$$

, in other cases, the second solution is true, where K ₁ (t _k ) is the AUV path angle calculated from two adjacent estimates of the vehicle’s location (at times t _k and t _k-1, respectively), assuming that the first solution to the system of equations is true, K ₂ (t _k ) is the ANU path angle under the assumption that the second solution to the system of equations is true, K (t _k-1 ) is the ANU path angle at the time t _{k-1 of} receiving the k-1 navigation packet .

The developed method for coordinating the underwater complex, which is the AUV, by eliminating direct measurements of the vehicle and OS heading, which is a source of incorrect data in high Arctic latitudes, as well as increasing the maneuverability of the GM, which is used as a TNA, can improve positioning accuracy under ice conditions swimming.

Thus, the technical result of the invention is achieved.

Claims (1)

A method of coordinating an underwater complex under ice conditions, carried out by means of a system comprising a self-contained uninhabited underwater vehicle (AUV) and a sonar beacon (GM), which is moved behind the supply vessel (OS), while the GM is equipped with the first sonar information transmission equipment (GAPI) with using a receiving-radiating antenna which radiate a packet of navigation data about the horizontal coordinates and the depth of the GM in the local coordinate system (LSC) 0XYZ into the volume of water, as well as the time stamp zlucheniya packet with AUVs is provided with a second GAPI with which receive and emit navigation pack measured time interval ΔT _k propagation k-th navigation pack (k = 1, ..., N) between the GM and the AUV and determine the distance therebetween R _AUV (t _k ) at time t _k , while the AUV is equipped with a depth sensor and a Doppler sonar lag, with the help of which the depth of movement of the unit Z of the _AUV (t _k ) in LSC and the module of its velocity vector V _AUU (t _k ) are measured at the time time t _k , while the AUV is equipped with a coordinate correction system nat, with the help of which the horizontal coordinates of the apparatus are estimated (X _AUV (t _k ); Y _AUVA (t _k )) in LSC, characterized in that upon completion of the deepening process (the device reached the required depth or height above the bottom) using the first GAI, a navigation data packet with initial horizontal coordinates (X _AUV (t ₀ ); Y _ANPA (t ₀ )) of the apparatus in LSC, where t ₀ is the start time of the coordinate correction system, by the time of the radiation of the k-th navigation package (t _k -ΔT _k ) determine the horizontal coordinates (X _GM (t _k -ΔT _k ); Y _GM (t _k -ΔT _k)) GM LCS, thus as GM use remotely controlled unmanned underwater appa at (TNPA), for this purpose, a sonar transponder beacon (GMO) is additionally placed on the TNLA, with which acoustic pulses are emitted into the water volume with a given sounding period, while the OS is equipped with sonar navigation system with an ultrashort base (HANS-UKB), with the help of which acoustic pulses are sequentially received and the distance R _GM (t _k -ΔT _k ) from the GMO to the phase center of the HANS-UKB direction-finding antenna and the course angle KU (t _k -ΔT _k ) between the bow of the ship’s construction axis and the direction are determined on GMOs, while the OSs are equipped with the first and second GPS / GLONASS radio navigation receiver, the receiving antennas of which are placed along the ship’s construction axis in the fore and aft parts, respectively, while the geographic coordinates of the antennas are repeatedly determined, which using a computing device (WU) located on OS, recalculated for each pair of measurements in local coordinates, followed by calculation of the angle between the 0X axis and the bow of the ship’s construction axis (ship heading), and then according to the group of received partial heading estimates formed by the method of least squares smoothed estimate of course OS K _OC (t _k -ΔT _k) in the LCS, more linear offsets based direction-finding antenna phase center HANS-UCB second antenna relative to a radio navigation receiver GPS / GLONASS slave OS define horizontal coordinates (X _OC ( t _k -ΔT _k ); Y _OC (t _k -ΔT _k )) in LSC and then the horizontal coordinates of TNLA (X _GM (t _k -ΔT _k ); Y _GM (t _k -ΔT _k )) in LSC according to the formulas D _GM (t _k -ΔT _k ) = (R _GM (t _k -ΔT _k ) ² -Z _GM (t _k -ΔT _k ) ² ) ^0.5 , X _GM (t _k -ΔT _k ) = X _OC (t _k -ΔT _k ) + D _GM ( t _k -ΔT _k ) × cosβ, Y _GM (t _k -ΔT _k ) = Y _OC (t _k -ΔT _k ) + D _GM (t _k -ΔT _k ) × sinβ,
where D _GM (t _k -ΔT _k ) is the distance between the GMO and the phase center of the HANS-UKB direction-finding antenna in the X0Y plane, Z _GM (t _k -ΔT _k ) is the depth of the TNLA in the LSC, β = KU (t _k -ΔT _k ) -360 + K _OC (t _k -ΔT _k ) if
(K _OC (t _k -ΔT _k ) + KU (t _k -ΔT _k )) ≥360 deg, or β = KU (t _k -ΔT _k ) + K _OC (t _k -ΔT _k ) if 0 deg ≤ (K _OC (t _k -ΔT _k ) + KU (t _k -ΔT _k )) <360 deg, and the horizontal coordinates of the AUV in LSC at the time t _k are estimated by solving the system of equations

Where
where D _ANPA (t _k ) ² = R _ANPA (t _k ) ² -Z _ANPA (t _k ) ² , D _ANPA (t _k ) - the distance between the first and second GAPI in the X0Y plane, and the choice of the final solution based on a comparison of travel angles K ₁ (t _k ) and K ₂ (t _k ) with K (t _k-1 ), while the first solution of the system is true if the condition $$\left|K_{\mathrm{one}}(t_k)-K(t_{k-\mathrm{one}})\right|<\left|K_2(t_k)-K(t_{k-\mathrm{one}})\right|$$

, in other cases, the second solution is true, where K ₁ (t _k ) is the AUV path angle calculated from two adjacent estimates of the vehicle’s location (at times t _k and t _k-1, respectively), assuming that the first solution to the system of equations is true, K ₂ (t _k ) is the ANU path angle under the assumption that the second solution to the system of equations is true, K (t _k-1 ) is the ANU path angle at the time t _{k-1 of} receiving the k-1 navigation packet .

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