RU1838797C - Sonar navigation system of acoustic system of floor navigation beacons - Google Patents

Description

i The invention relates to hydroacoustic navigation aids, and specifically, to hydroacoustic navigation systems with short (CBL) and (or) ultra-short (CSC) baselines and can be used to determine the relative position of a ship and a sonar mask, as well as determining the location of the towed or autonomous underwater vehicle relative to the support vessel.

The purpose of the invention is to improve the accuracy of positioning by measuring and taking into account the spatial orientation of the system of three receiving hydroacoustic antennas.

This goal is achieved by the fact that in the GSM ASMOD (Acoustic system of bottom beacons), which contains a sonar transmitter and a sonar antenna installed on the underwater object, three receiving sonar antennas and a vertical orientation sensor, as well as three receivers located on the ship sonar signals, a reference generator, three meters of hydro-navigation parameters, two subtractors, a scheme for inputting data on the speed of sound, two multipliers, a coordinate converter ( PC) and indicator, a location tor, with the outputs of the receiving antennas connected to the inputs of the receivers, the outputs of the receivers connected to the first inputs of the meters, the output of the reference generator connected to the second inputs of the meters, the output of the first meter connected to the first inputs of the subtractors, the outputs of the second and third the meters are connected to the second inputs of the subtractors, the outputs of the subtractors are connected to the first inputs of the multipliers, the output of the sound velocity data input circuit is connected to the second inputs of the multipliers, two outputs of the vertical sensor entatsii bowls are connected to the first pair PC inputs, two outputs and the PC are connected to two inputs of the location indicator, pe- reklyuchatel introduced and measuring the spatial orientation of receiving antennas. A switch and a spatial orientation meter (NGO) introduced into the GOS are significant features of the invention. The introduction of new nodes leads to the introduction of new connections, which are also significant distinguishing features: two inputs of the switch are connected to the outputs of the first and second multipliers, the first pair of outputs of the switch is connected to the second pair of inputs of the PC, the second pair of outputs of the switch is connected to the pair of inputs of the NGO, and a pair of IPO outputs is connected to a third pair of PC inputs.

One of the main significant differences of the proposed GOS is the receive antenna antennas. It contains three memory registers, three squaring devices, two multipliers, two adders, a square root extractor, and two dividers. The first inputs of the first and second multipliers are IPO inputs, the second inputs of the multipliers are connected to the output of the square root extractor, the outputs of the first, second and third memory registers are connected to the corresponding inputs of the first, second and third squaring devices, the outputs of the first and second devices squaring are connected to the first and second inputs of the first adder, the first and second inputs of the second adder are connected respectively to the output of the first adder and

the output of the third squaring device, the output of the second adder is connected to the input of the square root extractor, the first and second inputs of the first divider are connected respectively to the outputs of the first memory register and the first multiplier, the first and second inputs of the second divider are connected respectively to the inputs of the second memory register and second mind. scissors. The outputs of the first and second dividers are respectively the first and second outputs of the IPO.

The introduction of new blocks: switch and IPO determines the significant differences between the PC included in the GOS. The PC for the proposed GOS ASMOD contains the first, second; third memory registers, first, second, third and fourth multipliers, first and second squaring devices, adder, subtractor, square root extractor, first and second dividers, and roll and trim correction device (RCD). The first and second inputs of the UCCF are the first pair of PC inputs, the first inputs of the first and second multipliers are the second pair of PC inputs, the inputs of the first and second memory registers are the third pair of PC inputs. The second inputs of the first and second multipliers are connected to the outputs of the first and second memory registers, the output of the first multiplier is connected to the input of the first squaring device and the first input of the third multiplier, the output of the second multiplier is connected to the input of the second squaring device and to the first input of the fourth multiplier , the output of the third memory register is connected to the second inputs of the third and fourth multipliers and to the third input of the ACR, the outputs of the first and second squaring devices are connected to the inputs with the adder, the output of the adder is connected to the input of the subtractor, the output of the subtractor is connected to the square root extractor, the outputs of the third and fourth multipliers are connected respectively to the first inputs of the first and second dividers, the second inputs of the first and second dividers are connected to the output of the square root extractor, the outputs of the first and the second dividers are the fourth and fifth inputs of the UCC, respectively, and the two outputs of the UCC are two outputs of the PC.

UCCA contains two parallel processing channels, each of which includes a series-connected divider, a device for calculating the inverse trigonometric function arctg, an adder, a device for calculating the trigonometric

tg functions and multiplier. The second inputs of the adders of the first and second channels are, respectively, the first and second inputs of the correction device, the second inputs of the dividers and the second inputs of the multipliers are combined and are the third input of the RCD, the first inputs of the dividers of the first and second channels are the fourth and fifth inputs of the RCD, respectively, and the outputs of the multipliers of the first and second channels are respectively the first and second outputs of the RCD.

In FIG. Figure 1 shows the ASMOD GOS structural diagram and shows the position of the X, Y, Z coordinate system associated with the vessel when calibrating the GPS antenna system and in determining the relative position of the vessel and the sonar mask. In FIG. 2 is a structural diagram of an NGO; FIG. 3 is a structural diagram of a PC; FIG. 4 is a structural diagram of the UKKD. Fig. 5 is a diagram of a switch. In FIG. Figure 6 shows the geometrical quantities and coordinates of the GOS in the X, Y, Z coordinate system associated with the ship.

The GOS (Fig. 1) contains a sonar transmitter 1 installed on an underwater object and a sonar antenna 2 transmitting, three sonar antennas 3, 4, and 5 mounted on the vessel, the first receiving antenna 3 being received at the center of the XYZ coordinate system, and the vertical sensor b orientation of the vessel, as well as three receivers of hydroacoustic signals 7, 8 and 9 placed on the vessel, a reference generator 10, three meters 11, 12 and 13 of hydro-navigation parameters, two subtractors 14 and 15, a circuit for inputting sound speed data, two multipliers 17 and 1 8, PC 19, location indicator 20, switch 21, IPO of receiving antennas 22. IPO 22 (Fig. 2) contains three memory registers 23. 24 and 25. three squaring devices 26, 27 and 2.8, two multipliers 29 and 30, two adders 31 and 32, a square root extractor 33 and two dividers 34 and 35. PC 19 (Fig. 3) contains first, second and third memory registers 36, 37 and 38, first, second, third and fourth multipliers 39, 40, 41 and 42, first and second squaring devices 43 and 44, adder 45, subtractor 46, square root extractor 47, first and second dividers 48 and 49, as well as UKKD 50. UKKD 50 (Fig. 4) contains two parallel processing channels, each of which includes a series-connected divider 51 (56 in the second channel), an arctg function calculation device 52 (57), an adder

53 (58), tg function calculator 54 (59) and multiplier 55 (60).

The operation of the GOS consists of two stages and is as follows.

5 At the first stage, the antenna system is calibrated in the process of processing sonar data at known coordinates Xm, YM, bottom sonar beacon and coordinates

0 Xc, Yc of the center of the antenna system, taken as the center of the coordinate system. In this mode, the switch 21 to two positions and two directions (Fig. 5) connects the outputs of the multipliers 17 and 18 with the inputs of the IPO 22. The sonar emitted by antenna 2 of the transmitter 2 are received by the receiving antennas 3,4 and 5 installed on the ship. Antenna 3 is taken as the center of the coordinate system X, Y, Z associated with the ship (Figs. 1, 6). Since the antenna unit 3, 4 and 5 during initial installation is very difficult to install in the plane parallel to the deck of the vessel, the directions of the antenna bases a (3-4) and b (3-5) will be with the axes

5 OX and OY some angles 01 and 02 (Fig. 1, 6), characterizing the spatial orientation of the antenna system relative to the plane OXY, parallel to the plane of the deck.

0 For the GOS and SCBL, the phase shift of Atpa and the signals from the receiving antennas 3, 4 and 3, 5 with bases a and b to the inputs of receivers 7, 8 and 9 are connected with the angles I and / between the base lines a and b and

5 by the direction of arrival of the hydroacoustic signal (Fig. 6) by the relations

  Ki cosA / Szv, 0) Du Ka cos / / Szv, (2) where l f0a. n fob, fo is the carrier frequency of the sonar signal propagating at the speed of sound Sev.

Since in the GOS with KB L the difference in the time intervals of the arrival of the signal from the beacon is described by expressions similar to

5 (1) and (2), further work of the GOS will be considered for phase measurements. From the outputs of the receivers 7, 8 and 9, the signals are fed to the meters 11, 12 and 13 of the hydro-navigation parameters, which measure them

0 relative to the reference signal of the generator 10. In the GOS with SCBL at the output of the meters 11, 12 and 13 signals are generated

(p3 - y2r), (-), and (tp5, where

rz,. rh phase of hydroacoustic signals 5 received by antennas 3, 4 and 5, respectively; (for is the phase of the signal of the reference generator. The signals (vez-ybr), (), and (), are coupled to the inputs of the subtractors 14 and 15.

The subtractors generate signals ((pty - Lu% and (rz -). Which are fed to the first inputs of the multipliers 17 and 18, the second inputs of which receive the signal C3b from the sound velocity data input circuit 16. From the outputs of the multipliers 17 and 18. signals cos А С3в and cos / a - Сз Л е / К2 arrive at the inputs of switch 21 and, further, at inputs of NPO 22..

NPO 22 works as a specialized calculator for the hardware implementation of the algorithm for calculating the values of cos 6 and cos ft, characterizing the spatial orientation of the antenna system 3, 4, 5 relative to the OXY plane:

XM (3)

cos

Cos 02

) 172

: - YM

cos // (Xl + Yl + H2) 1/2

(4)

The technical implementation of algorithm (3), (4) of IPO 22 based on typical digital computing devices consists in performing the following simple mathematical operations. The memory registers 23, 24 and 25 store the coordinate values Xm, YM, H used to calibrate the bottom mark. which are squared respectively by devices 26, 27 and 28, Two ice-ic adders 31 and 32 form a value (Xm + YM + H). As the output of the square root extraction device 33, the value (Xm2 + Um2 + H2) 1/2 is supplied to the inputs of the multipliers 29 and 30, and to the other inputs. Then multipliers 29 and 30 receive the values cosA and cosfi from switch 21, and the generated signals cos ДХm2 + Um2 + Н2Г / 2 and cos / (XM2 + YM2 + H2) 1/2 are fed to the second inputs of the dividers 34 and 35, to the first inputs of which are supplied respectively by the signals Xm and YM-c of the registers 23, 24. Thus, in the calibration mode, the IPO 22 generates signals cos 0- and cos 62, which characterize the spatial orientation of the antennas 3, 4 and 5 and then go to the corresponding PC inputs 19, where they are stored in memory registers 36 and 37.

The second stage of the GOS operation is the main one (navigation mode) and is a direct determination of the relative position of the vessel and the bottom mark (or the vessel and the underwater vehicle). In this mode, the switch 21 connects the inputs of the PC 19 with the outputs of the multipliers 17 and 18. PC 19 works as a specialized computer in the hardware implementation of the coordinate calculation algorithm X0. Y0:

 -.

H COS A COS 01

Vil

1 - cos A cos 01

cos 2 // cos 2 02

H cos // cos 0t

(5)

- c.os:

A cos2 0i - cos 2 // cos 2 02

0

5

0

5

0

5

0

5

(6)

The values cos $ 1 and cos 02 stored in the memory registers 36 IZ / are multiplied in multipliers 39 and 40 with the current measured values cos A and cos / 4 (i is the number of consecutive hydroacoustic measurements in navigation mode), and further, in smarts, residents 41 and 42 with H values coming from memory register 38.

gu. ABOUT . l gu

The signals cos-Ai cos in cos cos cos 2 2 from the outputs of the squaring devices 43 and 44 are summed by an adder 45. The subtractor 46 generates a signal

(1 -COS2 Ai cos2 0i - cos2 / cos2 02), and the square root signal extractor 47 (1 - COS 2 At cos 2 From - cos 2fi cos 2 0).

At the inputs of the dividers 48 and 49 receives the parasignals HcosArcos0i

(1 - COS2 Ai cos20i - cos2 //; cos2 0;) 1/2 and H eps // i cos 02

(1 -co3 Arco3 01 -c oi / i coi 02) 1/2 of which the coordinates X0i and Yoi are formed in accordance with expressions (5) and (6). , ... . ..

The values of the calculated coordinates X0 and Yoi are supplied to the 4th and 5th inputs of the UKKD 50, in which the heel TJ and trim yi are measured, measured by the vessel vertical orientation sensor 6, according to the algorithm:

(arctgX0i / H +) ,. (7) (arctan Yoi / H + / i). . (8) UCCA can be implemented on the basis of typical computing devices and in two parallel channels it performs the following operations: division of Xoi / H and Yoi / H in dividers 51 and 56, execution of funX

Yc

ktsiy arctg arctg -rr- devices 52 and

N

N

57, the summation of the signals in the adders 53 and 58, the calculation of the function tg devices 54 and 59 and the formation of the corrected coordinates Xii; Yn in the multipliers x 55 and 60. The values of the calculated "coordinates Xz ,. Yir from the outputs of the UCCA 50. being the outputs of the PC 19, go to the indicator 20.

Claims (4)

1. A hydro-acoustic navigation system for the bottom beacons acoustic system, comprising a hydro-acoustic transmitter and a hydro-acoustic antenna installed on the underwater object, three receiving hydro-acoustic antennas and a sensor for vertical orientation of the vessel, as well as three hydro-acoustic receivers located on the vessel signals, reference-iop, three meters of hydro-navigation parameters, two subtracters, input circuit of data on the speed of sound, two multipliers, coordinate converter and indicator Op location, wherein the sonar receiving antenna outputs are connected to the outputs of the receivers sonar The signal catch, receiver outputs gidroakustiche- FIH signals are connected to first inputs gidronavigatsionnyh para- Meters Meters, reference generator output - to a secondary p | vhodamizmeriteley gIdronavigatsionnyh th parameters output. according to the signals of the first receiving hydroacoustic antenna, taken as the center of the coordinate system, is connected to the first inputs of the subtractor, the outputs of the second and the same meter of hydraulic navigation parameters are connected to the second inputs of the subtractors, and to the first inputs of the subtracters, to the first inputs of the nazhetelov. output of the speed data circuit h) decree - to the second inputs of the multipliers, two the outputs of the vessel’s vertical orientation sensor are connected to the first pair of inputs of the coordinate transformer, and the two outputs of the coordinate transformer are connected to two inputs 5 location indicator, characterized in that, in order to improve the accuracy of positioning by measuring and taking into account the spatial orientation of the system of three receiving hydro-acoustic antennas, a switch and a measuring device of the spatial orientation of the receiving antennas are introduced into it, and two inputs of the switch are connected to the outputs of the first and second multipliers. , 15, the first pair of switch outputs - to the second pair of inputs of the coordinate transformers, the second pair of switch outputs - to the pair of inputs of the spatial orientation meter of the receiving antennas, and the pair 0 outputs of the measuring instrument for spatial orientation of receiving antennas - to the third pair of inputs of the coordinate transformer. 2. The system according to claim 1, r. in that the spatial orientation measuring antenna of the receiving antennas is made in the form of three memory registers, three squaring devices, two multipliers, two adders, a square root extractor and two adders, a square root extractor and two dividers, the first the inputs of the first and second multipliers are the inputs of the spatial orientation meter of the receiving antennas, the second inputs of the multipliers are connected to the output of the square root extractor, the outputs of the first, second and third its memory registers are connected to respective inputs of the first, second and third devices squaring 0 squared, the outputs of the first and second squaring devices are connected to the first and second inputs of the first adder, the first and second inputs of the second adder and the third squaring device 5 square, the output of the second adder is connected to the input of the square root extractor, the first and second inputs of the first divider are connected respectively to the outputs of the first memory register i /. first. 0 multiplier, the first and second inputs of the second divider are connected respectively to the outputs of the second memory register and the second multiplier, and the outputs of the first and second dividers are the first and second outputs of the spatial orientation meter of the receiving antennas, respectively 3. Pop system. 1, characterized in that the coordinate converter is made in the form of first, second and third memory registers, first to fourth multipliers, first and second squaring devices, an adder, a subtractor, a square root extractor, a first and second divider, and a roll and trim correction device, wherein the first and second inputs of the roll and trim correction device are the first pair of inputs of the coordinate transformer, the first inputs of the first and second multipliers are the second pair of transform inputs coordinate bodies, the inputs of the first and second memory registers — by the third pair of inputs of the coordinate transformer, the second inputs of the first and second multipliers are connected to the outputs of the first and second registers of memory, the output of the first multiplier is connected to the input of the first squaring device and to the first input of the third multiplier, the output of the second multiplier - to the input of the second squaring device and to the first input of the fourth multiplier, the output of the third memory register is connected to the second inputs of the third and fourth multiplier and to the third input of the roll and trim correction device, the outputs of the first and second squaring devices are connected to the inputs of the adder, the output of the adder is connected to the input of the subtractor, the output of which is connected to the square root extractor, the outputs of the third and fourth multipliers are connected respectively to the first the inputs of the first and second dividers, the second inputs of the first and second dividers to the output of the square root extractor, the outputs of the first and second dividers are fourth and fifth respectively correction apparatus odes roll and pitch, roll and two outputs correction apparatus and trim are two converter outputs coordinates. 4. The system of claims. 1 and 3, with the exception that the roll and trim correction device is made in the form of two parallel processing channels, each of which includes a series-connected divider, an arctg inverse trigonometric function calculator, an adder, a trigonometric function calculator tg and a multiplier, the second inputs of the adders of the first and second channels being respectively the first and second inputs of the correction device, the second inputs of the dividers and the second inputs of the multipliers are combined the third input of the correction device, the first inputs of the dividers of the first and second channels are the fourth and fifth inputs of the correction device, respectively, and the outputs of the multipliers of the first and second channels are the first and second outputs of the roll and trim correction device, respectively. F 1 / zZ Figure 5 J