RU2269449C1 - Method of protection of water area against underwater diversion forces and device for realization of this method - Google Patents

Abstract

FIELD: sonar inspection of underwater medium and bottom by means of unmanned underwater vehicle running over preset trajectory.

SUBSTANCE: when diversion forces are detected vehicle makes approach with object, performs TV survey, sends message to external control station, tracks object maintaining sonar contact with it, uses arms on command from external control station and inspects effective area. Device proposed for realization of this method includes autonomous underwater vehicle of torpedo-like construction which is equipped with control, navigation, communication, detection, classification and destruction means. Communication facilities include radio set and sonar communication equipment. Small-sized torpedoes secured on the outside of pressure hull by means of locks and automatic underwater fire mounts extending from trunks are used as destruction means. When not in use, mounts are brought to initial position.

EFFECT: enhanced safety of water area.

8 cl, 2 dwg

Description

The invention relates to methods and devices for searching and neutralizing underwater sabotage forces by using underwater vehicles with weapons placed on them, in particular, means providing control, navigation, detection, classification and destruction of underwater objects, and can be used to protect water areas of naval bases , ports and hydraulic structures located in inland waters and on the continental shelf.

The most effective tasks of protecting water areas from the penetration of underwater saboteurs can be performed by mobile controlled means, capable of independently detecting and neutralizing combat swimmers.

A known method of protecting water areas with specially prepared marine mammals - dolphins and sea lions. The method consists in the fact that, freely moving along a random trajectory, adaptively to external factors, marine mammals by means of the so-called "bio-sonar" detect and recognize underwater objects. Having approached the distance of direct contact with the detected object, the animals render the divers harmless by tearing off breathing apparatus, scattering explosive charges, injecting them with needles equipped with fast-acting poison, or imposing “games” that force swimmers to swim up and go ashore (Arakcheev V. Marine mammals Pentagon service // Foreign Military Review. - M.: "Red Star", 1997. - No. 5. - S.49-52).

Despite the relative simplicity and effectiveness of the application, this method has significant disadvantages:

1. The application of the method in waters with a high level of environmental pollution can lead to unreasonable death of the animals used.

2. Being in a free search, marine mammals can be distracted from the task by reacting to other animals and foreign objects.

3. Arbitrary selection by the marine mammal of the target of attack and unauthorized use of the means of destruction.

4. The absence on mammals of technical means of observation, objective monitoring and documentation does not allow controlling their behavior, as well as determining the correct choice and evaluating the results of exposure to the target of attack.

5. The preparation of marine mammals to combat combat swimmers is individual in nature and carried out for a long time by highly qualified specialists in the field of training at specially equipped training grounds. The costs of material and time resources associated with this process do not allow the mass production of such biotechnological systems that implement the method under consideration to be launched.

6. Marine mammals are vulnerable to destruction by both conventional and special underwater weapons.

The disadvantages of the considered method are largely eliminated by another, closer, selected as a prototype known method, which consists in the protection of water areas by divers on an underwater transporter. Carrying out movement along a given route, divers visually examine the designated area. Having discovered and recognized the underwater saboteur, they bring the transporter to a position convenient for firing and use special small arms on the target. After hitting the target, forcing the swimmer to emerge or losing him from the field of view, they broadcast over the air the message about the actions taken and the results achieved to an external control center. Having received confirmation and orders for further actions, divers continue to carry out their task (Dmitriev V.V. et al. Underwater "mosquitoes". - M.: Military Publishing House, 1969. - S.92-95).

The known device, selected as an analogue and implementing this method, includes a double underwater carrier, a driver-diver of the vehicle and a diver-shooter, armed with a special underwater automatic (APS). Externally, the design of the carrier is a torpedo, driven by an electric motor running on propellers. In addition, the transporter is equipped with divers’s cabins, a control panel, an onboard life support system, a depth gauge, a vertical maneuvering device (depth stabilizer), a navigation system (heading indicator and relative speed meter), sound underwater and radio communication stations, sonar detection stations and a lighthouse drive. The source of energy for vehicles and electronic devices is a rechargeable battery of chemical current sources (Gagin VV Ultra-small submarines and combat swimmers. - Voronezh: "Polygraph", 1996. - P. 42-43).

The disadvantages of this method and device are as follows:

1. Diving operations are generally limited to ice conditions, the state of the water surface and the level of illumination. Given these factors, the overwhelming number of regions of the Russian Federation during most of the calendar year and a significant proportion of the day are unfavorable for the application of this method.

2. In one working cycle, divers are able to examine a relatively small area of the water area. The reasons for this are:

- the time spent by divers in water is limited by their physiological ability to withstand the negative effects of the environment, especially low temperatures and high pressures;

- low efficiency of visual observation under water, determined by the range of visibility of not more than 5-10 m, characteristic of shallow areas, as well as the high probability of missing the target, which is explained by the narrow field of view of divers and the low speed of viewing space.

3. Navigation instruments installed on the transporter produce only the course and the relative speed of the carrier. The lack of accurate data on the spatial orientation, coordinates, as well as the absolute speed of the underwater vehicle leads to significant deviations of the vehicle from a given trajectory and necessitates frequent ascent to the surface to perform observations. This further reduces the duration of underwater operations.

4. The classification of underwater objects by visual recognition only has a low degree of certainty, since shadows, algae, marine animals, etc. can be taken for the desired target. This reason is associated with cases of unjustified use of weapons and the consumption of limited ammunition.

5. The process of neutralizing the detected targets should be assessed as the bilateral use of weapons, since the composition of the equipment of underwater saboteurs necessarily includes special weapons that they use for self-defense. Therefore, as a result of underwater combat, one should expect human casualties, including from the defending side.

6. Since the aiming of weapons is carried out visually by a diver-shooter, the use of APS is limited by the range of underwater visibility, which does not allow to fully realize the potential capabilities of the machine.

7. The absence on board the carrier of technical means of observation, objective monitoring and documentation does not allow us to analyze the nature and validity of the actions of the system in question, and also to confirm the accuracy of the classification of detected objects and the results of the use of weapons.

Many of the disadvantages inherent in the analogue of the device are eliminated in the known design of the autonomous uninhabited underwater vehicle (AUV) AUSS, selected as a prototype. The movement of this underwater vehicle is ensured by a marching electric motor, maneuvering in the vertical and horizontal planes is carried out due to the operation of thrusters, compensation for residual buoyancy is achieved by filling or draining the ballast tank. The position of the AUV relative to the water surface and the bottom is monitored according to the depth gauge and echo sounder, safety against collisions with underwater objects is provided by the navigation echolocation system. The necessary accuracy of movement of the underwater vehicle along a given trajectory is provided by the navigation complex, which includes gyroscopic sensors for heading, roll, trim and angular speeds, Doppler sonar log and sonar navigation system. To examine the underwater environment, the AUV is equipped with front and side view sonars; a high reliability of the classification of detected objects is provided by a system of photo and television cameras. To improve the quality of photographs and television images, a gated illuminator is used. Parameters describing the movement of the AUV and the operation of its technical means, as well as photo and television materials are documented in the storage device of the on-board computer. To receive and transmit data and telecontrol commands via the sonar channel, the corresponding equipment is located on the underwater vehicle. The architecture of the AUV has a half-hull structure: the fore and aft ends form a light (water-permeable) body and are designed to accommodate sensors and actuators, the middle part is a solid sealed compartment with electronic devices and energy source batteries (Filaretov V.F., Alekseev Yu. K., Lebedev A.V. et al. Control systems for underwater robots. / Under the editorship of V.F. Filaretov. - M.: "All Year", 2001. - P.56-62).

Due to the fact that the AUSS AUV is designed to solve a limited range of research problems, it has the following disadvantages:

1. The lack of equipment that provides the reception and transmission of commands and information over the radio channel limits the operational radius of its operation relative to the external control station for the range of reliable sonar communication.

2. The lack of means of influence on underwater sabotage forces in the equipment does not allow neutralizing combat swimmers and hitting their vehicles.

A method of protecting a protected water area from underwater saboteurs and a device for its implementation, the sole technical task of which is the autonomous search and neutralization of combat swimmers, are declared as a group of inventions, free from the above disadvantages.

The implementation of the specified technical problem proposed by the group of inventions allows to achieve the following technical results:

1. Creation of a new device - an autonomous uninhabited underwater vehicle with control, navigation, detection, classification and destruction of underwater objects placed on it.

2. A significant increase in the effectiveness of the method of protecting the protected area from underwater saboteurs was achieved by:

- universality of application according to physical-geographical and environmental conditions due to the introduction of new technical means into the device, allowing to replace biologically dependent systems;

- a multiple increase in search performance through the use of hydroacoustic means of lighting underwater conditions;

- a significant increase in the duration of underwater operations due to the inclusion in the composition of the navigation complex of qualitatively new instruments providing high accuracy of positioning and orientation, which allows minimizing the frequency of surfacing to the surface for observations;

- increase the reliability of the classification of detected underwater objects, achieved through the integrated use of data obtained by sonar and optoelectronic surveillance tools;

- elimination of risks to the life and health of personnel traditionally involved in solving similar problems due to the complete robotization of the device;

- constructive protection of the elements of the payload and power plant from external influences by the rugged body of the underwater vehicle;

- the growth of striking potential due to quantitative and qualitative expansion of the composition, as well as an increase in the range of combat use of weapons;

- improving the control system of the device by minimizing the influence of subjective factors and using automatic means of technical control over its condition, behavior and results of actions.

The proposed method of protecting the protected water area from underwater saboteurs consists in examining the underwater environment and the bottom with hydroacoustic monitoring means placed on an underwater carrier moving along a predetermined path with bypassing obstacles. Upon detection of an object with hydroacoustic signs of underwater sabotage forces, the underwater vehicle approaches it and strikes the object using weapons.

The fundamental difference between the proposed method and the prototype is that, having approached the object, an autonomous uninhabited underwater vehicle performs a television survey, after which it transfers the entire set of its classification features to an external control station for analysis and decision-making for further actions, continuing to accompany the object. The integrated use of data obtained by various means of lighting the situation allows us to achieve high reliability classification of detected objects and greater validity of anti-sabotage actions.

Another difference of the proposed method from the prototype is the documentation of telemetric information and data of the lighting in the storage device of the on-board computer, which makes it possible to further improve the behavior control system of an autonomous uninhabited underwater vehicle and objectively evaluate its condition and the results of actions based on the analysis of data of automatic technical means control.

A distinctive feature of the proposed method from the prototype is that the analysis, decision on further actions and evaluation of their results on the basis of complex data from the lighting means of the environment is carried out by the operator of the external control station. This procedure allows you to reliably control the actions of an autonomous uninhabited underwater vehicle for the classification and destruction of underwater objects, while leaving responsibility for the decisions made by the appropriate personnel.

Unlike the analogue, the inventive method provides long-term tracking of the detected object by maintaining hydroacoustic contact with it, which allows you to continuously adjust and refine the data necessary for the effective use of weapons.

The inventive method of protecting a protected water area is implemented using a device that is an autonomous uninhabited underwater vehicle of a single-hull design with a mid-flight engine and propellers, steering devices, a dynamic positioning system, as well as autonomous energy sources. The payload of the claimed device includes:

- an on-board digital computer complex (BTsVK) with an information storage device that ensures the coordinated functioning of the technical equipment of an autonomous uninhabited underwater vehicle, the processing and accumulation of information;

- a navigation system that produces coordinates and motion parameters of the underwater vehicle;

- a navigation echolocation system and an immersion depth sensor that determine the position of the underwater vehicle relative to obstacles, the bottom and the water surface;

- means of communication for exchanging messages with an external control post;

- sector and side view sonars, providing detection and determination of parameters of underwater objects;

- television system, which is the main means of classification;

- sensors for measuring the hydrophysical parameters of the environment and monitoring the condition of the underwater vehicle;

- means of destruction of underwater sabotage forces.

Distinctive features of the claimed device relative to the prototype is the use as a means of communication of a radio station and a transceiver of a hydroacoustic communication and telecontrol system (GASS and TU), as well as the use of small torpedoes as means of destruction, secured by locks on the outside of the AUV and automatic underwater shooting installations ( APSS), placed in a housing with the possibility of extension for combat use and subsequent return to its original position. In contrast to the prototype, the navigation complex of the claimed device, instead of individual gyroscopic sensors, includes an inertial navigation system and, in addition, a receiver of satellite radio navigation systems.

The listed new set of essential features provides the following possibilities: application of the proposed method for protecting protected water areas from underwater saboteurs in various physical-geographical and environmental conditions by replacing biologically dependent systems with adaptive control equipment, search, classification and destruction of underwater objects; increase search performance through the use of sector and side view sonars; increase the time for continuous underwater operations by minimizing the number of surfacing to the surface for observations, achieved by increasing the accuracy of data generation by the navigation system; elimination of risks to life and health of personnel due to the complete robotization of the device; reliable protection of the elements of the payload and power plant from external influences by a robust housing; increasing striking potential due to an increase in the range of combat use of weapons according to target designation of sonar equipment and a change in the quantitative and qualitative composition of weapons. The presence in the inventive device of a mass storage device of high capacity provides documentation in a chronometric sequence of all parameters of telemetric control and data of lighting means for the entire working cycle of the underwater vehicle. The use of a navigation echolocation system allows the underwater vehicle to move safely in a given range of diving depths, detecting and avoiding obstacles in advance. The presence of a radio communication station increases the operational radius of the autonomous uninhabited underwater vehicle, and the equipment of the hydroacoustic communication system and telecontrol allows you to exchange messages with an external control station without the need for surfacing, which is especially important when operating the inventive device in ice conditions. Sensors of hydrophysical parameters of the medium allow continuous assessment of its condition, providing adaptive control of the movement of the underwater vehicle and the efficient use of communications, navigation and lighting. The armament of an autonomous uninhabited underwater vehicle with small torpedoes ensures the defeat of vehicles of combat swimmers, and the use of automatic underwater firing systems allows for a short period of time to intensively fire at several targets distributed in the sonar range.

The implementation of the proposed method and device for its implementation is illustrated by drawings, which depict:

- Fig.1 the sequence of actions of an autonomous uninhabited underwater vehicle while protecting a protected area from underwater saboteurs;

- figure 2 is a structural diagram of an anti-sabotage autonomous uninhabited underwater vehicle.

To achieve the technical result, the claimed method of protecting a protected area from underwater saboteurs is implemented as follows, as shown in figure 1.

Autonomous uninhabited underwater vehicle 1 moves along a given path 2, avoiding obstacles. During the movement, the AUV examines the aquatic environment and the bottom of the water area with hydroacoustic means 3 by echolocation. Having discovered an underwater object 4, the hydroacoustic characteristics and parameters of which correspond to the classification features of underwater sabotage forces, the AUV draws close to it for a range that provides high-quality images by television means. After making a television survey of the object 5, the underwater vehicle transmits a message 6 to the external control post 7 containing the telemetry parameters of the AUV and classification features, including the image of the detected target. After the transmission of the report, the underwater vehicle, remaining in a position that ensures the reception of commands from the control station, accompanies the 8 underwater object, maintaining reliable hydroacoustic contact with it. At the external control post, the received message is analyzed, the detected object is finally classified, and the operator decides on further actions of the underwater vehicle. In particular, the AUV may be given commands: "skip the object and continue to survey the designated area," "accompany the object and transmit data on it at the designated frequency," "attack and pursue the object with weapons" and so on. Upon receipt of a conditional signal 9 from an external control post authorizing the attack and pursuit of underwater sabotage forces, the AUV successively applies small-sized torpedoes 10 to the escorted object and, approaching the underwater saboteurs, fires at them with automatic installations 11. The pursuit of combat swimmers continues until the sonar contact with the moving ones is lost in water objects. After the end of the pursuit, the AUV examines the affected areas with hydroacoustic and television means 12. Then the underwater vehicle transmits to the external control post a message containing the entire amount of data received from the moment the command authorizing the attack and the pursuit of sabotage forces was completed until the examination of the affected areas was completed.

A device for implementing a method of protecting a protected area from underwater saboteurs is presented in figure 2, where are indicated:

1 - sector survey sonar;

2 - television system;

3 - meter relative speed;

4 - meter hydrophysical environmental parameters;

5 - thrusters of a dynamic positioning system;

6 - automatic installation of underwater shooting;

7 - small torpedo;

8 - receiver of satellite radio navigation systems;

9 - radio communication equipment;

10 - equipment sonar communication system and telecontrol;

11 - immersion depth sensor;

12 - autonomous energy source;

13 - marching electric motor;

14 - steering devices;

15 - stabilizers;

16 - propellers;

17 - engine control unit;

18 - equipment sonar navigation system;

19 - meter absolute speed;

20 - inertial navigation system;

21 - side-scan sonar;

22 - on-board digital computer complex (BTsVK);

23 - navigation echolocation system;

24 - strong case.

The inventive autonomous uninhabited underwater vehicle is a technical system of a torpedo structure. A single hermetically sealed, streamlined body 24 is formed by compartments rigidly articulated between each other by clinch-clamp bandage joints. The shell of the sturdy hull supported by the frames provides protection of the majority of the payload elements and the power plant from the influence of external factors caused by the specifics of the operation of the AUV (hydrostatic and hydrodynamic pressure, moisture, impacts on the ground or ice, underwater explosions, etc.). Conventionally, the body of the underwater vehicle is divided into three main parts: a rounded front, a cylindrical middle and a conical stern. In the front of the underwater vehicle there are cameras and illuminators of the television system 2, a relative speed meter 3, hydrophysical environment sensors 4, an echo-location navigation system 23 and a sector-based sonar 1, the antenna device of which is placed outside the rugged housing and covered by an acoustically transparent fairing. A receiver of satellite radio navigation systems 8, radio communication equipment 9, a hydroacoustic communication and telecontrol system 10 and a hydroacoustic navigation system 18, an immersion depth sensor 11, energy source batteries 12, an absolute speed meter 19, an inertial navigation system 20 are located in the middle part inside the solid AUV housing , side-scan sonar 21 and on-board digital computer complex 22. Here, but outside the durable case, within its outer contours, are retractable vehicles 6 tower-type underwater armament systems with extension and guidance drives in vertical and horizontal planes. Small torpedoes 7 are mounted on the outside of the cylindrical part of the sturdy hull by means of locks. In the aft part of the underwater vehicle there are a marching electric motor 13 with a control unit 17 connected via a shaft line with coaxial propellers 16, as well as steering devices 14, whose dynamic elements (rudders) are located in the planes of the stabilizers 15. Between the main parts of the body are horizontal, and in midship area - vertical thrusters of 5 tunnel type.

The device operates as follows. An autonomous uninhabited underwater vehicle moves along a predetermined path due to the operation of the marching electric motor 13 onto the propellers 16. The modes and speed of movement are changed by the control signal BCVK 22, which enters the electric motor control unit 17. Block 17 controls the frequency of rotation of the electric motor 13 by changing the voltage of the energy source 12. The AUV maneuvering along the course, depth and angle of the trim is carried out by changing the position of the rudders 14 according to the commands of the BCVK 22, launched on the basis of a given program or adaptively to the prevailing conditions (the appearance of an obstacle, deviation from the trajectory, change in the state of the environment). High accuracy of movement along a given trajectory and orientation of the AUV under water is achieved through the integrated use of data generated by the inertial navigation system 20 (geographical coordinates, course, speed, roll and trim angles, angular speeds), corrected by the readings of relative 3 and absolute 19 speed meters , as well as the receiver of satellite radio navigation systems 8 and the equipment of the hydroacoustic navigation system 18. This approach to navigation support allows minimizing Rowan frequency surfacing AUV for observation and, thus, increase the overall duration and continuity of underwater operations. In order to accurately maintain the location relative to any objects at extremely low speeds, the AUV is equipped with a dynamic positioning system consisting of vertical and horizontal thrusters 5. Movement of the underwater vehicle in two planes and horizontal rotation in the “freeze” mode are achieved by changing the corresponding thrust vectors created in tunnels during rotation of the propellers by shunting motors. The environmental parameters continuously measured by the sensor 4 (density, salinity, temperature, and speed of sound) are processed by the on-board computer complex 22 and are used in the future for adaptive control of the movement of the underwater vehicle and the effective use of hydroacoustic search, communication, and navigation tools. The navigation echolocation system 23 emits sounding pulses in several directions and determines the distance to obstacles from the time of arrival of signals reflected from underwater objects and the boundaries of the separation of media. The data obtained is fed to BCVK 22, which, if necessary, corrects the AUV trajectory for evading a collision. This allows the underwater vehicle to safely sail in the complex operational, navigational, hydrographic and climatic conditions that are characteristic of inland waters and coastal waters. The sector-based sonar 1 probes the environment, and the side-scan sonar 21 is the bottom of the water area in order to detect underwater objects at distances significantly exceeding the range of visibility under water. The signals received and received by sonar stations 1 and 21, reflected and emitted by the detected objects, are processed and analyzed in order to extract characteristic features, which are then transmitted to the BCVK 22 for classification by comparison with reference parameters. The use of sector 1 sonar and side 21 sonar as part of the AUV allows, thus, repeatedly increasing search performance and previously recognizing objects with signs of sabotage forces. A high degree of reliability of the classification of underwater objects is achievable in the presence of appropriate species characteristics. To receive them, the AUV has a television system 2, consisting of several transmitting cameras and gated illuminators, which are designed to improve the quality of television images. BTsVK 22 generates a message containing telemetric parameters and the entire complex of data about the object, for transmission to an external control post. Messages are transmitted via sonar or radio channel. The GASS and TU 10 equipment is used when the AUV is removed from the external control station by a distance not exceeding the range of reliable hydroacoustic communication, or in conditions where the use of the radio channel is difficult or impossible, for example, in the presence of solid ice. In this case, the area of operation of the underwater vehicle is limited by the range of reliable sonar communication or is equipped with additional sonar transceivers that provide two-way relay of messages. A significant increase in the operational radius of the AUV, as well as the volume and speed of message reception and transmission, is facilitated by the use of radio communication equipment 9. To conduct a radio communication session, the underwater vehicle needs to float to the water surface and raise the ultra-short-wave antenna. Upon receipt of a conditional signal authorizing the attack and the pursuit of sabotage forces, the AUV immediately uses small-sized torpedoes 7 or automatic underwater firing systems on them 6. Placing several different types of weapons on the underwater vehicle significantly increases its striking potential and selectivity. The choice of weapons is carried out BTsVK 22 based on the type of target being attacked and the position taken. Small-sized torpedoes 7 are fired at by underwater means of saboteurs and groups of combat swimmers from a position safe from AUV defeat when their own ammunition explodes. In preparation for torpedo firing, the BTsVK 22, according to sonar data 1 or 21, develops the necessary parameters that specify the trajectory of the small-sized torpedoes 7 that are introduced into the weapon via a cable communication line. According to the conditional signal BTsVK 22 locks release a small-sized torpedo, at the same time its engine starts, and it begins to move toward the target along a predetermined path. Automatic underwater shooting installations 6 are used both for single saboteurs and groups of combat swimmers from a position that ensures the reach of weapons. Before the combat use of the anti-aircraft missile launcher 6 is advanced from the mines and guided by electric drives to the fired targets according to sonar data 1 or 21, which allows you to significantly increase the range of the combat use of these weapons. The placement and design of AUPS 6 allows you to fire simultaneously at several targets located in different directions relative to the AUV both in the upper and lower hemispheres of space. After firing, the automatic installation of underwater shooting 6 are brought to their original position. At the end of the pursuit of saboteurs, the BCVK 22 calculates a new trajectory of the underwater vehicle in such a way as to examine the affected areas to establish the results of the combat use of weapons. The survey is carried out with the simultaneous use of sonar equipment 1, 21 and television system 2. Upon completion, BTsVK 22 generates a message containing all the information stored in the storage device for the period from the moment the team authorizes the attack and the pursuit of sabotage forces until the end of the inspection of the affected areas . Due to the large volume of the message, its transmission is carried out mainly over the air.

The claimed invention - a method of protecting a protected area from underwater saboteurs and a device for its implementation - has the following advantages:

- universality of application according to physical-geographical and environmental conditions, elimination of risks to the life and health of personnel;

- Efficiency of deploying a full-fledged protection system in unequipped water areas from any craft equipped with appropriate equipment and cargo devices;

- high efficiency of use due to the increase in search performance, the duration of underwater operations, the reliability of the classification of detected objects, the striking potential and the protection of the device from external influences;

- the possibility of continuous improvement of the management system based on an analysis of a wide range of documented data of technical control tools;

- the possibility of establishing mass mass production.

The inventive method and device are industrially applicable, since their implementation uses widespread components and products of the industry.

Claims (8)

1. A way to protect the protected area from underwater saboteurs, consisting in the fact that an autonomous uninhabited underwater vehicle moves along a predetermined path, avoiding obstacles, and examines the designated area using echolocation, after detecting an underwater object whose hydroacoustic characteristics correspond to signs of sabotage forces, approaches it and strikes him, using a weapon, characterized in that, having approached the object, an autonomous uninhabited underwater vehicle performs television shooting and transmits the classification ikacionny signs of the object to an external control post for analysis and decision on further actions, while an autonomous uninhabited underwater vehicle accompanies the object. 2. The method according to claim 1, characterized in that at all stages of the method, an autonomous uninhabited underwater vehicle documents the telemetry parameters and data of the lighting equipment in the storage device of the on-board computer. 3. The method according to claims 1 and 2, characterized in that the analysis, decision-making on further actions and the assessment of their results on the basis of complex data from the lighting means of the situation is carried out by the operator of the external control station. 4. The method according to claim 1, characterized in that the autonomous uninhabited underwater vehicle accompanies the object, maintaining hydroacoustic contact with it. 5. Autonomous uninhabited underwater vehicle to protect the protected area from underwater saboteurs, containing a single robust hull, propulsion system, dynamic positioning system, vertical and horizontal steering devices, an autonomous energy source, control, communication, navigation, detection and classification of underwater objects , as well as their means of destruction, characterized in that as a means of communication used radio and sonar communication stations, and as a means of destruction applied to small-sized torpedoes and automatic installation of underwater shooting. 6. The device according to claim 5, characterized in that the small torpedoes are fixed by means of locks on the outside of the housing of an autonomous uninhabited underwater vehicle. 7. The device according to claim 5, characterized in that the automatic installation of underwater shooting is located in the housing of an autonomous uninhabited underwater vehicle with the possibility of extension for combat use and subsequent return to its original position. 8. The device according to claim 5, characterized in that the inertial navigation system and the receiver of satellite radio navigation systems are additionally included in the navigation complex.

Images