RU2297641C1 - Radio hydro-acoustic device for remote disconnection of underwater product and for monitoring its position on sea surface - Google Patents

Abstract

FIELD: hydro-acoustic equipment, possible use in remote control hydro-acoustic systems, and also in hydro-acoustic remote control subsystems.

SUBSTANCE: radio hydro-acoustic device for remote disconnection of underwater product and for monitoring its location of sea surface contains command 1 and executive 2 blocks. Command block 1 includes: channel 3 for emitting hydro-acoustic encoded broadband control signals, generator 9 of encoded broadband control signals, including modulating code generator 9.2, set-point generator 9.1 and phase manipulator 9.3. Executive block 2 contains channel 6 for receiving hydro-acoustic encoded broadband control signals, which includes multiplexers 38.1 and 38.2, narrowband filter 38.3 and low frequency filter 38.4. Complex signals with phase modulation are used as encoded hydro-acoustic control signals.

EFFECT: increased reliability of control over executive block.

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Description

The proposed device relates to the field of sonar technology and can be used in sonar remote control systems, as well as in subsystems of sonar remote control.

Known radio-acoustic devices for remote disconnection of an underwater product and monitoring its location on the sea surface (RF patents No. 2099748, 2128350, 2167430; US patent No. 4905210; patent EP No. 123648; Borovikov PN, Samarsky VN Underwater equipment for offshore oil fields . - L.: Shipbuilding, 1984; Vishnyakov VA, Merenov IV Deep-sea diving equipment. - L.: Shipbuilding, 1982; Problems of research and development of the oceans. - L.: Shipbuilding, 1979 and others).

Of the known devices, the closest to the proposed one is a "radio-acoustic device for remote disconnection of an underwater product and monitoring its location on the sea surface" (RF patent No. 2167430, G 01 S 3/00, 2000), which is selected as a prototype.

The specified device contains a command and an executive unit, while the command unit includes: a channel for emitting hydro-acoustic encoded broadband control signals, a channel for receiving a radio signal and a channel for measuring the current distance, and an executive unit includes: a channel for receiving hydro-acoustic encoded broadband control signals, a performance channel control signal and the channel of the radiation of the radio signal. The combination of these features provides the ability to remotely disconnect the underwater product, visually indicate its location, with high accuracy to determine the distance between the vessel and the executive unit.

An object of the invention is to increase the reliability of control of the Executive unit by using complex signals with phase shift keying.

The problem is solved in that in a radio-acoustic device for remotely disconnecting an underwater product and controlling its location on the sea surface containing a command and an executive unit, the command unit includes a channel for emitting hydro-acoustic encoded broadband control signals, a radio signal receiving channel, and a current measuring channel distance, and the Executive block includes a channel for receiving hydroacoustic encoded broadband control signals, channel l execution of the control signal and the radiation channel of the radio signal, while the radiation channel of the hydroacoustic encoded broadband control signals of the command unit contains a series-electrically connected encoding generator of broadband control signals, a power amplifier and a hydroacoustic emitter of encoded broadband control signals, the radio signal receiving channel contains a series of electrically connected receiving antenna and radio, response signal passed through the device Your signal processing channel for receiving the radio signal is fed to the second input of the distance strobe generator, the current distance measuring channel contains a serially connected timer, a request signal generator, a delay line, a distance strobe generator, a key, a binary decimal counter and an indicator of the current distance, a counting pulse generator is connected to the second input of the key, the encoder of the broadband control signals starts the timer of the channel for measuring the current distance, The receiver of hydroacoustic encoded broadband control signals of the executive unit contains a serially connected electrically connected hydrophone and amplifier, a serially connected decryptor of encoded broadband control signals and an electromagnetic relay, which is the output of this channel, an electronic switch and a mechanical disconnect connected to the output of the electromagnetic relay in parallel to each other, the channel the execution of the control signal contains in series electrically connected e synchronizer and an electronic key, while the synchronizer uses the electronic key of the control signal execution channel to connect a high-capacity repeatedly rechargeable battery to the radio transmitter, the radio signal emission channel contains serially connected radio transmitter and radio transmitter antenna, flashing beacon and halyard, at the same time, when the executive unit ascends to the flashing beacon turns on the sea surface, and the electric power supply to the amplifier, decoder and electronic key is continuously, a radio transmitter - periodically, a flashing beacon - only after the executive unit has ascended to the sea surface, using a high-capacity and repeatedly rechargeable battery, while the electronic elements of all channels of the executive unit are placed in an airtight compartment, and is used to turn on the signal reception unit in standby mode an external removable key connected to a mechanical circuit breaker; in the command unit, an adjustable delay line is used as a delay line; A plastic case of a given shape with its own positive buoyancy is used as an airtight compartment in the indoor unit, and the necessary reserve of the halyard is fastened around the plastic case, using the amplifier, signals are amplified at characteristic frequencies F ₂ - for the accumulation of crabs, F ₃ - for the accumulation of fish, F ₄ - for acoustic underwater earthquake omen, and decoder hydroacoustic signals produced their decoding, output from the decoder hydroacoustic signals delivers a control signal using an electromagnetic relay, while the hydroacoustic signal decoder is electrically powered continuously using a high-capacity and repeatedly rechargeable battery, at the moment the actuator unit ascends to the sea surface, a false lamp is triggered, the encoder of the broadband control signals is made in the form of a modulator code generator and a phase manipulator connected in series, the second input of which is connected to the output of the master oscillator, and the output is connected to the input of the force dividing power, while the second output of the modulating code generator is connected to the timer input, the channel for receiving hydroacoustic encoded broadband control signals is equipped with a first multiplier connected in series to the amplifier output, the second input of which is connected to the output of the low-pass filter, a narrow-band filter, and a second multiplier, the second input of which connected to the output of the amplifier, and a low-pass filter, the output of which is connected to the inputs of the decoders of the encoded broadband control signals I and hydroacoustic signals, moreover, complex phase-shift signals are used as hydroacoustic coded wideband control signals.

Structural diagrams of the device are presented in FIGS. 1 and 2. Timing diagrams explaining the operation of the device are shown in FIGS. 3 and 4.

The device contains a command 1 and executive 2 blocks. At the same time, the command unit 1 includes: channel 3 of the radiation of the hydroacoustic encoded broadband control signals, channel 4 of receiving the radio signal and channel 5 of measuring the current distance. The emission channel 3 of the hydroacoustic encoded broadband control signals comprises a series-electrically connected generator 9 of encoded broadband control signals, a power amplifier 10 and a hydroacoustic emitter 11 of encoded broadband control signals. The generator 9 of encoded broadband control signals is made in the form of a series-electrically connected modulator code generator 9.2 and a phase manipulator 9.3, the second input of which is connected to the output of the master oscillator 9.1, and the output is connected to the input of the power amplifier 10.

The channel 4 for receiving a radio signal contains a series-electrically connected receiving antenna 12, a radio 13 and a response signal processing device 14.

Channel 5 measuring the current distance contains a series-electrically connected timer 15, the input of which is connected to the second output of the shaper 9.2 modulating code, the generator 16 of the request signals, an adjustable delay line 17, the shaper 18 of the distance strobe, the second input of which is connected to the output of the device 14 for processing response signals, a key 19, the second input of which is connected to the output of the counter pulse generator 22, a binary-decimal counter 20, and an indicator 21 of the current distance.

The Executive unit 2 includes a channel 6 receiving hydroacoustic encoded broadband control signals, channel 7 execution of the control signal and channel 8 of the radiation of the radio signal.

The channel 6 for receiving hydroacoustic encoded broadband control signals contains a serially electrically connected hydrophone 23, an amplifier 24, a demodulator 38, a decoder 25 of encoded broadband control signals, an electromagnetic relay 26, the second input of which is connected to the output of the demodulator 38 through a decoder 27 of the hydroacoustic signals, and a mechanical switch 30 .

The demodulator 38 comprises a first multiplier 38.1 connected in series to the output of the amplifier 24, the second input of which is connected to the output of the low-pass filter 38.4, a narrow-band filter 38.3, a second multiplier 38.2, the second input of which is connected to the output of the low-pass amplifier 24, and a low-pass filter 38.4, the output of which is the output of the demodulator and connected to the inputs of the decoders 25 and 27.

The control signal execution channel 7 contains a serially connected synchronizer 28 and an electronic key 29, which is the output of this channel.

The radiation channel 8 of the radio signal includes a series-electrically connected radio transmitter 31, to the input of which an electronic key 29 is connected, and a radio transmitting antenna 32.

In this case, the electric power supply of the amplifier 24, decoders 25 and 27, the electromagnetic relay 26, the synchronizer 28 and the electronic key 29 is carried out continuously using a high-capacity and repeatedly rechargeable battery 33, the radio transmitter 31 periodically, the flashing beacon 34 only after the actuator 2 has surfaced seas. The executive unit 2 also contains a flashing beacon 34, a battery 33, an external removable key 35 connected to the mechanical disconnector 30 and including the executive unit 2 in standby mode, a raised eye 36 used for more effective visual control of the location of the executive unit 2 on the sea surface, and the necessary the reserve of the halyard 37, fastened around a sealed plastic case of a given shape of the actuator unit 2.

The device operates as follows.

In command block 1, the shaper 9.2 of the modulating code sets the code M (t) (Fig.4.b), corresponding to the number of the selected execution unit 2, which is fed to the first input of the phase manipulator 9.3. To the second input of the latter is fed sound vibration (figure 4, a)

u _c (t) = U _c cos (2πf _c t + φ _c ), 0≤t≤T _c ,

where U _c , f _c , φ _c , T _c - amplitude, carrier frequency, initial phase and duration of sound vibration,

from the output of the master oscillator 9.1. At the output of the phase manipulator 9.3, a complex signal with phase shift keying (QPSK) is generated (encoded broadband control signal) (Fig.4.c)

u ₁ (t) = U _c · cos [2πf _c t + φ _k (t) + φ _c ], 0≤t≤T _c ,

where φ _k (t) = {0, π} is the manipulated component of the phase, which displays the law of phase manipulation in accordance with the modulating code M (t) (Fig. 4, b), and φ _k (t) = const for kτ _e < t <(k + 1) τ _e , and can change abruptly at t = kτ _e , i.e. on the boundaries between elementary premises (k = 1, 2, ..., N);

τ _e , N - the duration and number of chips that make up a signal of duration T _c (T _c = N · τ _e ),

which is fed to the input of the power amplifier 10 and amplified to the required level, and then using the hydroacoustic emitter 11 non-directionally, including towards the executive unit 2, a hydroacoustic encoded broadband control signal (complex QPSK signal) is emitted at a frequency of F ₁ = fc (figure 2).

At the same time, the modulating code generator 9.2 starts the timer 15 of the channel 5 for measuring the current distance. The latter controls the operation of the generator 16 query signals.

A complex QPSK signal U ₁ (t) is periodically emitted into the aqueous medium, while the period of the request signals determines the rate of receipt of data on the current distance to the executive unit 2.

In the channel 6 receiving hydroacoustic encoded broadband control signals using a hydrophone 23 is the reception of a complex PSK signal U ₁ (t) at a frequency of F ₁ . In the amplifier 24, this signal is amplified to the required level, which is fed to the input of the demodulator 38 of the received QPSK signal. The latter consists of multipliers 38.1 and 38.2, a narrow-band filter 38.3 and a low-pass filter 38.4.

The second input of the multiplier 38.2 from the output of the narrow-band filter 38.3 is supplied with a reference voltage (figure 4, g)

u ₀ (t) = U ₀ · cos (2πf _s t + φ _s ), 0≤t≤T _s .

The output voltage of the multiplier 38.2

u _∑ (t) = U _H · cosφ _k (t) + U _H · cos [4πf _c t + φ _k (t) + 2φ _c ],

Where

K ₁ - gear ratio of the multiplier.

From the resulting total voltage of the low-pass filter 38.4 is allocated a low-frequency voltage (figure 4, d)

u _H (t) = U _H cosφ _k (t), 0≤t≤T _c ,

which goes to the second input of the multiplier 38.1. At the output of the latter a harmonic voltage is generated (Fig. 4, d)

u ₀ (t) = U ₁ · cos (2πf _c t + φ _c ) + U ₁ · cos [2πf _c t + 2φ _k (t) + φ _c ] = 2U ₁ · cos (2πf _c t + φ _c ) = U ₀ cos (2πf _c t + φ _c ),

; 2U₁=U₀,Where

; 2U ₁ = U ₀ ,

which is used as a reference voltage and is fed to the second input of the multiplier 38.2. In this case, the demodulator 38 QPSK signals operates in two modes: transitional (initial) and stable (operational). When you turn on the power in the demodulator 38 there are transients, which are characterized by the presence of a large number of harmonic components, in which there is harmonic oscillation at a frequency f _c . This oscillation is distinguished by a narrow-band filter 38.3 and is fed to the second input of the multiplier 38.2. After capturing harmonic oscillations at a frequency f _{c, the} demodulator 38 switches to the stable operation mode described above.

Therefore, the reference voltage necessary for synchronously detecting the received complex QPSK signal is extracted directly from the received signal itself. In this case, the demodulator 38 is free compared to other demodulators (Pistolkors A.A., Sidorov V.I., Travina G.A., Kostas D.F.), which also provide the selection of the reference voltage directly from the received QPSK signal from the phenomenon of "reverse work" and allows you to reliably extract the modulating code M (t) from the received PSK signal.

In the decoder 25, the compliance of the modulating code M (t) with the established code is checked. From the output of the decoder 25, the control signal is supplied to the electromagnetic relay 26 and then to the mechanical disconnector 30, which disconnects the Executive unit 2 from the underwater product.

In parallel, using a hydrophone 23 of channel 6 for receiving hydro-acoustic encoded broadband control signals, signals are received depending on the scope of the device (for example, signals at characteristic frequencies: F ₂ - for the accumulation of crabs, F ₃ - for the accumulation of fish, F ₄ - for acoustic "harbinger" of an underwater earthquake, etc.). The decoder 27 decrypts the signals at frequencies F ₂ , or F ₃ , or F ₄ , etc. From the output of the decoder 27, the control signal is supplied to the electromagnetic relay 26, which actuates the mechanical switch 30. After mechanical disconnection from the underwater product, the actuating unit 2, due to its positive buoyancy, begins to float to the sea surface, while the reserve of the halyard 37, previously unfastened, is unwound on the plastic case of a certain form of the actuating unit 2. At the time of the ascent of the actuating unit 2 to the surface of the sea, a flashing beacon 34 is turned on, the false EEP 36 and carried visual search execution unit 2.

If the code group of the signal matches the established code, the decoder 25 starts the synchronizer 28, which, using the electronic key 29 of the control signal execution channel 7, connects the high-capacity and rechargeable battery 33 to the radio transmitter 31. The period and time diagram of the connections correspond to the rate of requests for updating data on the current value distance. In this case, the main function of the synchronizer 28 is to turn on the radio transmitter 31 for a certain time interval before the next request signal relayed over the radio channel arrives. The value of this interval is determined by the time of establishment of transients in the system "radio transmitter - receiver". Synchronization is carried out automatically by each next request signal.

The measurement of the current distance is carried out using the shaper 18 strobe distance. At its first (triggering) input from the output of the adjustable delay line 17, at the same time as the radiation of the hydroacoustic encoded broadband control signal enters the aqueous medium, a request signal is received.

The response signal of the Executive unit 2, having a delay for the propagation time of the sound wave, re-emitted over the radio channel, received by the radio antenna 12 and the radio 13, and also passed through the device 14 for processing the response signals of the channel 4 of the radio signal, is fed to the second (stop) input of the shaper 18 strobe distance. Thus, an impulse (strobe) is formed with a duration proportional to the current distance from the sonar emitter 11 of the command unit 1 to the radio transmitting antenna 32 of the executive unit 2 of this device (Fig. 3, b).

Due to the inevitable delays that occur when the signal passes through the filtering circuits and threshold circuits, a systematic error accumulates in determining the current distance. To eliminate it, a node is used that is functionally an adjustable delay line 17. In addition, its use in the channel 5 for measuring the current distance allows it to be pre-calibrated when the distance strobe “adjusts” to a fixed distance between command 1 and executive 2 blocks and Systematic instrument error is “compensated”.

Recalculation of the strobe duration into the value of the current distance is carried out using a generator 22 counting pulses, the repetition rate of which is set numerically equal to the speed of sound in the marine environment. The sequence of counting pulses through the key 19, closed for the duration of the strobe duration, is fed to the input of the binary decimal counter 20. In this case, the counting result, which is the value of the current distance, is displayed on the indicator 21 of the current distance.

If several interrogation signals are missed (end of operation), the synchronizer 28 returns the executive unit 2 to the standby (micropower) mode and the connection of the radio transmitter 31 to the battery 33 is terminated.

After lifting the actuator unit 2 on board the vessel, if necessary, the high-capacity and repeatedly rechargeable battery 33 is recharged or with the help of an external removable key 35 connected to the mechanical disconnector 30, the device is prepared for further work.

Figure 2, 3, and presents a test circuit for a radio-acoustic device when receiving encoded broadband control signals at a frequency F ₁ of crab cluster signals at a frequency of F ₂ , fish clusters at a frequency of F ₃ , an explosive source that simulates an acoustic “precursor” of an underwater earthquake, at a frequency of F ₄ .

Thus, the proposed device in comparison with the prototype provides increased reliability of control of the Executive unit. This is achieved by using complex phase shift keyed signals.

These signals open up new possibilities in the management of the executive unit. They allow you to apply a new type of selection - structural selection. This means that there is a new opportunity to separate signals operating in the same frequency band and at the same time intervals.

From the point of view of detection, complex QPSK signals have high energy and structural secrecy.

The energy secrecy of these signals is due to their high compressibility in time and spectrum with optimal processing, which reduces the instantaneous radiated power. As a result, a complex QPSK signal at the receiving point may be masked by noise and interference. Moreover, the energy of a complex QPSK signal is by no means small; it is simply distributed over the time-frequency domain so that at each point of this region the signal power is less than the power of noise and interference.

The structural secrecy of complex QPSK signals is due to the wide variety of their shapes and significant ranges of parameter changes, which makes it difficult to optimize or at least quasi-optimal processing of complex QPSK signals of an a priori unknown structure in order to increase the sensitivity of the receiver.

Claims (1)

A radio-acoustic device for remotely disconnecting an underwater product and controlling its location on the sea surface, containing a command and an executive unit, the command unit comprising a channel for emitting hydro-acoustic encoded broadband control signals, a radio signal receiving channel and a channel for measuring the current distance, and an executive unit includes a channel for receiving hydroacoustic encoded broadband control signals, a channel for executing a control signal, and a channel a radio signal, the channel for emitting hydroacoustic encoded broadband control signals of the command unit contains a series-connected electrically-encoded generator of encoded broadband control signals, a power amplifier and a hydro-acoustic emitter of encoded broadband control signals, the channel for receiving a radio signal contains a series-connected electrically connected receiving antenna and radio receiver, a response signal transmitted through the channel response signal processing device when the radio signal, is fed to the second input of the distance strobe generator, the current distance measuring channel contains a serially connected timer, a request signal generator, a delay line, a distance strobe generator, a key, a binary-decimal counter and an indicator of the current distance, while connected to the second input of the key generator of counting pulses, the generator of encoded broadband control signals starts the timer of the channel for measuring the current distance, the channel for receiving hydroacoustic encoded w The IKW control signal of the executive unit contains a series-connected electrically connected hydrophone and amplifier, a series-connected electrically encoder of the encoded broadband control signals and an electromagnetic relay that is the output of this channel, an electronic key and a mechanical disconnector connected to the output of the electromagnetic relay in parallel to each other, the control signal execution channel contains serially connected synchronizer and electronic key, while the synchronizer, using the electronic key of the control signal execution channel, connects a high-capacity and repeatedly rechargeable battery to the radio transmitter, the radio signal emission channel contains serially connected radio transmitters and radio transmitting antennas, a flashing beacon and a halyard, and at the moment the executive unit ascends to the sea surface, a flashing beacon is turned on, and the electric power of the amplifier, decoder and electronic key is carried out continuously, the radio transmitter - per iodically, a flashing beacon - only after the executive unit has ascended to the sea surface using a high-capacity and repeatedly rechargeable battery, while the electronic elements of all channels of the executive unit are placed in an airtight compartment, and an external removable key is used to turn on the signal receiving unit in standby mode, connected to mechanical breaker, in the command unit as an delay line an adjustable delay line is used, in the executive unit as a sealed compartment a plastic case of a given shape is used, which has its own positive buoyancy, and the necessary reserve of the halyard is unfastened around the plastic case, the amplifier amplifies the signals at characteristic frequencies F ₂ - for the accumulation of crabs, F ₃ - for the accumulation of fish, F ₄ - for an acoustic forerunner underwater earthquakes, and in the decoder of hydroacoustic signals, they are decrypted, from the output of the decoder of hydroacoustic signals, the control signal is supplied to an electromagnetic relay, while The hydroacoustic signal decoder is powered continuously using a high-capacity and repeatedly rechargeable battery; at the moment the actuator unit ascends to the sea surface, a raised beam is triggered, characterized in that the generator of encoded broadband control signals is made in the form of sequentially connected modulator code generator and phase manipulator, the second input of which connected to the output of the master oscillator, and the output is connected to the input of the power amplifier, while m the second output of the modulating code generator is connected to the timer input, the channel for receiving hydroacoustic encoded broadband control signals is equipped with a first multiplier connected in series to the amplifier output, the second input of which is connected to the low-pass filter output, a narrow-band filter, and a second multiplier, the second input of which is connected to the amplifier output , and a low-pass filter, the output of which is connected to the inputs of the decoders of the encoded broadband control signals and hydroacoustic signals being encoded as a wideband sonar uses complex control signals with a phase shift keying signals.

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