RU2381518C2 - Underwater positioner - Google Patents

Abstract

FIELD: measuring technology.

SUBSTANCE: invention refers to positioners and can be applied in executing underwater engineering work, measurements, surveying and underwater identification. The effect is ensured by introduction into a track of an auxiliary antenna, a satellite signal receiver, a locking signal shaper, a transmitter, two switches, two return signal receivers, combined and receiving acoustic signal antennas. The satellite signal receiver enables measuring rolling and pitching motions of a vessel that ensures reduction of the underwater position error. All signals of the device are formed of high-stable reference frequency generated by the satellite signal receiver. The return signal direction of arrival is determined by the interferometer method. The offered device provides underwater positioning with an error not exceeding tenths of metre.

EFFECT: higher accuracy of underwater positioning.

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Description

The present invention relates to devices for researching and determining the coordinates of underwater objects.

The invention can be used in underwater operations, surveys, search and identification of underwater objects, in marine archaeological research, etc.

A known device is an echo sounder containing a series-connected microcontroller, transmitter, receiver and an analog-to-digital converter, the output of which is connected to a microcontroller, as well as an electro-acoustic converter connected to a transmitter and a receiver, a display whose input is connected to a microcontroller, a temporary automatic gain control unit, an input which is connected to the microcontroller, and the transmitter is made with stepwise adjustment of power, the adjustment input of which is connected to the microcontroller, the receiver is made with two gain control inputs, the first control input providing step-by-step gain control is connected to the microcontroller, and the second control input is connected to the output of the temporary automatic gain control unit [1].

The disadvantages of this device are the ability to measure the coordinates of only one point under water and the increased error of depth measurement due to the inability to determine the side and keel pitch of the vessel during the measurement process.

There is also known a device for determining the coordinates of the actuator of a surface object, containing n navigation satellites, a control and correction station, comprising a series-connected first receiving antenna, a first satellite signal receiver, a corrector calculator, designed to generate corrections of radio navigation parameters for each of the navigation satellites, the first a modulator, a transmitter of corrective information and a first transmitting antenna, a calculator of reference values for navigation parameters based on the reference coordinates of the phase center of the first receiving antenna and the ephemeris of each of the navigation satellites connected to the second input of the corrections calculator, a buoy station, including a second receiving antenna, a second satellite signal receiver, a second modulator, a transmitter and a second transmitting antenna, and surface mobile station including series-connected receiving antenna of corrective information, receiver of corrective information and demodulated , a third satellite signal receiving antenna and a third satellite signal receiver, a fourth satellite signal receiving antenna and a fourth satellite signal receiver, a computing unit for calculating the coordinates of objects in a horizontal coordinate system and their depth relative to the water level and a control unit connected to it and indication so that its control output is one of the inputs, and the information input is the first of the outputs of the specified computing unit, while the outputs of the demodulator, t and its fourth satellite signal receivers are connected respectively to the second, third and fourth inputs of said computational unit [2].

A disadvantage of the known device, adopted as a prototype of a device for determining the coordinates of underwater objects, is the inability to determine the coordinates of more than one point under water and reduced accuracy due to the impossibility of measuring the side rolling of the vessel.

The basis of the invention is the task of increasing the accuracy of determining the coordinates of underwater objects.

The problem is solved in that in a device for determining the coordinates of underwater objects containing n navigation satellites, a control and correction station including a series-connected first receiving antenna, a first satellite signal receiver, said corrector, a first modulator, a correction information transmitter and a first transmitting antenna , said calculator of reference values of radio navigation parameters connected to a second input of said calculator of corrections, buoy st a station including a second receiving antenna, a second satellite receiver, a second modulator, a transmitter and a second transmitting antenna, and a surface mobile station including a correction information receiving antenna, a correction information receiver and a demodulator, a third satellite receiving antenna and a third receiver satellite signals, a fourth satellite receiving antenna and a fourth satellite signal receiver, said computing b ok and the control and indication unit connected to it so that its control output is one of the inputs, and the information input is the first of the outputs of the specified computing unit, while the outputs of the demodulator, third and fourth satellite signal receivers are connected to the second, third and fourth, respectively the inputs of the specified computing unit, according to the invention, the surface mobile station further comprises a driver of synchronizing signals, a transmitter, the first and second antenna switches, the first the second receivers of the reflected signals, the transmitting and receiving antennas of the acoustic signals, and the fifth receiving antenna of the satellite signals and the fifth satellite signal receiver, which is connected to the fifth input of the specified computing unit by the first output, and the second output of the specified computing unit is connected to the first input of the clock generator, which is connected in series the second input is connected to the second output of the fifth receiver of satellite signals, one of the outputs of the synchronizer signal is connected to the first inputs of the first and second reflected signal receivers, the second output is connected to the first input of the second antenna switch, the third output is connected to the first input of the first antenna switch, and the fourth output is a synchronization signal generator connected to the input of the transmitter, the output of which is connected to the second input the first antenna switch, whose first output is connected to the transceiver antenna of the acoustic signals, and its second output is connected to the second input of the first the receiver of the reflected signals, the second antenna switch is connected by a second input to the receiving antenna of the acoustic signals, and the output is connected to the second input of the second receiver of the reflected signals, while the outputs of the first and second receivers of the reflected signals are the sixth and seventh inputs of the specified computing unit.

The invention is illustrated by the accompanying drawings, in which: figure 1 shows a structural diagram of a device for determining the coordinates of underwater objects; figure 2 shows the operation of the device under the influence of the rolling surface object; figure 3 shows a diagram of a variant of construction of the specified computing unit; figure 4 shows a block diagram of the algorithm of operation of the specified computing unit.

A device for determining the coordinates of underwater objects (Fig. 1) contains n navigation satellites 1 ₁ -1 _n , a control and correction station 2, which includes a series-connected first receiving antenna 3 ₁ , a first satellite signal receiver 4 ₁ , said calculator of corrections 5, the first modulator 6 ₁ , the transmitter of the correction information 7 and the transmitting antenna 8 ₁ , and the specified calculator of the reference values of the radio navigation parameters 9 connected to the second input of the specified calculator of amendments 5. The device for determining The coordinates of the underwater objects include a buoy station 10 containing a second receiving antenna 3 ₂ , a second satellite signal receiver 4 ₂ , a second modulator 6 ₂ , a transmitter 11 and a second transmitting antenna 8 ₂ connected in series. The device for determining the coordinates of underwater objects also includes a surface mobile station 12, which contains a series-connected receiving antenna 13 of the correction information, a receiver 14 of the correction information and a demodulator 15, the third 3 ₃ , the fourth 3 ₄ and the fifth 3 ₅ receiving antennas of satellite signals connected to the third April _3, fourth 4 _{4 April} 5th fifth satellite signal receivers, respectively, and the clock signal generator 16, the inputs connected to said computing unit 17 and a fifth receiver m satellite signals. The synchronization signal generator 16 is connected by one of the outputs to the transmitter 18, the second and third outputs - to one of the inputs of the first 19 ₁ and second 19 ₂ antenna switches, and the fourth output is connected to one of the inputs of the first 20 ₁ and second 20 ₂ reflected receivers the second inputs of which are connected to the outputs of the first 19 ₁ and second 19 ₂ antenna switches, respectively. The outputs of the first 20 ₁ and second 20 ₂ receivers of the reflected signals, the demodulator 15, the fourth 4 ₄ and the third 4 ₃ receivers of satellite signals and the second output of the fifth 4 ₅ receiver of satellite signals are connected to the corresponding inputs of the specified computing unit 17, which is also connected to the control unit and indications 21. In this case, the first antenna switch 19 _{1 is} connected to the transceiver antenna 22, and the second antenna switch 19 _{2 is} connected to the receive antenna 23.

The device operates as follows.

по каждому из спутников. С первого приемника спутниковых сигналов 4₁ измеренные значения радионавигационных параметров Control and correction station 2 by the first antenna 3 ₁ receives signals from navigation satellites 1 ₁ -1 _n , determines radio navigation parameters

for each of the satellites. From the first receiver of satellite signals 4 _{1 the} measured values of the radio navigation parameters

поступают на вход указанного вычислителя поправок 5, второй вход которого соединен с указанным вычислителем эталонных значений радионавигационных параметров 9, определяющим эталонные значения радионавигационных параметров

на основе эталонных координат фазового центра первой антенны 3₁ Х_КСЭ,Y_KCЭ,Z_KCЭ и эфемерид X_эф1-X_эфn, Y_эф1-Y_эфn, Z_эф1-Z_эфn каждого из спутников. Указанный вычислитель поправок 5 вырабатывает значения поправок радионавигационных параметров по каждому из спутников в соответствии с [3]:

enter the input of the specified calculator of amendments 5, the second input of which is connected to the specified calculator of the reference values of the radio navigation parameters 9, which determines the reference values of the radio navigation parameters

based on the reference coordinates of the phase center of the first antenna 3 ₁ X _KSE , Y _KSE , Z _KSE and ephemeris X _eff1 -X _effn , Y _eff1 -Y _effn , Z _eff1 -Z _{effn of} each of the satellites. The specified amendment calculator 5 generates corrections of the radio navigation parameters for each of the satellites in accordance with [3]:

, где

where

i = 1, ..., n is the current satellite number.

From the output of the specified calculator of corrections 5, signals containing information about the satellite number, time of reception of the navigation signal, corrections to the radio navigation parameters to each satellite ΔR ₁ -ΔR _n are fed to the first modulator 6 ₁ . From the output of the first modulator 6 _{1, the} signals are transmitted to the transmitter 7 of the correction information, where they are converted, amplified and radiated into the space of the first transmitting antenna 8 ₁ .

по сигналам каждого из спутников. С выхода второго приемника спутниковых сигналов 4₂ сигналы, в которых содержится информация о номере спутника, времени приема навигационного сигнала, значениях измеренных радионавигационных параметров

, поступают на вход второго модулятора 6₂. С выхода второго модулятора 6₂ сигналы поступают в передатчик 11, где преобразуются, усиливаются и излучаются в пространство второй передающей антенной 8₂.At the same time, the signals of satellites 1 ₁ -1 _n are received by the second receiving antenna 3 ₂ installed on the buoy station 10. Next, the received signals are fed to the input of the second satellite receiver 4 ₂ , which measures the radio navigation parameters

according to the signals of each of the satellites. From the output of the second receiver of satellite signals 4 ₂ signals, which contain information about the number of the satellite, the time of reception of the navigation signal, the values of the measured radio navigation parameters

enter the input of the second modulator 6 ₂ . From the output of the second modulator 6 _{2, the} signals are transmitted to the transmitter 11, where they are converted, amplified and radiated into space by the second transmitting antenna 8 ₂ .

, измеренных вторым приемником спутниковых сигналов 4₂ буйковой станции 10. С выхода демодулятора 15 вышеперечисленные параметры поступают в указанный вычислительный блок 17.The signals of the buoy station 10 and the control and correction station 2 are received by the antenna 13 of the surface object equipped with the surface mobile station 12, and are fed to the input of the corrective information receiver 14, in which the signals of the control and corrective 2 and buoy 10 stations are amplified, converted. From the output of the correcting information receiver 14, the signals are fed to the input of the demodulator 15, which extracts from the signals information about the satellite number, signal reception time and corrections of the radio navigation parameters ΔR ₁ -ΔR _n generated by the indicated calculator of corrections 5 of the control-correcting station 2. Information is also extracted by the demodulator 15 about satellite numbers, signal reception times and values of radio navigation parameters

measured by the second receiver of satellite signals 4 ₂ buoy station 10. From the output of the demodulator 15, the above parameters are received in the specified computing unit 17.

и

,

.At the same time, the signals of navigation satellites 1 ₁ -1 _n are received by the third 3 ₃ , fourth 3 ₄ and fifth 3 ₅ antennas connected respectively to the input of the third 4 ₃ , fourth 4 ₄ and fifth 4 ₅ receivers of satellite signals that determine the radio navigation parameters

and

,

.

и

,

поступает в указанный вычислительный блок 17.From the output of the third 4 ₃ , fourth 4 ₄ , fifth 4 ₅ satellite signal receivers, information on satellite numbers, signal reception time and radio navigation parameters

and

,

enters the specified computing unit 17.

The specified computing unit 17 performs cyclic processing of the input information in accordance with the block diagram of the algorithm shown in figure 4.

и

,

, измеренных третьим, четвертым и пятым приемниками спутниковых сигналов 4₃, 4₄ и 4₅ в соответствии с [3]:After entering information from blocks 15, 4 ₃ , 4 ₄ and 4 _{5, the} specified computing unit 17 performs the correction of the radio navigation parameters

and

,

measured by the third, fourth and fifth receivers of satellite signals 4 ₃ , 4 ₄ and 4 ₅ in accordance with [3]:

,

и

, которые используют для вычисления точных координат приемных антенн 3₃, 3₄ и 3₅. В случае использования в качестве радионавигационных параметров результатов измерений псевдодальностей для определения координат антенн может быть использован алгоритм, приведенный, например, в [3].As a result of this correction, the exact values of the radio navigation parameters are obtained.

,

and

which are used to calculate the exact coordinates of the receiving antennas 3 ₃ , 3 ₄ and 3 ₅ . In the case of using pseudorange measurements as radio navigation parameters, the algorithm given, for example, in [3] can be used to determine the coordinates of the antennas.

, измеренных буйковой станцией 10, после коррекции которых определяют ее координаты

, служащие для контроля уровня воды.Then, in a similar manner, in the specified computing unit 17 is the processing of radio navigation parameters

measured by the buoy station 10, after the correction of which determine its coordinates

serving to control the water level.

и

например, по алгоритму, приведенному на стр.206-208 в [3].Antennas 3 ₃ , 3 ₄ and 3 ₅ can be located on a surface object (vessel), for example, at the vertices of a triangle (Fig. 2a), which makes it possible to determine the angle α _du (the angle between the longitudinal axis of the surface object and the direction to the North), β _df (trim of the surface object, fig.2b) and β _cr (roll of the surface object, similar to fig.2b) on the differences of the radio navigation parameters

and

for example, according to the algorithm given on pages 206-208 in [3].

After calculating the exact coordinates and orientation parameters of the surface of the object α _du , β _df and β _cr , a control signal is issued from the specified computing unit 17 to the synchronization signal shaper 16.

From the second output of the fifth receiver of satellite signals 4 _{5, the} reference frequency, for example, 10 MHz [3], is supplied to the input of the generator of synchronizing signals 16, from which the necessary signals are formed with frequencies that ensure synchronization and operation of other units of the device.

To detect underwater objects, a sounding acoustic signal is used, the parameters of which (signal type, modulation) are set in the indicated computing unit 17. For example, signals with linear-frequency modulation can be used, which makes it possible to determine the propagation delay of signals to underwater objects with high accuracy, increase noise immunity and resolution in range, to determine uniquely the phase of the signal, without using the method of resolving ambiguity [4].

Next, the sounding acoustic signal from the shaper of synchronizing signals 16 is sequentially supplied to the transmitter 18, where it is amplified through the first antenna switch 19 ₁ and the transceiver antenna 22 of the acoustic signals into the water. From the shaper of synchronizing signals 16 to the first 19 ₁ and second 19 ₂ antenna switches receive control pulses, with the help of which the switching between the positions of the states of "transmission" / "reception". The pulse repetition rate is determined by the maximum detection range of underwater objects.

The first antenna switch 19 ₁ has two state positions. The first position is “signal transmission” - the output of the transmitter 18 and the transceiver antenna of the acoustic signals 22 are connected. The second state is “reception of signals” - the transceiver antenna of the acoustic signals 22 is connected to the input of the first receiver of the reflected signals 20 ₁ . The second antenna switch 19 ₂ in the first state is “receiving signals” - the receiving antenna of the acoustic signals 23 and the second receiver of the reflected signals 20 ₂ are connected, the second state is “no reception”.

The signal emitted into the body of water by the transceiver antenna of the acoustic signals 22 passes the distance D, reaches the surface of the underwater object, is reflected in the opposite direction, including towards the antennas 22 and 23, through the first 19 ₁ and second 19 ₂ antenna switches are input the first 20 ₁ and the second 20 ₂ receivers of the reflected signals. In the receivers of the reflected signals 20 ₁ and 20 ₂ there is an amplification of the received signals by the antennas 22 and 23, demodulation and measurement of the delay, amplitude and phase of the signals, their conversion to digital code and transmission to the specified computing unit 17.

In the indicated computing unit 17, the doubled distance D to the underwater object is calculated by the signal propagation delay to the underwater object and vice versa. From the phase difference of the signals received from the first 20 ₁ and second 20 ₂ receivers of the reflected signals, the angle of arrival of signals γ is determined. The value of the amplitude determines the reflectivity of the underwater object.

Then, based on the calculated coordinates of the antennas 3 ₃ (or 3 ₄ , or 3 ₅ ), the orientation parameters of the surface object α _du , β _df and β _cr , the measured distance to the underwater object D, the obtained angle of arrival of the signal γ, and also based on the obtained level value water, which is measured and transmitted by the buoy station 10 N _B , the exact coordinates of the underwater objects X _ON and Y _ON in the horizontal coordinate system and the depth h of the underwater object with respect to the water level are calculated (figure 2):

where NL is the altitude coordinate of the buoy station 10.

The values of the planned coordinates of the underwater object X _ON and Y _ON and depth h then go to the control unit and display 21 for subsequent display and registration. The duration of the operation cycle of the device for determining the coordinates of underwater objects is selected in such a way that the formation of signals, reception, measurement, processing, transmission of navigation and measurement information can be completed.

The specified computing unit 17 due to the large volume of calculations must be implemented on the basis of a microprocessor according to the standard structure described, for example, in [5]. Figure 3 shows the structural diagram of a variant of the specified computing unit, made according to the scheme with the separation of the address space, including the microprocessor unit 24, constant 25 and online memory 26, the first address decoder 27, providing a choice of permanent or online memory, the second address decoder 28 enabling to select one of the connected to said computing unit 17, external devices demodulator 15, the third satellite receiver March _4, the fourth receiver putnikovyh signals April _4, the fifth satellite receiver April _5, timing signals generator 16, first 20 ₁ and second 20 ₂ receivers or echo control and display unit 21. In the ROM 25 is processing program implementing the algorithm shown in FIG. 4, as well as constants and other necessary information. The random access memory 26 contains current data coming from blocks 15, 4 ₃ , 4 ₄ , 4 ₅ , 20 ₁ , 20 ₂ , 21, as well as information necessary for exchange with the control and indication unit 21, and current intermediate calculation results. Address decoders 27 and 28 provide the selection of the element that is currently needed, for example, operational 26 or permanent 25 storage devices, or one of the external units that have their own fixed address. The microprocessor module 24 controls the operation of the specified computing unit 17, providing processing and exchange of information in accordance with the flowchart of the operation algorithm shown in figure 4, and is associated with blocks 15, 4 ₃ , 4 ₄ , 4 ₅ , 16, 20 ₁ , 20 ₂ , 21 information data bus (ШД), address bus (ША) and control bus (ШУ).

The control and display unit 21 may consist of a keyboard and a display. The keyboard is used to enter the source data into the computing unit 17 and can be implemented according to Fig. 11.24 [6]. The display is used to display information coming from the computing unit 17, and can be implemented in accordance with Fig. 11.21 [6].

When implementing the specified computing unit 17 based on the K580 microprocessor, the microprocessor module consists of six large integrated circuits: the K580 BM80 central processor, the K580 VK88 system controller, the K580GF24 clock, the K1810VI54 timer, the K580BT57 direct memory access controller, and the K1810VN59A interrupt controller.

Receivers of satellite signals 4 ₁ , ..., 4 ₅ can be made in accordance with Fig.1.14 [7], Fig.38 [8]. Implementations of individual blocks of equipment located on a surface object, buoy 10 and control-correcting 2 stations are shown, for example, in Fig. 20.3 [3], [9].

The synchronization signal generator 16 can be constructed on the basis of a four-channel digital frequency synthesizer with direct synthesis, which is controlled by the specified computing unit 17 and can be constructed in accordance with Fig. 3 [10]. At the same time, at the two outputs of the shaper of synchronizing signals 16, signals are output in analog form, and at the other two outputs - pulse signals.

The transmitter 18 performs the function of an amplifier, which can be performed in accordance with Fig. 3.1 [12].

Antenna switches 19 ₁ and 19 ₂ can be made according to the scheme of Fig. 8.45 [11].

Transceiver 22 and receiver 23 of the antenna of acoustic signals can be performed according to Fig.5.33 [13].

The first 20 ₁ and second 20 ₂ receivers of the reflected signals can be made in accordance with Fig.1.14 [7]. At the outputs of the receivers 20 ₁ and 20 ₂ a signal delay is formed, its amplitude and phase, which are digitally supplied to the specified computing unit 17.

Consider an example of the application of the proposed device for the detection of underwater objects.

Suppose, for example, GLONASS / GPS satellites are used as navigation satellites. Then the simultaneous reception of signals at points 3 ₁ , 3 ₃ , 3 ₄ , 3 ₅ allows you to determine the coordinates of the object and the control and correction station 2. If we consider the coordinates of the control and correction station 2 known, for example, with an error of a few centimeters, then its signals by correcting the radio navigation parameters, the coordinates of the points 3 ₃ , 3 ₄ , 3 ₅ will also be determined with an error of several centimeters, due to the error in setting the coordinates of the control and correction station 2.

In this case, the hardware error in measuring the phase shifts at the carrier frequencies of the GLONASS system in the frequency range 1600 MHz will be Δφ _C ≈0.01 ps (<4 °). The error in determining the angles α _du , β _df , β _cr can be determined by the approximate formula:

,

,

where λ is the wavelength of the received signals, for a carrier of ~ 1600 MHz, is 0.1875 m;

In _with - the distance between the antennas 3 ₃ and 3 ₄ or 3 ₃ and 3 ₅ located on board the movable surface object, for example on the roof of the command cabin.

At Bs = 5 m, the error in measuring the directional angle, roll and trim of the surface object will be σ _hl ≈1.5 arc minutes.

, погрешность определения прихода сигналов приближенно составит десятки угловых минут.To detect underwater objects, for example, sounding signals with a central frequency of 500 kHz can be used. In this case, the wavelength λ at a given frequency will be equal to about 3 millimeters. To unambiguously determine the phase of the signal reflected from underwater objects, it is necessary to apply, for example, linear-frequency modulation with a frequency deviation of 250 kHz. The hardware error of measuring the phase difference of the reflected signals will be Δφ _A ≈0.01 psi, provided that the distance between the transceiver 22 and the receiver 23 of the acoustic signal antennas is B _A = 0.1 m, then in accordance with the formula

, the error in determining the arrival of signals is approximately tens of arc minutes.

When the values of the angles α _dy = 45, β _DF = 10, β _cr = 3, γ = 45 σα _dy = σβ _Fs = σβ _cr = σ _Ch degrees measured range to the underwater object D = 10 m and the error in determining the orientation of a surface of the object , the angle of arrival of the acoustic signal σγ = 0.5 degrees, the error in determining the slant range, in accordance with geometric constructions, will be σD = 0.1 m, and the error in determining the relative coordinates of the underwater object is σX = 0.04 m, σY = 0.04 m, depth σd = 0.02 m.

Given the error in determining the coordinates of point 3 _{1 of the} control and correction station 2 and the buoy station 10, the error in determining the absolute coordinates and depth of the underwater object will be tens of centimeters.

Thus, through the use of high-precision methods for determining the orientation of a moving surface object in space and methods for measuring the relative location of underwater objects, it is possible to use the proposed device for determining the coordinates of underwater objects.

Literature

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2. RF patent No. 2152049 A device for determining the coordinates of the actuator of a surface object. Aleshechkin A.M. Kokorin V.I. / Publ. BI No. 7. 06/06/27.

3. Network satellite radio navigation systems. Ed. B.C. Shebshaevich, Moscow, Radio Communications, 1993, p. 288.

4. B. Sklyar. Digital communication. Theoretical foundations and practical application. Ed. 2nd, rev .: Per. with eng. - M.: Publishing House "Williams", 2003 - 1104 pp., Ill.

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6. Bray B. Intel microprocessors: 8086/8088, 80186/80188, 80286, 80386, 80486, Pentium, Pentium Pro Processor, Pentium II, Pentium III, Pentium 4. Architecture, programming and interfaces. Sixth Edition: Per. - SPb .: BHV-Petersburg, 2005 .-- 1328 p.: Ill.

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Claims (1)

A device for determining the coordinates of underwater objects, containing n navigation satellites, a control and correction station, including a series-connected first receiving antenna, a first satellite signal receiver, an amendment calculator designed to generate radio navigation parameters for each of the navigation satellites, a first modulator, corrective information transmitter and a first transmitting antenna, a calculator of reference values of radio navigation parameters based on reference coordinates the inat of the phase center of the receiving antenna and the ephemeris of each of the navigation satellites connected to the second input of the indicated corrector, a buoy station, including a second receiving antenna, a second satellite receiver, a second modulator, a transmitter and a second transmitting antenna, and a surface mobile station including serially connected receiving antenna of corrective information, receiver of corrective information and demodulator, third receiving antenna of satellite signals and a third satellite signal receiver, a fourth satellite signal receiving antenna and a fourth satellite signal receiver, a computing unit for calculating the coordinates of underwater objects in a horizontal coordinate system and their depth with respect to the water level, and a control and indication unit connected to it in this way that its control output is one of the inputs, and the information input is the first of the outputs of the specified computing unit, while the outputs of the demodulator, the third and fourth receiver The satellite signals are connected respectively to the second, third and fourth inputs of the specified computing unit, characterized in that a synchronization signal shaper, a transmitter, first and second antenna switches, first and second reflected signal receivers, transceiver and receiver of acoustic signals are introduced into the surface mobile station and serially connected, a fifth satellite signal receiving antenna and a fifth satellite signal receiver, which is connected to the fifth input by a first output the house of the specified computing unit, the second output of the specified computing unit is connected to the first input of the synchronizer, which second input is connected to the second output of the fifth satellite receiver, one of the outputs the synchronizer is connected to the first inputs of the first and second receivers of the reflected signals, the second output is connected with the first input of the second antenna switch, the third output is connected to the first input of the first antenna switch, and the fourth output the generator of the clock signals is connected to the input of the transmitter, the output of which is connected to the second input of the first antenna switch, the first output of which is connected to the transceiver antenna of the acoustic signals, and its second output is connected to the second input of the first receiver of the reflected signals, the second antenna switch is connected to the receiver by the second input antenna of acoustic signals, and the output with the second input of the second receiver of the reflected signals, while the outputs of the first and second receivers of the reflected signals fishing are respectively the sixth and seventh inputs of said computing unit.

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