RU2426149C1 - Sonar location complex - Google Patents

Abstract

FIELD: physics. ^ SUBSTANCE: for monitoring pipeline 9, sonar location complex exploits carrier ship 1 towed by cable rope 7, underwater apparatus 2 and tethered TV-controlled underwater apparatus 3, self-contained underwater apparatus 4, artificial Earth navigation satellite 10, communication satellite 11, bottom beacons-responders 12, differential station 13, shooting control center 14. Towed underwater apparatus comprises penetrating grid 5 while container lateral wall represents dovetail 8. ^ EFFECT: expanded performances. ^ 6 dwg

Description

The invention relates to the field of underwater operations using towed underwater vehicles (BPA), mainly equipped with hydroacoustic measuring equipment, and is intended to provide spatial orientation of the towed underwater vehicle relative to the towing vessel and the underwater object under study.

The known device is a towed underwater vehicle [1], made in the form of a hollow cylindrical body with a removable head and tail parts and equipped with bow and stern cameras, side-scan sonar with a range of 100 m and a parametric profilograph with a color indicator. The dimensions of the BPA are: length 1300 mm, diameter 210 mm. The input signal wires of the cable-rope are made in the head part, the cable entries for receiving and emitting antennas are made next to the antennas, they are all sealed and designed to be immersed to a depth of 100 m. Installation sites for four pump converters are made on the sides of the towed body, on special Four receiving antennas are attached to the bandages. The placement of the four antennas allows sounding in the horizontal and vertical planes, and also makes it possible to obtain a panoramic image of the bottom topography using an antenna tilted at an angle of 20 degrees.

The reduction of yaw and trim is solved using the tail stabilizer, made in the form of a broadband rim connected to the tail of the cylindrical body with plate spokes.

Roll stabilization (rotational movement around the longitudinal axis) is achieved by shifting the center of gravity of the towed body.

The necessary deepening of the towed body with minimal cable cable etching is carried out by using a deepening grid, which allows the entire towed system to be diverted away from the carrier vessel.

Due to the fact that emitters with narrow directivity characteristics are used on the BPA, the neutralization of the roll and yaw of the BPA is a determining factor in fulfilling the established requirements for solving the problems of detecting and monitoring silt pipelines, measuring the thickness of silt above it, determining the structure of bottom layers, and evaluating characteristics sea bottom soil, conducting various exploratory work on underwater marine structures, as well as surveying the bottom topography.

BPA, as a rule, are used for oceanographic studies in areas with particularly difficult physical and geographical conditions (marginal regions of the Arctic, in the frontal zones and around icebergs). The indicated regions are distinguished by the fact that temperature-salinity inhomogeneities and vortices of various scales are formed in them, which have a significant effect on the velocity distribution at the site of the study.

In this case, measurements should be made continuously, and when heterogeneities are detected, the distance between the sections should not exceed half the minimum diameter of the heterogeneities, and the measurement frequency on the sections should not be less than 1/8-1/10 of the diameter of the heterogeneity (see, for example: A.T. Shchvetsov, Use of autonomous self-propelled and towed measuring systems for studying inhomogeneities of oceanographic fields // Notes on Hydrography. L., GUNiO MoD RF, No. 253, 2001, p. 48).

BPA as a technical tool for hydrological work is a dynamic system with six degrees of freedom: three degrees of freedom in linear displacements characterizing the BPA trajectory along the course, speed and depth of immersion, three degrees of freedom in terms of angular displacements of the BPA along trim, yaw and roll .

In existing methods of carrying out hydrological works (surveying the bottom topography, searching for sunken objects, monitoring pipelines, etc.), the accuracy of determining parameters using sonar equipment installed on the BPA is mainly estimated by the accuracy of determining the location of the carrier vessel and BPA.

However, in detailed shooting, the accuracy of the binding of the underwater elements under study to the coordinates is largely determined by the position at the bottom of the spot illuminated by hydroacoustic means. The position of this spot, in turn, depends on the orientation and immersion depth of the BPA (see, for example: V.N. Zavgorodniy. On the influence of orientation errors and immersion depth of a towed underwater vehicle on the accuracy of shooting the bottom topography // Notes on hydrography. L. , GUNiO of the Ministry of Defense of the Russian Federation, No. 253, 2001, p. 33).

The quality of sonar sounding of underwater objects primarily depends on the accuracy of stabilization of the position of the apparatus in depth, yaw, trim and roll.

The requirements for accuracy of stabilization of the position of the apparatus, as a rule, are determined by the width of the directivity characteristics of the hydroacoustic means, respectively, in horizontal and vertical planes.

In the well-known controllers, the immersion depth is controlled by the length of the cable, and the stabilization of the orientation by trim and yaw is determined by the contours of the cabinet, the place of attachment of the cable to the apparatus, and the fixed position of the steering wheels. In addition, the BPA trajectory in depth and yaw and trim orientation depend on towing speed, underwater currents and the impact of sea waves on the carrier ship.

As the performed analysis of the bottom survey errors using hydroacoustic tools installed on the BPA shows, the largest contribution to the radial error is made by the survey errors due to yaw, roll and trim of the PSA. An important factor is the performance of surveying the bottom topography. The performance of surveying the bottom topography depends on the speed of the towed PSU and the width of the surveyed strip of the bottom topography. With an increase in the strip of shooting of the bottom topography, the accuracy of shooting deteriorates, which requires an increase in the multiplicity of sounding of the bottom topography by sending pulses and, therefore, leads to a decrease in the towing speed. The towing speed of the UAV also has a conflicting effect on the quality of the survey. With increasing speed, the accuracy improves due to better stabilization of the orientation and depth of the BPA, and the frequency of sounding the bottom topography with a hydroacoustic means to increase accuracy decreases, i.e. there is the task of optimizing the choice of towing speed and bandwidth examined by sonar.

In known stabilization devices [2, 3], the stability of movement and orientation, as applied to surface vessels, is achieved through the use of rudder tracking systems as feedback regulators to maintain a given position by a vessel, which allows to reduce the deviation of the spot at the bottom illuminated by hydroacoustic means from estimated position.

However, the known stabilization systems [2, 3] have a complex structure and significant weight and size characteristics, which practically excludes their use on BPA with small weight and size characteristics.

In addition, the known device has limitations in depth and a relatively low productivity of inspection of underwater objects having extended boundaries, for example, trunk pipelines.

The objective of the proposed technical solution is to expand the functionality of the device.

The problem is solved due to the fact that in a sonar locating complex, including a sonar device and a towed underwater vehicle, in which the sonar device consists of an onboard control system located on board the vessel, a pump signal shaper located inside the underwater vehicle, a parametric radiating path, located on the underwater vehicle, the receiving path, located on the underwater vehicle, on-duty control system, located on the underwater vehicle, pack ulation power unit placed on an underwater apparatus, a monitor device placed on board; the towed underwater vehicle is made in the form of a hollow cylindrical body with a removable head and tail parts and is equipped with a bow and stern cameras, a side-scan sonar with a range of 100 m and is connected to the vessel by a cable cable; the input cable signal wires were made in the head of the underwater vehicle, cable entries for receiving and emitting antennas are made next to the antennas, installation sites for four pump converters are made on the sides of the towed underwater vehicle, four receiving antennas are mounted on special bandages, the antenna of the radiating path tilted at an angle of 20 degrees; the towed underwater vehicle to reduce yaw and trim is equipped with a tail stabilizer made in the form of a broadband rim connected to the tail of the cylindrical body with plate spokes, roll stabilization (rotational movement around the longitudinal axis) is achieved by shifting the center of gravity of the towed underwater vehicle, necessary deepening of the towed the underwater vehicle with minimal cable cable etching is carried out by using a deepening grid for retraction Ia entire system towed away from the carrier vessel, in contrast to the prior art [1] zaglubitelnaya grating is further provided with containers for placing tethered remotely operated underwater vehicle and the underwater vehicle, the position meter cable rope; autonomous underwater vehicle and tethered remote-controlled underwater vehicle are equipped with a control system for the vehicle’s movement along the underwater object under study, a monitoring system for reference points, equipment for determining the position of the underwater object under study in space, equipment for measuring the thickness of the soil layer above the underwater object under study, equipment for measuring physical and chemical parameters environment, equipment for measuring the parameters of the electrochemical protection of the investigated underwater object, made a second conduit, television and lighting equipment, the measurement information storage system; tethered remote-controlled underwater vehicle is equipped with a hydrophysical probe-profilograph, the side walls of the containers are made in the form of a dovetail.

New distinctive features, namely, that the deepening grid is additionally equipped with containers for placing a tethered remote-controlled underwater vehicle and an autonomous underwater vehicle, a cable rope position meter; the autonomous underwater vehicle is equipped with a control system for the movement of the vehicle along the underwater object under study, an observation system by reference points, equipment for determining the position of the underwater object under study in space, equipment for measuring the thickness of the soil layer above the underwater object under study, equipment for measuring physical and chemical parameters of the environment, equipment for measuring parameters electrochemical protection of the studied underwater object, made in the form of a pipeline, television and will illuminate Flax apparatus, the measurement information storage system; tethered remote-controlled underwater vehicle is equipped with a hydrophysical probe-profilograph, the side walls of the containers are made in the form of a dovetail, no prior art has been identified, which allows us to conclude that the claimed technical solution meets the patentability condition of "inventive step".

The essence of the proposed technical solution is illustrated by drawings (figure 1-figure 6).

Figure 1. The layout of underwater means in the water column, where the positions are: 1 - carrier ship, 2 - towed underwater vehicle, 3 - tethered remote-controlled underwater vehicle, 4 - autonomous underwater vehicle, 5 - deepening grid, 7 - cable-rope, 8 - the side wall of the container, made in the form of a dovetail, 9 - pipeline.

Figure 2. The layout of the towed underwater vehicle 3, where the positions are: 1 - carrier ship, 2 - towed underwater vehicle, 9 - pipeline, 10 - artificial navigation satellite of the Earth, 11 - connected artificial satellite of the Earth, 12 - bottom lighthouse transponders, 13 - differential station, 14 - survey work control center.

Figure 3. General view of the autonomous underwater vehicle 4. The autonomous underwater vehicle 4 includes a housing 15, mover 16, container 17 of the control equipment, container 18 of the control equipment of the mover 16, container 19 of the navigation positioning equipment, antenna 20 of the beacon, unit 21 for measuring hydrological data, light signaling device 22, sensor 23 relative logs, echo sounders 24 and 25, sonar equipment container 26, side-scan sonar antenna 27, photo kit container 28, immersion ballast 29, battery compartment 30, the ballast will equalize flax 31, an antenna 32 absolute lag Photo Pack lamp 33.

Figure 4. Structural diagram of a parametric profilograph of a towed underwater vehicle 2, which includes an onboard control system 33, which is located on board the vessel and is designed to generate commands for controlling the operating modes of the parametric profilograph, input them into the telemetry system, receive echo signals, test signals, and indicate the status of the monitored systems and the issuance of information to a video monitoring device, a shaper of pump signals 34, located inside a towed underwater vehicle 2 and designed to generating two-frequency probing pump signals of a given duration and carrier frequency, generating synchronization pulses and gating signals of the receiving path, a parametric radiating path 35 located on the towed underwater vehicle 2 and designed to amplify the pump signals (in this case, the difference is corrected in separate channels of the eight-channel power amplifier phase and amplitude adjustment) and conversion (using a multi-element mosaic pump antenna) into acoustic signals, reception path 36, located on a towed underwater vehicle 2 and designed to convert the acoustic energy of the echo signals into electrical signals (using a broadband receiving antenna), frequency selection, amplification, signal processing and bringing them to the form required for transmission via a telemetry system, the on-duty control system 37, located on the underwater vehicle 2 and designed to receive commands from the telemetry system, transmit them to a controlled power supply 38, a parametric radiating path 35, form l pump signals 34 and the receiving path 36, as well as for receiving test signals, clock pulses and echo signals for transmitting them to the telemetry system, a controlled power supply 38, located on a towed underwater vehicle 2, is designed to convert AC voltage 220 V 400 Hz to the required set of constant voltages for the pump signal driver 34, the parametric radiating path 35, the receiving path 36, the energy storage for the radiation of the probing signal, as well as for issuing overload protection operation signals and in the subsystems and execution of the on / off commands, including emergency shutdown, the video monitoring device 39 is located on board the vessel 1 as part of the control and display panel and is intended to display information about the underwater acoustic situation in the color scheme corresponding to the intensity of the received echo signals in the working area profilograph, telemetry system 40.

Figure 5. General view of the cable position meter.

6. An example of the visualization of information: 6a is the relief of the bottom, 6b is the isobath section through 50 m, 6c is the detection of a silty pipeline.

Navigation equipment of the route (range) includes bottom transponder beacons with autonomy up to 1 year.

The standard error of determining the position of the carrier vessel relative to the bottom transponder beacons is not more than 10 m at a distance of 5-7 km in the horizon, taking into account the vertical distribution of the speed of sound.

The towed underwater vehicle (BPA) is mounted on a deepening grate, which is additionally equipped with containers to accommodate a tethered remote-controlled underwater vehicle (PTPA) and an autonomous underwater vehicle (APA). In this case, the side walls of the containers are made in the form of a dovetail, which makes it possible to realize an additional stabilizing device when opening the side walls of the containers.

The deepening grid is equipped with propulsion and propulsion systems for lagging (lateral) movement, grips to hold the PSU in coordination with the sonar transponder beacon.

A load-carrying cable cable with zero buoyancy, a length of 100-150 km, connects the carrier vessel with a deepening grate and the BPA.

The PTPA cable winch with a capacity of up to 250 m is placed on a deepening grid.

Setting the deepening lattice with BPA, PTPA and APA placed on it at a given depth is as follows.

The carrier vessel in dynamic positioning mode is installed at the point of work. With the help of the launching device, a deepening lattice equipped with a sonar transponder beacon is lowered from the side of the vessel.

The coordinates of the vessel are determined using satellite navigation equipment, and the position of the deepening lattice relative to the vessel using the ship’s hydroacoustic navigation system interacting with transponder beacons installed on the deepening lattice.

The lateral displacements of the deepening lattice are compensated simultaneously by the maneuver of the vessel and the lag propulsion systems.

Vertical displacements of the deepening grid are worked out by changing the length of the load-carrying cable.

A beacon transponder 16B of the SNP-20 system is installed on the deepening grid.

The standard error of determining the location of the depth grid relative to the carrier vessel, taking into account the vertical profile of the speed of sound, is not more than 10 m.

The standard error of determining the location of the deepening lattice relative to the bottom transponder beacons is not more than 10 m at a distance of 300-500 m in the horizon.

On the BPA, as in the prototype, installed a parametric profiler (figure 4).

The deepening lattice is equipped with two containers, in one of which the APA is located, and in the other PTPA, connected to the deepening lattice by a cable-rope up to 2.5 km long.

Autonomous underwater vehicle (APA) is designed to periodically examine the position and condition of underwater sections of long pipelines (up to 600 km) with a travel depth of 3-2100 m and a speed of up to 6 knots. APA equipment includes a control system for the movement of the apparatus along the pipeline, including a monitoring system for reference points, equipment for determining the position of the pipeline in space, a direction indicator, a speed and distance meter, equipment for measuring the thickness of the soil layer above the pipe, equipment for measuring physical and chemical parameters of the environment , equipment for measuring the parameters of the electrochemical protection of the pipeline, television and lighting equipment, a system for accumulating measurement information AI, power supply equipment, sonar communication line, underwater navigation unit, including sonar transponder beacons, depth, course sensors, echo sounder, side-scan sonar with a band of 2 × 375 m, scanning profiler in a field of view of 10-15 m with a penetration depth into the ground up to 10 m, color camera with lamps, propulsion systems for moving the APA in all directions, the APA motion control system for information parameters (TV camera, profiler, magnetometric sensor), hydroacoustic sky beacon-transponder, receiving equipment of the “lead cable” system AVK-83 with a pipeline detection range of 25-30 m. Operating immersion depth up to 6000 m. Speed 0.5-2.0 knots. Cruising range 9 miles.

After installing the deepening lattice, capturing devices are given away, and PTPA and APA depart from the deeping lattice. At the moment the capturing devices are triggered, a command is issued to turn on the APA propulsion.

Depending on the type of work performed, the APA moves over the pipeline according to its direction indicator, producing echo sounder, video recording and hydroacoustic survey of the soil surface.

The standard error of determining the location of the APA relative to the beacon responders is not more than 10 m.

PTPA is moved within the floating cable connecting it to the deepening grid. After the inspection, PTPA and APA are placed in a deepening grid, which rises aboard the vessel. The ship moves to a new point and the process chain repeats.

The tethered remote control underwater vehicle (PTPA) is designed to search and examine underwater objects at depths of up to 2500 m with a towing speed of 2-5 knots and a continuous operation time of 120 hours.

PTPA is equipped with a side-scan and sector-based sonar, a scanning profilograph, a gas leak detector, a dissolved hydrocarbon analyzer, a color television camera, a current and potential meter, a cable 5 km long, 26 mm in diameter.

The scanning profilograph is an acoustic profilograph of the PTs-8M type and is designed to study the lithological (particle size) composition and structure of bottom sediments at depths from 5 to 6000 m and can be used to monitor bottom sediments, search and exploration of bulk mineral deposits, conduct marine engineering and geological surveys carried out to ensure the construction of offshore engineering structures, pipelines, communication cable lines, as well as for trol the state pipeline or cable lines.

The profiler includes: an electronic unit, including a chirp signal generator, a pulse generator of a boom source, a two-channel receiving path, including a switchgear, AGC, an analog-to-digital converter, and an ADSP-21060 signal processor; radiating antenna systems, including an electrodynamic emitter (boommer), a broadband piezoceramic antenna system, a narrowband piezoceramic antenna system; two receiving piezoceramic antenna systems, three outboard devices that are designed to mount one transmitting and 2 receiving antenna systems, a control, display, processing and documentation device based on a system processor - Pentium II 200 MHz, 64 MB, 1.7 GB .

Specialized software consists of a package of control and processing routines that provide: the formation of a probe pulse; correction and consistent filtering of the signal; signal processing for classification; classification of soil type in automatic and semi-automatic modes; determination of acoustic characteristics (reflection coefficients, acoustic susceptibility, roughness, absorption, density, impedance); display of graphic and digital data; control of profilograph equipment in all operating modes; automatic path calibration; information output to the recorder; information output to the drive; database maintenance; receiving information from navigation sensors.

The results of specialized studies are placed on standard PC drives (hard drives and magneto-optical drives).

The main technical characteristics of the profilograph: pulsed power supplied to piezoceramic antennas 3-5 kW; the duration of the probe pulse is 1-32 ms; the energy supplied to the antenna system is 800 J; minimum radiation period - 0.5 s; sampling rate - up to 64 kHz (variable); bit depth ADC-16; average power consumption of the electronic unit - 300 W; central working frequencies: 4; 8 kHz, 8 kHz, 3 kHz; band of emitted frequencies of 6 and 3 kHz; sensitivity of the receiving antenna - 300 μV / Pa at a frequency of 6 kHz; profiling speed - up to 7 knots, continuous operation time - 16 hours. Output products: sections of bottom sediments in electronic form, soil tablet in electronic form; in graphical form on a roll plotter.

Information on the structure of bottom sediments and the type of bottom soil is displayed in real time on a paper tape of a recorder of a ship's standard echo sounder.

The output information also includes the nature of the density distribution over the section of the loose stratum of bottom sediments, as well as the classification of the loose stratum of bottom soil. This information, together with the materials of the planned binding, is documented on PC media and can be displayed in graphical form.

In towing mode, the PTPA moves behind the PSU. At the foot of the vessel in the dynamic positioning mode, the control panel hangs above the ground, the PTA moves around the control panel.

On the BPA and PTPA are located the nodes of service equipment: power supply, communication lines, control, underwater navigation, including depth, course, echo sounders, sonar transponders.

Propulsion and propulsion systems are located on the PTPA, ensuring its movement in all directions. Propulsion and propulsion systems for lagging (lateral) movement are provided on the deepening grid, which ensures retention at a given lateral distance from the underwater object under study, for example, a pipeline, a winch for PTPA.

To obtain a sonar image of the bottom and its profiling, the vessel tows the BPA and PTPA at a given distance from the ground, depending on the length of the cable. At the same time, side view and / or sector view sonars and a profiler work. The coordinates of the vessel are determined using satellite navigation equipment, and the position of the BPA, PTPA and APA relative to the vessel is determined using the ship’s hydro-acoustic navigation system interacting with transponder beacons.

The lateral displacements of the towed module are compensated simultaneously by the maneuver of the vessel and the lag propulsion systems of the device. The vertical displacements of the towed module are worked out by changing the length of the load-carrying cable. For television inspection, the ship gives a stop and performs dynamic positioning.

When monitoring the pipeline, the BPA is towed along it. In open areas, movement is carried out at some lateral distance using a side-scan sonar. In areas where the pipeline is buried in the ground, a command is sent to the APA and it moves above it using a profilograph in scanning mode. In this case, the bottom profile is determined at a distance of 10-15 m from each side of the pipeline at certain intervals.

A television inspection and control of the pipeline is carried out when the vessel is in a state of dynamic positioning. The position of the APA relative to the APA is determined using the beacon-transponder installed on the APA.

The navigation equipment of the carrier vessel includes the navigation positioning system SNP-20 with antennas spaced 15-20 m apart.

The standard error of determining the location of the carrier vessel is not more than 2-5 m, dynamic positioning with an accuracy of 30-60 m.

The carrier vessel is also equipped with regular launching and lifting devices, winches or winch-view units with current transfer and the ability to remotely control with traction gain of at least 8 tons.

A short-base underwater navigation system that interacts with BPA, PTPA and APA beacon transponders to determine the position of vehicles relative to the carrier vessel includes transponder bottom beacons providing dynamic positioning of the PA relative to the pipeline, and a PC-based shipboard hardware and software system , processing, visualization and documentation of data. The carrier vessel is also equipped with a hydrophysical probe-profilograph of the GZP-2000 type, designed to obtain data on the vertical distribution of currents, sound velocity, temperature, electrical conductivity, real-time determination of density, salinity, Vyasyal-Brent frequency, vertical shifts of the current velocity, Richardson numbers, averaged over time of the vertical distributions of the absolute velocity vectors of currents in the region of space-time scales from 0.25 m or more - in depth and from 0.2 s and more - in belt.

The hydrographic probe-profilograph consists of an immersion device, on-board equipment, and test equipment.

Immersed device (PU) contains measuring instruments for the components of the velocity vector, temperature, electrical conductivity, pressure, sound velocity, angular values of the PU position in space. Information is transmitted via a single-core load-carrying cable to the on-board equipment during sounding from the ship.

The on-board equipment contains on-board measuring devices for the angles of the position of the load-carrying cable, the crane beam unit, lengths of the lengths of the reeled cable, the ship's course, the on-board device for receiving, processing and issuing information to recording and peripheral devices. On-board equipment provides reception and accumulation of primary information, real-time processing of directly measured values, data output to analog recorders, digital printing devices, into a specialized computer, indication in units of physical quantities of temperature, electrical conductivity, depth pressure.

The complex provides measurement of the following parameters:

The components of the flow velocity in the axes of the device in the range of ± 2.5 m / s with a resolution of 0.005 m / s. The limiting total measurement error with a probability of P = 0.997 is not more than ± (1 + 0.07V) cm / s.

Electrical conductivity in the range:

- in units of electrical conductivity from 1.5 to 7 S / m;

- in units of relative electrical conductivity from 0.35 to 1.6.

The measurements are carried out with a resolution of 6 · 10-5 and a limit of the permissible value of the total error with a probability of P = 0.997 not more than ± 1.2 · 10-3 (in units of relative electrical conductivity).

Temperatures in the range from minus 2 to + 35 ° C with a resolution of 0.0025 ° C and a limit of the permissible value of the static error with a probability of P = 0.997 are not more than ± 0.05 ° C. The thermal inertia index is not more than 0.05 s at a flow velocity exceeding 0.5 m / s.

Sound speeds in the range from 1400 to 1600 m / s with a resolution of 0.5 cm / s and the limit of the permissible value of the total measurement error with a probability of P = 0.997 not more than ± 0.5 m / s.

Hydrostatic pressure in the range from 0 to 20 MPa with a resolution of 0.0025 MPa and a limit of permissible total error with a probability of P = 0.997 not more than 0.5% of Pmax.

To control and correct errors that occur when the longitudinal axis deviates from the plane of the magnetic meridian, drift from the side of the vessel during the immersion and drift of the vessel, the complex also measures:

- the angle between the horizontal projections of the coordinate axis of the submersible device and the magnetic meridian in the range from 0 to 60 ° with the price of the least significant bit unit is not more than 1.5 ° and the margin of the permissible error with a confidence probability of P = 0.95 is not more than ± 3 °.

- the angles of heel and trim of the submersible device in the range from minus 45 to 45 ° with the price of a unit of the least significant bit not more than 0.5 ° with a limit of the permissible error value with a confidence probability of P = 0.95 not more than ± 0.5 °.

- the length of the segments of the reeled-in load-carrying cable in the range from 0 to 3200 m with a unit price of the least significant bit of not more than 0.1 m and the limit of the permissible error value with a confidence probability of P = 0.95 not more than ± 2 m.

- the angle between the horizontal section of the plane of the crane beam block and the horizontal projection of the conditional longitudinal axis of the vessel in the range from 0 to 180 ° with the price of the least significant bit unit not more than 1 ° and the limit of the permissible error with a confidence probability of P = 0.95 not more than ± 3 °.

- the angle of deviation of the load-carrying cable from the vertical near the block in the range from minus 10 to 80 ° with the price of a unit of the least significant bit no more than 1 ° and the limit of the permissible value of the relative error with a confidence probability of P = 0.95 no more than ± 3 °.

The heading of the vessel is in the range from 0 to 360 ° with the price of a unit of the least significant digit not more than 0.5 ° and the limit of the permissible value of the relative error in converting the readings of the compass repeater at a confidence probability of P = 0.95 not more than 0.5 °.

The mass of the submersible device (in air) is not more than 120 kg, the weight of the on-board equipment is not more than 100 kg, excluding the mass of computers and peripheral devices.

Measurements are made by vertical sounding of sea water from the ship, in drift.

Metrological certification of equipment in order to ensure the necessary reliability of the results is carried out twice, before and after marine surveys.

The measurement results go through a complete processing cycle on a quasi-real time scale and are stored in the form of digital data arrays in the PC memory. The display of measurement results is performed on devices for graphic recording of information.

The shipboard planning, automatic collection, registration and processing system of the “dKart HIDROCRAPHER” type provides automated planning of hydrographic work (cutting of plates, laying of tacks, channel axes, drawing a coastline); collection, primary processing and selection of data from external instrumentation in real time; post-processing, cameral processing and editing of the received data on a personal computer (building a relief model, creating a three-dimensional image of a relief model, building isobaths) of a relief profile, building and outputting a reporting tablet to a printer, exporting data to HyKit and dKart formats.

Automated hydrographic complexes (AGK) for the on-site survey of the AGK PS-1500, AGK PS-5000 are intended for the on-site survey, surveying of the topography and soil at depths of 30 to 1500 m and 80 to 5000 m, respectively, as well as the search for underwater objects and navigational hazards natural and artificial origin.

The complex AGK PS-1500 and AGK PS-5000 includes a computer-aided data processing system based on PC AT / 486 personal computers, navigation sensors.

Specialized mathematical software consists of application software packages for processing hydrographic, navigation and sonar information at all stages of survey and processing. Provides storage, archiving and display of information.

Output products: bathymetric tablet, sonar tablet, soil tablet in electronic form in the projection of the Mercator (Fig.6).

Segment-type electronic navigation system that converts ENC data in accordance with IHO S-57; SENC mapping in accordance with IHO S-52; a set of functions in accordance with the IHO standard (resolution A 817 (19)) for the technical and operational characteristics of ECDIS; use of the information of the standard ship receiver indicators of satellite and radio navigation systems, gyrocompass, lag.

The hardware system is implemented on the desktop PC-2 marine personal computer.

INMARSAT Mini-M standard TT-3046 marine satellite communications station includes: a transceiver; stabilized antenna with antenna amplifier; a handset with a stand; antenna cable; power supply at = 10-32 V and is designed to transmit voice and digital information through the RS-232C port with a transmission speed of up to 2.4 Kbaud.

Ship hydrographic equipment also includes: PEL-4M single-beam surveying echo sounder, GEL-3 deep-sea measuring echo sounder and PC-8 type acoustic profilograph.

The PEL-4M single-beam measuring echo sounder is designed to measure depths and record the bottom profile under the keel of the vessel during hydrographic work and consists of a vibrator (mortise or outboard device); central instrument with a recorder; digital index of depths; communication units with information processing complexes; taring device; a unit for interfacing with a pitching and vertical movement meter.

Main technical specifications:

depth measurement on two subranges - 0-40 m and 0-200 m, with phasing 35-75 m and 175-375 m;

the marginal instrumental error of measuring depth with a probability of 0.95: from 0 to 10 m is 0.1 m, from 10 to 400 m is 1% of the measured depth.

When performing hydrographic work, the PEL-4M sonic depth finder works in conjunction with the PS-200 and PTs-8 AGKs and serves as a means of monitoring the accuracy and reliability of the received bottom topography information.

The presence of a digital channel for receiving information on measured depths allows simultaneous processing of data of areal surveys of bottom topography from the automated hydrographic complex AGK PS-200 and surveys of bottom profiles from the PEL-4M echo sounder. The presence of the recorder allows you to perform secondary control of the survey data, and is also a means of documenting the results of depth measurements.

GEL-3 deep-sea sounding fish finder is designed to measure depths and record the bottom profile during hydrographic work.

The composition of the sonar type GEL-3 includes: a central device; transmitter; receiver; vibrator; cable winch; network filter; PO-1 converter with ballasts; wave angle and vertical displacement meter.

Main technical characteristics: depth measurement from 20 to 10,000 m with bottom tilts up to 30 °, travel speeds up to 20 knots, side rolling up to 10 ° and pitching up to 3 °; sub-ranges of measurements of 0-250 m; 0-1000 m, 0-2500 m and 0-10000 m, using phasing on a scale of 0-2500, depths up to 5000 m can be measured; the marginal instrumental error of measuring depth with a probability of 0.95 at depths from 0 to 250 m is 0.14 m; from 0 to 1000 m - 0.65 m; from 0 to 2500 m - 1.63 m; from 0 to 10,000 m - 7.50 m, respectively. The values of the measured depths are transmitted to the telegraph apparatus of the STA-M67 type and to the computing means of the automated hydrographic complex of areal survey.

When performing hydrographic work, the GEL-3 sonic depth finder works in conjunction with the PSK-1500, KGK PS-5000 and PTs-8 AGKs and serves as a means of monitoring the reliability of received information about the bottom topography.

The presence of communication with AGC computing facilities allows simultaneous processing of data of areal surveys of bottom topography from automated hydrographic complexes AGK PS-1500, AGK PS-5000. The presence of the recorder allows you to perform secondary control of the survey data, and is also a means of documenting the results of depth measurements.

The automated hydrographic complex for areal surveying of the topography and bottom soil of the AGK PS-200 type is intended for the on-site survey, surveying of the topography and bottom soil at depths of 5 to 400 m, as well as the search for small objects and navigational hazards of natural and artificial origin.

The composition of the complex includes:

- an electronic unit designed to generate probe pulses and all necessary pulse sequences to synchronize the operation of the complex and organize the process of optimal processing of echo signals. The electronic unit also contains strip and pre-amplifiers, AGC, VARU and analog-to-digital converters, as well as power sources;

- two antenna arrays: for receiving and transmitting sonar signals of the left and right sides. Each antenna array consists of 2 emitting units and 3 receiving units;

- two outboard devices designed to install antenna arrays overboard the vessel, which allows for deepening the antennas to 2 meters and to ensure the inclination of the antenna arrays relative to the vertical plane 0-30 ° with an error in setting the angle of inclination of 0.5 °;

- the central computer of the complex, which is a modified IBM PC AT-486, is designed to control, collect information from the complex, navigation sensors, pitching sensor and vertical movements of the vessel, such as "Wave".

The complex provides signal processing and display of information on the display, the formation of primary information files and their storage, and also provides the following modes: scheduling, shooting control and monitoring in real time, data archiving, post-processing and quality control of output information, forming a database in formats for display on a plotter or accumulation in a ship cartographic data bank.

Specialized mathematical software consists of application software packages for processing hydrographic, navigation and sonar information at all stages of survey and processing. Provides storage, archiving and display of information.

Information is stored on the hard drive, on floppy disks, tape drives and video cassettes in the Arvid system. It is possible to connect magneto-optical memory, plotters and recorders.

The main technical characteristics; shooting depth 5-400 m; a bathymetric survey band with a marginal error of depth measurement with a probability of 0.95 not more than 1% of the measured depth - 6Z (Z - depth under acoustic antennas); strip sonar survey - 10Z; shooting speed - up to 5 knots; resolution in the horizontal plane - 1 °; range resolution - 0.1-0.7 m; the number of depths per 1 sensing cycle is 280 or with increased resolution up to 500.

The choice of an AGC is determined mainly by the composition of standard equipment installed on a carrier vessel. To implement the inventive device, it is possible to use projects 862 or special vessels that are part of the fleet of hydrographic vessels.

The composition of the ship equipment of the project 862 vessel includes the following equipment.

Navigation equipment: ship equipment of consumers of satellite navigation systems GLONASS / NAVSTAR - “Breeze-K”; ship receiver GPS differential beacon GR-80; ship receiver NT 300 D; navigation positioning system SNP-20; Segment electronic navigation and information system.

Communications equipment: INMARSAT Mini-M standard marine communications satellite station.

Hydrographic equipment: GEL 3 deep-sea sounding fishfinder (standard); single-beam measuring sonar PEL-4M; AGKPS-200 automated hydrographic complex for areal survey; automated hydrographic complexes of areal survey AGKPS-1500, AGKPS-5000 (full-time); acoustic profiler PC-8M; planning, automatic collection, registration and processing system d Kart HIDROCRAPHER.

Hydrophysical equipment: hydrophysical probe profiler GZP-2000; Hydrological and hydrochemical probe GH3-2000.

Means of launching and lifting underwater vehicles.

A special vessel of the type “Academic Golitsin” has the following composition of ship equipment:

Navigation equipment: ship equipment of consumers of satellite navigation systems GLONASS / NAVSTAR - “Breeze-K”; ship receiver GPS differential beacon GR-80; ship receiver type NT 300 D; navigation positioning system SNP-20; Segment electronic navigation and information system.

Communications equipment: INMARSAT Mini-M standard marine communications satellite station.

Hydrographic equipment: GEL 3 deep-sea survey sonar; single-beam measuring sonar PEL-4M; acoustic profiler PC-8M; planning, automatic collection, registration and processing system d Kart HIDROCRAPHER.

Hydrophysical equipment: hydrophysical probe profiler GZP-2000; hydro-hydrochemical probe GHZ-2000.

Means of launching and lifting underwater vehicles.

The special vessel of project 141 has the following composition of ship equipment.

Navigation equipment: ship equipment of consumers of satellite navigation systems GLONASS / NAVSTAR - “Breeze-K”; ship receiver GPS differential beacon GR-80; ship receiver type NT 300 D; navigation positioning system SNP-20; Segment electronic navigation and information system.

Hydrographic equipment: GEL 3 deep-sea survey sonar; single-beam measuring sonar PEL-4M; acoustic profiler PC-8M; planning, automatic collection, registration and processing system d Kart HIDROCRAPHER.

Hydrophysical equipment: hydrophysical probe profiler GZP-2000;

Means of launching and lifting underwater vehicles.

A prerequisite for ensuring the safe functioning of offshore pipeline systems is operational monitoring, which is associated with the need to ensure control of their technical condition on the basis of determining their characteristics, assessing the possibility of trouble-free operation and making recommendations for the repair and restoration work in order to maintain the normal functioning of the systems.

The approach to solving the problem of operational monitoring of offshore pipeline systems in the general case includes the involved forces and means.

Specialized carrier vessel with a dynamic positioning system and ship equipment, including navigation equipment: ship equipment for consumers of satellite navigation systems, ship receiver of a beacon of a differential system, short-base navigation sonar system, electronic navigation and information system; communications equipment: offshore satellite communications station; hydrographic equipment: deep-sea measuring echo sounder, automated hydrographic complex of surface survey, acoustic profilograph, planning system, automatic collection, registration and data processing; hydrophysical and hydrochemical equipment: hydro-hydrophysical probe, hydro-chemical probe; standard hoisting and special supporting devices; underwater vehicles: autonomous self-propelled underwater vehicle (APA) for examining the state of the pipeline along the entire length of the route, equipped with equipment for determining the position of the pipeline in space, for measuring the thickness of the soil layer above the pipe, for measuring physical and chemical parameters in the aquatic environment, for measuring electrochemical parameters pipeline protection, television equipment, on-board computer complex; two-link tethered remote control underwater vehicle (PTPA) - for detailed control of defective or potentially dangerous sections of the pipeline, equipped with a side-scan and / or sector-wide sonar, scanning profilograph, gas leak detector, dissolved hydrocarbon analyzer, current and potential meter, color television camera.

Ground-based navigation equipment includes: coast stations to ensure the operation of satellite ship receivers in differential mode. Navigation equipment for the pipeline route includes bottom transponder beacons.

The selection of specific types and composition of equipment is based on the analysis of domestic and foreign equipment, taking into account the requirements of international standards.

Pipeline monitoring is organized in three stages:

The first stage includes a periodic inspection of the technical condition and position in the space of the pipeline (in accordance with the established norms and regulations of the work) along the entire length of the route.

Attracted forces and means: ship navigation equipment, autonomous self-propelled underwater vehicle.

The organization of work includes: determining the depth of the pipeline and the thickness of the soil layer above the pipeline, measuring the physical and chemical parameters of the medium, measuring the parameters of the electrochemical protection of the pipeline, assessing the condition of the insulation coating of the pipeline, filming the defective sections of the pipeline.

The second stage includes detailed control of defective or potentially dangerous sections of the pipeline, providing:

high-precision determination of the plan-altitude position of pipeline sections;

detection of erosion and sediment, sagging pipelines;

measuring the thickness of the soil above the pipeline;

mapping the topography of the seabed;

determination of the structure of soil on sections of the pipeline route;

assessment of the insulation of the pipeline;

gas leak detection;

video recording of defective or potentially dangerous sections of the pipeline.

Forces and means:

ship navigation, hydrophysical and hydrochemical equipment;

two-link tethered remote control underwater vehicle.

The third stage includes diagnostics to identify stress-strain sections of the pipeline, namely:

determination of the coordinates of the axis of the pipeline;

determination of coordinates of potentially dangerous stress-deformed sections of the pipeline (radius of curvature, height of corrugations, dents, bulges, diameter changes). Performing operational monitoring of offshore pipeline systems by using the proposed technical solution will provide an assessment of their condition and quality control of characteristics, as well as timely adoption of necessary measures for trouble-free operation or repair and restoration work, and when performing bathymetric surveys in areas with complex underwater terrain, it will increase productivity shooting due to redundancy of recorded information.

The proposed technical solution is based on commercially mastered devices and tested units and elements, as well as on proven software, which allows us to conclude that the claimed technical solution meets the patentability condition “industrial applicability”.

Information sources

1. V.A. Voronin, S.P. Tarasov, V.I. Timoshchenko. Hydroacoustic parametric systems. Rostov-on-Don. LLC Rostizdat. 2004, p. 257.

2. Copyright certificate of the USSR No. 1308040.

3. USSR copyright certificate No. 1360405.

Claims (1)

Hydroacoustic location system, including a sonar device and a towed underwater vehicle, in which the sonar system consists of an onboard control system located on board the vessel, a pump signal driver located inside the towed underwater vehicle, a parametric radiating path located on the towed underwater vehicle, a receiving path, located on a towed underwater vehicle, an on-duty control system located on a towed underwater vehicle, control the avaliable power unit located on a towed underwater vehicle, a video monitoring device placed on board the vessel, and the towed underwater vehicle, is made in the form of a hollow cylindrical body with a removable head and tail parts and equipped with a bow and stern cameras, side-scan sonar with a range of 100 m , and connected to the vessel with a cable; the input signal wires of the cable-cable are made in the head of the underwater vehicle, the cable entries for receiving and radiating antennas are made next to the antennas, on the sides of the towed underwater vehicle are installation sites for four pump converters, four receiving antennas are mounted on special bandages, the antenna of the radiating path tilted at an angle of 20 °; the towed underwater vehicle to reduce yaw and trim is equipped with a tail stabilizer made in the form of a broadband rim connected to the tail of the cylindrical body with plate spokes, roll stabilization (rotational movement around the longitudinal axis) is achieved by shifting the center of gravity of the towed underwater vehicle, necessary deepening of the towed the underwater vehicle with minimal cable cable etching is carried out by using a deepening grid for retraction Ia entire system towed away from the carrier vessel, characterized in that the lattice zaglubitelnaya further provided with containers for placing tethered remotely operated underwater vehicle and the underwater vehicle, the position meter cable rope; an autonomous underwater vehicle and a tethered remote-controlled underwater vehicle are equipped with a control system for the vehicle’s movement along the underwater object under study, a monitoring system for reference points, equipment for determining the location of the underwater object under study in space, equipment for measuring the thickness of the soil layer above the studied underwater object, and equipment for measuring physical and chemical parameters environment, equipment for measuring the parameters of the electrochemical protection of the studied underwater object, nennogo a pipeline, a television and lighting equipment, the measurement information storage system; tethered remote-controlled underwater vehicle is equipped with a hydrophysical probe-profilograph, the side walls of the containers are made in the form of a dovetail.

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