RU2578807C2 - Method of illuminating underwater environment - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to methods of monitoring underwater medium and searching for underwater objects. To illuminate underwater environment, method includes search of underwater objects with autonomous underwater vehicle. When underwater vehicle moves along a predetermined route before starting, method includes detecting an underwater object and report its finding to surface ship or a coastal station. Method includes determining predicted or calculated point of location of unmanned underwater vehicle calculating data for firing with one or two radio-hydroacoustic reactive one or two buoys. Method includes specifying geographic position of unmanned underwater vehicle at known coordinates of surface ship or coastal station and reactive radio-hydroacoustic buoy and transmitting to unmanned underwater vehicle via active link required remote control commands.

EFFECT: achieving systematic updating of location and remote control of unmanned underwater vehicle.

2 cl, 2 tbl, 8 dwg

Description

The invention relates to methods for observing an underwater environment (lighting underwater conditions) and searching for underwater objects with autonomous uninhabited underwater vehicles (NPA), remote from a surface ship (NK) or a coastal post (PS) using sonar radioactive buoys (RSLR).

Known methods of searching for underwater objects using search (multi-purpose) anti-aircraft guns, controlled autonomously or remotely from surface ships (PC) [1], [2], [3].

When remotely controlling an NPA with NK to search for underwater objects (min) [1], a cable communication line is usually used, which limits the range of the NPA. Autonomous control of the legal regulation allows to significantly increase the area of its action [2]. However, an increase in the range of the NPA has a significant impact on the accuracy of its movement along a given trajectory. In modern NPA control systems, inertial navigation systems (INS) are used [4]. The accuracy of positioning the NPA place when using ANN decreases in proportion to the time of its movement and can reach hundreds of meters during many hours of operation. In order to increase the accuracy of the geographical positioning of the LA, together with the ANN, various methods are used, including the use of space (SPS), radio navigation (RNS), sonar navigation systems or install special beacons in the area of operations of the LA [5, p. 75].

Thus, the search for underwater objects by autonomous search (multi-purpose) anti-aircraft guns when using only ANNs is accompanied by a gradual decrease in the accuracy of their retention of a given (program) trajectory, and, therefore, the accuracy of information on the underwater objects discovered by them.

A known device is a radio-acoustic buoy (RSL), comprising a housing, a battery, a parachute system, a transmitter, a receiver with hydrophones, a storage device, a cable cable, an antenna, an autotransfer mechanism, a control unit, a clock mechanism [6]. RSL have been in service with the Naval Forces of many states for a long time and are used by aviation to monitor the underwater environment [7].

A device is known - rocket sonar buoy reactive (RGBR), comprising a housing, battery, parachute system, transmitter, receiver with hydrophones, storage device, cable, antenna, auto-release mechanism, control unit, clockwork, rocket engine, stabilizer, separation mechanism, data input device, splashdown sensor, float, gas generator [8]. The RSLB is designed for use from surface ships of the Navy by firing from a launcher (launcher), which can be used launcher rocket launcher multiple launch rocket launchers (MLRS). The solution to the firing problem is provided by a computing device and firing control devices (CCP).

There is a known method of using the RSLR, in which the coordinates of the reference point (the point of loss of contact with the underwater object) are determined, relative to which it is necessary to arrange the required number of the RSLR (around the circle or in the sector of the estimated courses of motion of the underwater object), by means of a computing device, they solve the problem of determining the required number of the RSLR in the salvo and the coordinates of the points of their splashdown, charge the launcher with the required number of RBWs, by means of the launcher they solve the tasks of guiding the launcher to fire, induce the launcher to fire R BR calculation points according to the start precedence, then fired RGBR PU include RGBR after splashdown and receive from them signals underwater environment [9].

This method is advisable to use to search for an underwater target when at least its approximate location or route is known, since otherwise the buoys displayed will be used to no avail.

The aim of the invention is to develop a method for illuminating the underwater environment and searching for underwater objects with an autonomous airborne weapon remote from a missile or a power supply unit, which makes it possible to control the accuracy of the location of the airborne guns, to continuously monitor the detected airships underwater objects, and if necessary, to remotely control its operation.

This goal is achieved due to the fact that a method is proposed for lighting underwater conditions, in which they search for underwater objects with autonomous non-standard instruments equipped with a non-contact detection system (NSO) of underwater objects, when it moves along a given route installed in its onboard ANN before launch, an underwater object is detected report on the detection of an underwater object on the NK or BP, classify the detected underwater object, characterized in that they calculate the time after which the accuracy of retention of the normative is set of the route of movement will reach the minimum acceptable value, determine the anticipated (calculated) point of location of the anti-aircraft guns after this time, after the calculated time on the NK or PSU, using a computing device, calculate the data for firing one RBGR when the NSOs are in active mode or two RBGDs during operation NSO NPA in passive mode to the anticipated (calculated) point of location of the NSA, they launch the launcher and fire one or two RSLBs, after splashing the RSLD they include it (them) NSOs of certain objects, specify the geographical location of the NLA according to the known coordinates of the NK (BP) and the RSLR by registering the NSO of the NLP bearing and the distance to the splashed NLRB in the active mode or by registering bearings on the splashed RLRB in the work of the NLR in the passive mode and transmit these data on the NK (BP) via the existing communication line between the regulatory documents, RSLR and the NK (BP), transmit the necessary remote control commands to the NPS via the active communication line.

In a variant embodiment, a method for lighting an underwater environment is proposed, which differs from the one discussed above in that when the NPA is not able to pursue an underwater object that it has detected and maintain contact with it, the barrage (intercept) barrier parameters are calculated on the NK (BP) using a computing device The RSLR and the firing data for them, taking into account the actual speed of the underwater object, direct the launcher and fire the RSLR at the calculated points of the barrier, after splashing the RSLR on chayut their NSO, discover an underwater object transmit information about it to the NC (BP) on existing communication lines, specify the position and nature of the movement of the underwater object.

The technical implementation of the method of lighting underwater conditions is illustrated by drawings, in which:

FIG. 1 is a diagram of a search for an underwater target of a regulatory legal act;

FIG. 2 - scheme of the action of the LA when the target is detected;

FIG. 3 is a diagram for clarifying the location of the normative legal acts (goals) using the RBD;

FIG. 4 is a diagram of setting the barrier RBW;

FIG. 5 is a diagram of the circular barrier RBW;

FIG. 6 - interval between adjacent buoys of the barrier;

FIG. 7 is an example of a design circular barrier RBWG;

FIG. 8 is a diagram of setting a sectoral barrier of the RBLD.

The essence of the proposed method for illuminating the underwater environment using stand-alone instruments and its technical implementation are as follows.

In FIG. 1 NPA (1) searches for an underwater target (2) in a certain area (3) in accordance with the movement program established in the ANN (4) and included target NSO (5). Through the communication line (6), information is transmitted / received from the normative documents to the NK (BP) (7).

FIG. 2 illustrates the action diagram of an airborne warning system (1) when a target is detected (2) in the area of its NSO (5), it informs a ship about a target detection by an active ship (BP) (7) via an active communication line (6) (radio, sound or light signal) .

In FIG. Figure 3 shows the scheme for clarifying the location of the LA when the errors in its location on route (4) exceeded the permissible values as a result of the duration of the ANN. In this case, with a NK (BP), a single RBWG (8) with a range of buoy d _b (9) is shot at the calculated (anticipated) point of location of the NPS on route (4) (the diagram shows the case of using the NSS NPS in active mode). The place of splashdown of the RSLD (bearing and distance) is recorded by the NSO NPA (1), the contact of the NSA with the RSLD via the communication line (10) is established and this information is transmitted to the NK (BP) via the RSLR-NK (BP) communication line (11), where they specify place of a legal act according to the known coordinates of the NK (BP) and the RBR. The communication lines (10) and (11) also transmit data on the detected NPA underwater object and remote control commands NPA.

In FIG. Figure 4 shows the scheme for setting the barrier of the RBWG, when the NLA is not able to pursue the detected target (2) and maintain contact with it. In this case, several RBWGs (8) are fired from the NK (BP) as a barrage (intercept) barrier (12). When the underwater target approaches the range of the buoy d _b (9), it fires and transmits a signal about detecting the target via the communication line (11) to the NK (BP), where the target is classified and the nature of its movement is specified.

In FIG. 5 shows a diagram of setting the circular barrier of the RSLR [9].

In the computing device on the NK (BP) calculate the radius of the circumference of the circular barrier according to the formula

where V _c - target speed, m / s; t is the time required to set the buoys, s; d _b is the range of the buoy, m. In the proposed method, in contrast to the method of using the RBGR [9], the target speed V _{c is} taken equal to the current speed of its movement observed at the LA.

Time t is the sum

where t _resol - time to make a decision, s; t _sub - time to prepare for firing RBW, s; t _floor is the time of the RSLR flight, s; t _on - the time of inclusion of the RBWG in the work after splashdown, s.

The interval between two adjacent buoys i _b (Fig. 6) is calculated by the formula

Here k is the coefficient of overlap of the observation zones of neighboring buoys.

The number of buoys on the circle will be equal

The number n _{b is} rounded up.

The angle α between the directions of two adjacent buoys from the center of the circle (Fig. 5) is calculated by the formula

Clarify the interval between two adjacent buoys i _b and coefficient k

The coordinates of each buoy (x _i ; z _i ) (Fig. 5) are determined by the formulas

Here, x _i, z _i - coordinates of the target (2); α _i - the angle between the direction (2) - (7) (“target - ship”, axis “-.x”) and the direction to the i-th buoy; α is the angle between the directions of two adjacent buoys from the center of the circle coinciding with the center of the target (2); n is the buoy number.

Example 1. The calculation of the circular barrier of the RBWG (Fig. 7).

Initial data:

V _c = 10 m / s; t _dec = 60; t _sub = 30 s; t _floor = 60 s; t _on = 30 s; d _b = 2000 m; k = 0.9.

The solution of the problem gives the following results:

t = 180 s; R _b = 3800 m; n _b = 7; α = 51.4 °; i _b = 3600 m; k = 0.85.

In FIG. Figure 8 shows the layout of the RBDG sector.

The RSLR sector is used for a known range of possible courses of the underwater object β. To do this, according to the formula (1) calculate the radius of the sector (Fig. 8).

By the formula (2) calculate the time t setting buoys.

The interval i _b between two adjacent buoys is calculated by the formula (3).

The number of buoys in the sector will be equal

The number n _{b is} rounded up.

The angle α between directions to two adjacent buoys from point (2) is calculated according to the following formula (Fig. 8):

Specify the interval between two adjacent buoys i _b and the coefficient k:

The coordinates of each buoy (x _i ; z _i ) are calculated in the computing device depending on the direction of the general course of the target.

Example 2. Calculation of the sector RBGD (Fig. 8).

Initial data: the range of possible courses of the underwater target is β = 120 °, the remaining data correspond to example 1.

The solution of the problem gives the following results:

t = 180 s; R _b = 3800 m; n _b = 4; α = 40 °; i _b = 2653 m; k = 0.66.

The compliance of the proposed technical solution with the condition of patentability "novelty" is evidenced by the information given in Table 1 "Compliance of the proposed method with the condition of patentability" novelty ".

The proposed method meets the condition of patentability "novelty", since none of the distinguishing features in the known methods is not found.

The achievement of a positive effect in the implementation of the proposed method is confirmed by the information given in Table 2 "Expected operational properties of the proposed technical solution."

Thus, the use of NPA in conjunction with the RSLD allows for the systematic clarification of the location of NPA, to conduct continuous monitoring of detected NPA underwater objects, as well as remotely control the operation of the NPA.

Information sources

1. Popov V.A., Markevich S.G. The Development of Domestic Hydroacoustic Means for Mine Search: Retrospective and Perspective. // MRE, No. 4, 2004.

2. Sidenko KS, Illarionov G.Yu. Submarine and autonomous uninhabited submarine. // MRE, No. 2, 2008.

3. Multipurpose autonomous underwater vehicle. // Navy and shipbuilding. Digest of the foreign press. Issue 70-71, St. Petersburg, 2014.S. 59.

4. Inertial navigation system. // Navy and shipbuilding. Digest of the foreign press. Issue 70-71, St. Petersburg, 2014.S. 108-109.

5. Novikov A.V. Submarine sabotage forces and means of the leading naval powers and means of combating them. - SPb, VMI, 2009.138 s.

6. Technical description of the sonar buoy RSL-N-ST. - M .: Military Publishing House, 1974.

7. Surnin V.V., Pelevin Yu.N., Chulkov V.L. Antisubmarine assets of foreign fleets. - M .: Military Publishing House, 1991.128 s.

8. The device is a sonar buoy jet. Patent for invention RU 2400392 C1, 05.25.2010. - M.: FIPS, 2010. Bull. Number 27.

9. The method of using sonobuoy reactive buoys (options). Application for invention No. 20111145915 dated 10/14/2011. - M.: FIPS, 2013. Bull. Number 14.

Claims (2)

1. A method of lighting an underwater environment in which an underwater object is searched for by an autonomous uninhabited underwater vehicle equipped with a non-contact detection system for underwater objects, when it moves along a predetermined route set in its onboard inertial navigation system before launch, an underwater object is detected, and an underwater object is detected object to a surface ship or coastal point, classify the detected underwater object, characterized in that they calculate the time after which f the accuracy of keeping the uninhabited underwater vehicle on a given route of movement will reach the minimum acceptable value, and determine the anticipated or estimated point of location of the uninhabited underwater vehicle after this time, after the calculated time on the surface ship or coastal point, using the computing device, calculate the data for firing with one radio-acoustic buoy reactive when operating a non-contact detection system for an uninhabited underwater vehicle in an active mode having or two reactive sonobuoys reactive when operating a non-contact detection system for an uninhabited underwater vehicle in passive mode to an anticipated or estimated location of an uninhabited underwater vehicle, launch a launcher and fire one or two reactive sonobuoys, after bringing the buoy or buoys on, turn on it or their non-contact a system for detecting underwater objects, specify the geographical position of an uninhabited underwater vehicle according to known coordinates to a surface ship or coastal point and a radio-acoustic buoy jet by registering a non-contact detection system for an uninhabited underwater vehicle with a bearing and the distance to a water-borne radio-acoustic buoy reactive when operating a non-contact detection system of an uninhabited underwater vehicle in active mode or by registering bearings on a water-borne radio-hydroacoustic buoy detect uninhabited underwater vehicle in passive mode and transmit this data to a surface ship or coastal point via an active communication line between an uninhabited underwater vehicle, a sonar buoy by a jet and surface ship or a coastal point, and transmit necessary remote control commands to an uninhabited underwater vehicle through an active communication line. 2. The method of illuminating the underwater environment according to claim 1, characterized in that in the case when an uninhabited underwater vehicle is not able to chase the underwater object it detects and maintain contact with it, on a surface ship or a coastal point, the parameters of an obstructing or intercepting device are calculated using a computing device reactive sonar buoy barriers and firing data for them, taking into account the actual speed of the underwater object, direct the launcher and fire reactive buoys at the calculated points of the barrier, after the sonar buoys are brought in, they include their non-contact detection systems, detect an underwater object, transmit information about it to a surface ship or coastal point via an active communication line, and specify the coordinates and nature of the movement of the underwater object.

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