RU2649073C1 - Method for determining coordinates of the underwater object by the hydroacoustic system of underwater navigation with an alignment beacon - Google Patents

Abstract

FIELD: navigation system.

SUBSTANCE: invention relates to underwater navigation and is intended for determining the location coordinates of an underwater object (UO) with increased accuracy, in particular underwater objects, equipped with a transceiver of a long-base hydroacoustic navigation system (HANS-LB, LBL system). For this purpose, one navigation beacon (NB) is allocated as an alignment beacon (AB). On the UO, the distances to the NB and to the AM are determined by the time of the signal propagation. According to the distances to NB and known NB coordinates, the coordinates of the UO are calculated, according to which and to known coordinates of the AB the distance between the UO and AB is calculated. Then, the calculated distance is compared with the distance determined by measuring distance passage time. If the deviation is greater than the set value, then by its value, the correction to the depth average-weighted sound velocity is calculated and the speed velocity is refined. Then, the distances to the NB and to the AB are determined by the time of the signal propagation, coordinates of the UO are specified, the value of the distance to the AB is calculated and the values of the determined and estimated distances between the UO and AB, etc. are again compared. Iterations continue until the deviation is less than the specified value. In this case, the UO coordinates are calculated with the smallest errors of sound velocity in water.

EFFECT: technical result of the invention is reduced errors in the sound velocity

, which influences the error of calculating the distance to the UO, and thereby allows to increase the accuracy of determining the coordinates of the UO.

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Description

The invention relates to the field of underwater navigation and is intended to determine the location coordinates of an underwater object (ON) with increased accuracy, in particular underwater objects equipped with a transceiver for sonar navigation system.

Known hydroacoustic systems for underwater navigation with a long base (HANS-DB or LBL systems), including a navigation base of m hydroacoustic navigation beacons for transponders (NM), equipped with hydroacoustic transceiver equipment that are installed in the area of operation of the software, and placed on the software of the hydroacoustic transceiver , at the same time interrogating navigation beacons responders and receiving m responses from each beacon on the own frequency.

GANS-DB (LBL systems) relate to rangefinding navigation systems, in which the method of determining coordinates is based on measuring a set of inclined ranges (distances) between the underwater object and the navigation beacon by the transponder, each of which is determined through a measured time interval between the time of the request and the moment of the response signal.

The distance traveled by an audio signal from the transmitting antenna of the software to the NM and back to the receiving antenna of the software is determined by the formula:

Where

s is the distance traveled by the signal;

- средневзвешенная по глубине скорость звука;

- depth-weighted average speed of sound;

Δt _p is the propagation time of the sound signal in water;

T - measured time interval from the moment of request submission to receiving a response

ΔT is the delay for request processing and response known for this equipment;

ε is the error of time measurement.

Accordingly, the distance r _i from PO to i NM _i is equal to half the distance s traveled by the signal and is determined by the formula:

The position surface for the distance from PO to i NM _i represents the sphere of radius r _i . The equation of the position surface is described by a nonlinear equation of the form:

here i = 1, ..., m is the number of the NM;

x _i , y _i , z _i - coordinates i NM in a given rectangular system Oxyz;

x _no , y _no z _no - software coordinates in the specified rectangular Oxyz system.

In equation (3), the coordinates of HM _{i are} known with a given accuracy, unknown parameters are the coordinates of the software: x _no , y _no , z _no , which are found according to well-known algorithms, for example, according to the algorithm described in [1], by solving a system of N non-linear equations of the form (3).

и ошибок исключения неоднозначности при определении момента прихода ответа от НМ, связанных с явлением многолучевости распространения звука при наличии отражающих границ раздела, которое наблюдается в мелком море.The disadvantage of this method is the relatively large, according to modern requirements, error in determining the coordinates of the software (x _no , y _no z _no ), caused by an error in the calculation by formula (2) of the distance r _i , depending on the errors of the speed of sound

and errors of exclusion of ambiguity in determining the moment of arrival of a response from NM associated with the phenomenon of multipath sound propagation in the presence of reflecting interfaces, which is observed in the shallow sea.

There is a method of navigating an underwater object [2] by means of a hydroacoustic navigation system, which is designed to improve the accuracy of determining the coordinates of software containing a navigation base of m hydroacoustic transponders with different response frequencies, located on the navigation object of a hydroacoustic transceiver and hydroacoustic transponders located at drifting stations in a waterway surface. The navigation parameters of the underwater object relative to the drifting station or the base of the drifting stations are determined in the mode with a long and / or ultrashort base, and / or in the combined mode (long + ultrashort base), and / or in the direction finding system, and two navigation base with a common center.

The essence of this method is to increase the accuracy of determining the coordinates of the software by adding additional measurement parameters, namely bearings, which increase the accuracy of calculations, but at the same time errors of knowledge of the speed of sound and errors from the multipath phenomenon are saved.

There is a method of navigating an underwater object [3] by means of a hydroacoustic navigation system, which is designed to improve the accuracy of determining the coordinates of software containing a navigation base of m hydroacoustic transponders with different response frequencies, located on the software of the hydroacoustic transceiver and sonar transponders located at drifting stations on the water surface . The navigation parameters of the software relative to the drifting station or base from the drifting stations are determined in the mode with long and / or ultrashort base, and / or in the combined mode (long + ultrashort base), and / or in the direction finding system, and two navigation bases are formed from receivers with a common center, in which the processing of measurement results from spatio-temporal arrays of observations, determination of software coordinates by calculation, characterized in that when calculating the coordinates, the method error is minimized Statistics Gersten and evaluation arithmetic mean hydroacoustic characteristics spatiotemporal arrays observation is performed by computation on multidimensional quadrature formulas and Haar functions.

The essence of this method is to increase the accuracy of determining the coordinates of software by adding the number of measured parameters and the use of statistical estimation methods that increase the accuracy of calculations, but at the same time errors of knowledge of the speed of sound and errors from the multipath phenomenon are also saved.

Closest to the proposed method by the number of common features and the problem to be solved is the method [4]. This method is based on the use of a bottom navigation base of m NMs, on which hydroacoustic transponders with different response frequencies are located, located on the software of a hydroacoustic transmitter, a clock generator, an m-channel receiver, m measuring instruments for the propagation time of hydroacoustic signals to transponders and vice versa. According to the number of ray paths, n additional meters for the propagation time of hydroacoustic signals, n additional blocks for converting time intervals into distances, n additional blocks for selecting the maximum distance value and a distance averager are introduced into each of the m channels. The outputs of all blocks for selecting the maximum distance value are connected to the inputs of the distance averager, and the output of the distance averager is connected to the input of the software coordinate calculator.

With the help of this system, a method for navigating an underwater object is realized, in which the sonar transmitter software generates an acoustic request signal, which is received by the hydro-acoustic transponders m NM, and when a request signal is received, a response signal is emitted at its frequency. These response signals are received by the m-channel software receiver and transmitted to the hydro-acoustic signal propagation time meter to the NM transponders and vice versa, and then to mn blocks of time interval conversion into distances, from which the minimum distance values from m NM are selected, from which the calculator calculates software coordinates.

This method is aimed at improving the accuracy of determining the coordinates of the software by eliminating errors from the multipath phenomenon, but there remain errors associated with errors in the knowledge of the speed of sound.

является определяющим элементом при расчете дистанций r_i, так как аппаратурная ошибка современных навигационных систем сравнительно мала. Она не является постоянной величиной, так как зависит от гидрологии места на момент проведения навигационных измерений.Value

 is the determining element in calculating the distances r_i, since the hardware error of modern navigation systems is relatively small. It is not a constant value, since it depends on the hydrology of the place at the time of the navigation measurements.

The objective of the invention is to increase the accuracy of determining the coordinates of the software.

, влияющей на погрешность расчета дистанции r_i, что приводит к повышению точности определения координат ПО.The technical result is to reduce errors in the speed of sound

that affects the error in calculating the distance r _i , which leads to an increase in the accuracy of determining the coordinates of the software.

The claimed technical result is achieved by the fact that in a method for navigating software using a sonar navigation system containing a navigation base of m NM on which sonar transponders with different response frequencies are located, and placed on the sonar transceiver software, in which the sonar transceiver, using a clock generator, at a certain moment emits an acoustic request signal, which is received by hydro-acoustic transponders m NM, with the help of which and receiving the request signal, a response signal is emitted at its frequency, which is received by the m-channel software receiver and transmitted to the hydro-acoustic signal propagation time meter to the hydro-acoustic transponders NM and vice versa, by means of m blocks for converting time intervals to distances, the minimum distance values from m NM are selected, according to which the coordinates of the software are calculated in the calculator, new features are introduced, namely: the calculator of the calculated parameter is additionally installed on the software, in which read the calculated value of the distance, and the analyzer designed to calculate the correction to the speed of sound, and from the m hydroacoustic transponders of the NM, a hydroacoustic transponder of the adjustment beacon (UM) is allocated, to which the acoustic signal of the request is received with software, which is received by the hydroacoustic transponder of the UM, using the sonar transponder of the UM emit a response signal, which is received by the m-channel software receiver, transmitted to the propagation time meter, then to the time conversion unit x intervals in the distance, where the distance to JM is determined, which is compared in the analyzer with the calculated distance to JM, calculated in the calculator of the calculated parameter by the known coordinates of the JM and the coordinates of the software obtained for all NM except for JM, if the deviations exceed the specified value, go to the next iterations in which the correction is calculated and the value of the sound velocity averaged over depth is specified, which is transmitted to the unit for converting time intervals to distances to calculate the adjusted values of the distances to all x NM and YM inclusively, in the software of the coordinates of the software for the adjusted values of the distances to the NM calculate the updated coordinates of the software at the iteration, according to which the coordinates of the YM in the block of the calculation parameter calculate the new calculated value of the distance to the YM at the iteration and again compare the adjusted value of the distance at the iteration obtained in the block for converting time intervals to distance, and the calculated value of the distance obtained from the block of the calculated parameter at the iteration, as a result of which, under the condition, then the deviation does not exceed the preset value, they decide to end the iterative process and obtain coordinates of increased accuracy or to continue the iterative process if the deviations exceed the preset value until the above condition is satisfied.

The invention is illustrated in FIG. 1, which schematically depicts a functional diagram that implements the method. In FIG. 1, the solid line represents the interrogation signal, the dashed line represents the response signal, and SI represents the clock. KPO - software coordinates.

In the proposed method, the transmitter 2 ON via clock generator 3 via the transmitting-receiving antenna 1 at time t _of emits acoustic request signal, which is received hydroacoustic transponders 10 nautical beacons, including sonar transponder 11 YM (HMi, i = 1, ..., m -1, YM).

между ПО и ЮМ 11, которое передают в анализатор 9. В анализаторе 9 производится сравнение (проверка) следующего условия:Each of the transponders 10 NM and 11 JM, upon receipt of the request signal, emits a response signal at its own frequency, which is received by the m-channel receiver 4 of the software at the time t _i and transmitted to the transponder 5 for transponders to and from the transponders Δt _pi , Δt _ryu , .. Then, in the block for converting time intervals to distance 6, the distances r _i (i = 1, ..., m-1) and r _{y are} calculated according to formula (2) in each of the M channels. Based on the distances r _i from HMi 10 (i = 1, ..., m-1) and the coordinates HMi x _i , y _i z _{i, the} coordinates of the software x _no , y _no z _no are calculated in the coordinate calculator 7, which are transmitted to the calculator 8. The calculator 8 _no x, y _{no no} z and x _w, y _w z _w by the formula (3) calculating the estimated value of the distance

between software and UM 11, which is transmitted to the analyzer 9. In the analyzer 9, the following condition is compared (checked):

where ε is a given value.

и по формуле (7) производят уточнение значения скорости

для следующей итерации. Формула для расчета поправки к средневзвешенной по глубине скорости звука получается из выражений (2), которое можно представить в следующем виде:If condition (4) is not satisfied, then in the analyzer 9 by the formula (6) calculate the correction to the speed of sound

and according to the formula (7), the speed value is refined

for the next iteration. The formula for calculating the corrections to the sound velocity averaged over depth is obtained from expressions (2), which can be represented in the following form:

Where

- расчетное значение средневзвешенной по глубине скорости звука на итерации;

- the calculated value of the depth-weighted average sound velocity at the iteration;

- поправка к расчетному значению средневзвешенной по глубине скорости звука.

- correction to the calculated value of the sound velocity averaged over depth.

получается из (5) с учетом (3) при условии, что

.Amendment

obtained from (5), taking into account (3), provided that

.

where x _w, y _w, z _w - YM 11 coordinates in a predetermined rectangular system Oxyz;

,

,

- уточненные в соответствии с [1] координаты ПО в заданной прямоугольной системе Oxyz.

,

,

- software coordinates specified in accordance with [1] in a given rectangular Oxyz system.

The refinement of the sound velocity averaged over depth is made by iterative method according to the following formula:

Where

j is the iteration number;

- расчетная средневзвешенная по глубине скорость звука на j итерации;

- calculated depth-weighted average sound velocity at j iteration;

- поправка к средневзвешенной по глубине скорости звука на j итерации;

- correction to depth-weighted average sound velocity at j iteration;

- уточненное значение средневзвешенной по глубине скорости звука.

- the adjusted value of the weighted average sound depth in depth.

передают в блок преобразования временных интервалов в дистанцию 6 для расчета по времени распространения Δt_pi, Δt_рю уточненных значений r_i (i=1, …, m-1), r_ю, затем в вычислителе координат 7 вычисляют уточненные координаты ПО x_no, y_no, z_no, которые передают в вычислитель расчетного параметра 8, в котором рассчитывают уточненное значение дистанции

между ПО и ЮМ, которое передают в анализатор 9. В анализаторе 9 производят сравнение

и r_ю. Процесс итераций при вычислений координат ПО заканчивается при выполнении условия (7), при этом координаты ПО найдены с повышенной точностью. Это позволяет считать, что заявленный технический результат достигнут.Value obtained

transmitted to the conversion unit of slots in the distance 6 in calculating the propagation time Δt _pi, Δt _ryu improved values r _{i (i} = 1, ..., m-1), r _w, then a coordinate 7 calculator calculated specified coordinates software x _no, y _no , z _no , which transmit the calculated parameter 8 to the calculator, in which the specified distance value is calculated

between software and UM, which is transmitted to analyzer 9. In analyzer 9, a comparison is made

and r _y The iteration process in calculating the coordinates of the software ends when condition (7) is satisfied, while the coordinates of the software are found with increased accuracy. This allows us to assume that the claimed technical result is achieved.

Information sources

1 V.I. Borodin et al. Hydroacoustic navigational aids. Leningrad. Shipbuilding. 1983 year

2 RF Patent No. 2365939, G01S 15/08. A way to navigate an underwater object. Date of patent publication 08/27/2009.

3 RF Patent No. 2444759, G01S. A method for navigating an underwater object through a sonar navigation system. Date of publication of the patent 10.03.2012.

4 RF Patent No. 2032187, G01S 15/08. Hydroacoustic synchronous rangefinder navigation system. Date of publication of the patent 03/27/1995.

Claims (1)

A method for navigating an underwater object by means of a hydroacoustic navigation system containing a navigation base of m navigation beacons (NM), on which hydroacoustic transponders with different response frequencies are located, and a hydroacoustic transceiver located on an underwater object (ON), in which a hydroacoustic transceiver, using a clock generator at a certain moment emits an acoustic request signal, which is received by hydro-acoustic transponders m NM, with the help of which when a request signal is received, a response signal is emitted at its frequency, which is received by the m-channel software receiver and transmitted to the hydro-acoustic signal propagation time meter to the hydro-acoustic transponders of the NM and vice versa, by means of m blocks for converting time intervals to distances, the minimum distance values from m NM are selected, according to which the coordinates of the software are calculated in the calculator, new features are introduced, namely: the calculator of the calculated parameter is additionally installed on the software, in which p the calculated value of the distance is calculated, and the analyzer designed to calculate the correction to the speed of sound, and from the m hydroacoustic transponders of the NM, a hydroacoustic transponder of the alignment beacon (UM) is allocated, to which the acoustic signal of the request is received with software, which is received by the hydroacoustic transponder of the UM, by means of the hydroacoustic transponder of the UM emit a response signal that is received by the m-channel software receiver, transmitted to a propagation time meter, then to a time conversion unit intervals to the distance, where the distance to JM is determined, which in the analyzer is compared with the calculated distance to JM, calculated in the calculator of the calculated parameter from the known coordinates of the JM and the coordinates of the software obtained for all NM except for JM, if the deviations exceed the specified value, go to the next iterations, in which the correction is calculated and the value of the sound velocity averaged over depth is specified, which is transmitted to the unit for converting time intervals to distances to calculate the adjusted values of the distances to sekh NM and YM inclusively, in the software of the coordinates of the software for the adjusted values of the distances to the NM calculate the updated coordinates of the software at the iteration, according to which the coordinates of the YM in the block of the calculation parameter calculate the new calculated value of the distance to the YM at the iteration and again compare the specified value of the distance at the iteration obtained in the block for converting time intervals to distance, and the calculated value of the distance obtained from the block of the calculated parameter at the iteration, as a result of which, under the condition That the deviation does not exceed the predetermined value, deciding the completion of the iterative process, and obtaining high accuracy of coordinates or to continue the iteration process if the deviation exceeds a predetermined value, as long as the above condition is not executed.

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