RU2709058C2 - Mobile hydroacoustic buoy-beacon and navigation equipment method of sea area - Google Patents

Abstract

FIELD: navigation systems.

SUBSTANCE: group of inventions relates to marine equipment for navigation equipment of sea areas and provision of safety of navigation, and determination of coordinates in sea of surface ships, boats, submarines and underwater vehicles. Mobile hydroacoustic buoys-beacon includes a current source, control equipment, a floating float with an antenna and a GLONASS satellite navigation receiver and equipment for receiving and emitting hydroacoustic signals. For naval navigation equipment, number of hydroacoustic buoys-beacons required for navigation equipment of preset sea area is calculated and points of their installation are determined. Hydroacoustic buoys-beacons are prepared on the basis for the installation, their operability is verified and loaded onto the watercraft. They are delivered to the specified sea area and in design points are dumped in water, after driving hydroacoustic buoys-beacons are transferred into working position. At the stationary buoys the anchor is separated, the buoy rope is unwound and installed on the ground, leaving the float with the antenna, as well as the drifting buoy, on the water surface, a radio station, a satellite navigation receiver, a set of satellite communication and sound underwater communication equipment are received, geographical coordinates of the buoy are obtained from the satellite navigation system and, on request of surface or submarine watercraft, they are transmitted over radio or underwater communication.

EFFECT: enabling the navigation equipment of the area to be accelerated and the work quality of its floating crafts in it to be improved owing to their accurate navigation parameters for performing maneuvers and improving safety of navigation.

2 cl, 2 dwg

Description

The invention relates to the field of marine engineering and can be used for navigational equipment in marine areas and to ensure the safety of ship navigation and determining coordinates in the sea of surface ships, ships, submarines and submarines.

Navigation equipment of the marine area is a system of special coastal and floating structures, structures and devices designed to ensure the safety of ship navigation (navigation) and serves to determine the coordinates of ships and vessels at sea, their proper orientation during navigation in coastal and shallow areas. Navigation equipment is provided by coastal and floating beacons, luminous and non-luminous signs, navigation lights, floating warning signs (buoys and milestones), radio, radar and sonar beacons, ground stations of radio navigation systems and other means [Naval Dictionary / Ch. ed. V.N. Chernavin. M: Military Publishing, 1989 .-- 511 p. S. 265].

The most difficult thing is to ensure the safety of navigation and the correct orientation of underwater watercraft (submarines and underwater vehicles) under water, since most of the navigation equipment is installed on the surface of the water or on the shore. Therefore, for underwater boats find sonar beacons (GAM).

There is a well-known bottom GAM installed on the seabed at depths of up to 6,000 m, capable of providing underwater craft with navigational parameters in almost all areas of the World Ocean. The range of such a lighthouse reaches 20-25 km. [I.S. Kalinsky. Navigation equipment of marine theaters. L .: VVMKU im. M.V. Frunze, 1980 .-- 428 p. S. 292].

The bottom GAM device includes: an acoustic antenna with a cylindrical or rod piezoceramic transducer; the beacon on-duty channel, consisting of a receiving amplifier and a decoder; lighthouse electronic equipment housed in a rugged case; deep-sea float for lifting the antenna above the ground; a power source in one rugged case with electronic equipment that performs the function of an anchor; a removable casing, inside of which there is a cable bay with a cable connecting the antenna and the robust housing; a braking device in the lower part of a sturdy housing in the form of a shock-absorbing corrugated cylinder, which is necessary to protect the beacon from damage upon impact on rocky soil. Separation of the float with the antenna from the durable housing and its transition to standby mode occurs after the lighthouse is dropped into the water when it reaches a certain depth. [I.S. Kalinsky. Navigation equipment of marine theaters. L .: VVMKU im. M.V. Frunze, 1980 .-- 428 p. S. 302-304].

The bottom GAM is disposable and can be used as a means of navigation equipment only in the area where it was installed. This limits its functionality and is a disadvantage.

Known pop-up bottom GAM, which can be reused. It has a pop-up part with an antenna and a container with electronic equipment, an anchor and a mounting unit for the pop-up part to the anchor with a cutter and a squib. At the command or after a predetermined time on the ground, the igniter is triggered, the cutter cuts the cable of the electronic equipment connecting it to the power source located in the anchor, the antenna and the container with the electronic equipment of the beacon float to the surface, where they are lifted from the water for further use. The duration of the lighthouse is limited by the duration of its power source and is 10-30 days [I.S. Kalinsky. Navigation equipment of marine theaters. L .: VVMKU im. M.V. Frunze, 1980 .-- 428 p. S. 305-306].

In this GAM, the technically complex and most valuable part of it can be used repeatedly, unlike a one-time GAM, but the speed of its repeated use remains low due to the need to equip the GAM with a new anchor and a power source. As a result, the time for installing the GAM and for the navigation equipment of the district as a whole increases.

Famous sonar buoy lighthouse (GABM) with satellite communications equipment “Gonets-D1M” and GLONASS navigation, adopted as a prototype of the invention and included in the underwater navigation and communications system “Positioner”, developed by the St. Petersburg concern “Oceanopribor” and includes a control center and related autonomous uninhabited underwater vehicles (AUVs) and the aforementioned SBSM [D. Litovkin, A. Ramm. In Russia, the underwater GLONASS was created. M .: Izvestia IZ, December 8, 2016. https // iz.ru / news / 650211].

AUVs patrol a given marine area at depths of up to 8 km and are guided at the same time according to the State Astronomical Observatory, previously established at the bottom and having ultra-precise coordinates. SABM transmit navigational information to watercraft located not only in the water, but also on its surface. GABM, which are part of the "Positioner" system, are bottom, floating and frozen in ice. The general device GABM includes hardware, radio and hydroacoustic part and power supply system, placed in a plastic case. The radio and hydroacoustic part of the GABM includes an ultra-short-wave radio station, a GLONASS receiver, a set of satellite communications system “Gonets-D1M” and equipment for underwater communication with AUV. The bottom version of the GABM is equipped with an anchor, in the drifting version the hardware is placed in a protective case with floats and additional batteries, and the frozen GABM has a special high-strength thermal container with high thermal insulation.

The sonar buoy beacon adopted for the prototype of the invention, when working with AUV, has the following modes:

- “interrogative”, when at the request of the AUV, the buoy transmits to it via hydro-acoustic communication channel information received via the satellite communication channel;

- “dialogue”, when the buoy connects the control point with the AUV in real time, using its VHF radio channel and at the same time provides control and location of the AUV;

- “autonomous”, in which the AUV specifies its coordinates at the buoy through the hydroacoustic communication channel and acts independently;

- "emergency", serving to transmit a distress signal from the AUV.

The main drawback of GAM and GABM when using them as part of existing navigation and communication systems is the lack of mobility, which does not allow, if necessary, to quickly carry out navigation equipment of the districts.

The mobility of a sonar beacon or HMS can be provided by any surface or underwater craft, while underwater craft are less dependent on weather conditions and operate more stealthily, therefore they are more preferable. Given the small size of the GABM, the most suitable means for its delivery to a given area is an underwater vehicle. The underwater vehicles used by the leading maritime powers have a different design and are divided into inhabited (OPA) and uninhabited underwater vehicles (NPA), autonomous (AUV) and remotely controlled (DUPA). In view of the foregoing, underwater vehicles are the most suitable carriers of the GABM to marine areas for their navigation equipment and the creation of temporary mobile sonar systems for underwater navigation. A typical AUV has a streamlined cylindrical or other shape, means of movement and energy supply, sonar and television search tools, navigation equipment, communications, payload compartment and control devices. To communicate with the control center, he is equipped with communication equipment with a sonar or radio channel [Sidenko K.S., Illarionov G.Yu. Submarine and autonomous uninhabited underwater vehicle // MRE, No. 2, 2008].

AUVs are used in underwater exploration, detection, identification and destruction of sea mines, in carrying out sonar, hydrographic and bathymetric measurements, in the survey of marine areas and underwater hydraulic structures [I. Belousov. Modern and promising uninhabited underwater vehicles of the US Navy // Foreign Military Review, 2013, No. 5. S. 79-88]. As you can see, AUVs are capable of performing various functions, but they have not been used as a means of navigation equipment in the regions.

The technical task of the group of inventions is the development of a mobile sonar buoy beacon and a method of navigation equipment of the marine area, necessary to accelerate the navigation equipment of the area and improve the quality of work of its watercraft by providing them with accurate navigation parameters to perform maneuvers, improve sailing safety and reduce working time .

To achieve the objective of the invention, there is provided a mobile sonar buoy beacon having a current source, control equipment, a pop-up float with an antenna and a receiver of a GLONASS satellite navigation system and equipment for receiving and emitting sonar signals. The mobile sonar buoy beacon is located in a separate module of an autonomous uninhabited underwater vehicle having an onboard control system, communication and navigation devices, a power plant with an energy source and an engine, a propulsion device, steering gear drives and an external tail unit with rudders. In addition, the module is equipped with a device for separating the pop-up float from the underwater vehicle and returning it back to the drive and reel with a cable connecting the receiver of the satellite navigation system located in the float with the buoy control equipment, as well as a device for recognizing the signals of the request of its forces to allow the transmission of information requested by them , an encoder that converts information to prevent its recovery in case of interception by extraneous objects and a decoder that performs reverse information conversion, by a computing device and hydrostatic and hydrodynamic pressure sensors, used to calculate the drift velocity of a mobile sonar buoy beacon when laying on the ground, the direction and magnitude of the horizontal drift of the float relative to the setting point.

The action of a mobile sonar beacon is shown in FIG. 1 and 2:

FIG. 1 - receiving a mobile sonar buoy beacon of geographical coordinates from the spacecraft at a given point,

FIG. 2 - bringing the mobile sonar buoy beacon to the working position.

In FIG. 1 illustrates the acquisition of the geographical coordinates of a mobile sonar beacon from a spacecraft after it arrives at a given point. The numbers indicate: 1 - a mobile sonar buoy beacon, 2 - a reel with a cable for the device for separating and returning the float, 3 - a float with an antenna, 4 - the velocity vector of a mobile sonar buoy beacon, 5 - the sea surface, 6 - the ascent path of a mobile sonar buoy beacon, 7 - cable connecting the electronic equipment of the float to the control system of a mobile sonar buoy beacon, 8 - spacecraft of a satellite navigation system, 9 - information transmitted from the spacecraft to a mobile hydro acoustic buoy beacon.

In FIG. 2 shows the bringing of a mobile sonar beacon to a working position. The numbers indicate: 1 - a mobile sonar buoy beacon, 2 - a coil with a cable for the device for separating and returning the float, 3 - a float with an antenna, 5 - the surface of the sea, 7 - a cable connecting the electronic equipment of the float to the control system of a sonar buoy beacon, 10 - immersion trajectory of a mobile sonar buoy beacon, 11 - seabed.

Mobile sonar buoy beacon works as follows.

With the arrival of a mobile sonar buoy beacon (1) at a point with the given coordinates that were entered into its onboard control system, it occupies the set depth and drifts. Using the separation device, the float with the antenna (3) is separated from its body and floats to the surface (5), communicates with the spacecraft (8) of the satellite navigation system and determines its current coordinates, which are sent to the wire line (7) to beacon control system. After determining its location, the beacon beacon (1) lays on the ground (11) and, using the float separation and return device (2), sets the specified cable length between the float with the antenna (3) and the buoy (1). With the initial position, the mobile sonar buoy beacon (1) goes into standby mode. Taking into account the readings of the hydrostatic and hydrodynamic pressure sensors, the cable length (7) of the float with the antenna (3) and the immersion depth of the underwater vehicle (1), the true geographical coordinates of the float-antenna (3) of the mobile sonar buoy beacon (1) are calculated in the computing device , which are transmitted to consumers as part of an array of navigation information. On command from a control point broadcasted by sound means by a boat or other repeater, the mobile sonar buoy beacon (1) selects a cable (7) with a float with an antenna (3) on board and changes its position, moving to another designated area.

The technical result of the invention is a mobile sonar buoy beacon, which serves for operational navigation equipment of the marine area and for providing the navigational facilities operating in the area with the required navigation parameters for a given time and the exact coordinates necessary for the correct orientation in the area, navigation safety and performance of work.

A known method of navigation equipment of a marine area in order to ensure the safety of ship navigation (navigation), determine the coordinates of ships and vessels and their correct orientation during navigation, in which they pre-equip a given marine area with navigation equipment, including coastal and floating beacons, luminous and non-luminous signs, navigation lights, floating warning signs (buoys and milestones), radio, radar and sonar beacons, ground navigation stations tion systems [Naval Dictionary / Ch. ed. V.N. Chernavin. M: Military Publishing, 1989 .-- 511 p. S. 265].

The method involves equipping a pre-selected sea area with necessary equipment for the safety of navigation. At the same time, the means of navigation equipment are installed in the area permanently and, if necessary, cannot be dismantled and reinstalled in the adjacent or remote area.

A known method of navigation equipment of the marine area with sonar buoys-beacons of the underwater navigation and communication system "Positioner" [D. Litovkin, A. Ramm. In Russia, the underwater GLONASS was created. M .: Izvestia IZ, 12/08/2016, https // iz.ru / news / 650211], taken as a prototype of the invention, implemented to ensure the safety of navigation in the area and provide navigation equipment with navigational aids, in which the number of sonar buoys needed is calculated for navigation equipment of a given sea area and determine the points of their installation, prepare on the basis of sonar buoys and beacons for installation, check their operability and load on a craft, deliver them to a given sea area and at discharge points they are drowned in water, after splashdown they transfer sonar buoys-beacons to the working position, while the anchor is removed from stationary buoys, the buoyer is unwound and set on the ground, leaving the buoy float, as well as the drifting buoy, on the water surface, include a radio station, satellite receiver navigation systems, a set of satellite communications and sound-underwater communication equipment, receive the geographic coordinates of the buoy from the satellite-based navigation system and, upon request from surface or underwater craft, transmit them by radio or sound underwater th connection.

The method is used to equip the necessary equipment in advance of the selected marine area. Additional equipment for an adjacent or remote area is possible using drifting buoys, which the ship needs to find, raise aboard, prepare for reuse and deliver to a new area. It is impossible to do this fast enough, therefore, this method does not allow to quickly equip marine areas with navigational aids.

An object of the invention is to develop a method of navigation equipment of the marine area, which increases the speed of navigation equipment, as well as the quality and safety of work of its own watercraft in it.

The purpose of the invention is achieved by the fact that a method of navigation equipment of the marine area is proposed, in which the number of sonar buoys needed for navigation equipment of the specified sea area is calculated and the installation points are determined, sonar buoys and beacons are prepared for installation on the basis of this, their performance is checked and loaded to a watercraft, they are delivered to a given marine area and discharged into water at settlement points, after splashdown, sonar buoys-beacons are transferred to working position, while the fixed buoys separate the anchor, unwind the buoyrp and install it on the ground, leaving the float with the antenna, as well as the drifting buoy, on the water surface, include a radio station, satellite navigation system receiver, satellite communications kit and sound transmission equipment, receive the geographic coordinates of the buoy from the satellite navigation system and, at the request of surface or submarine boats, transmit them via radio or sound transmission. Mobile sonar buoys-beacons are used, made on the basis of autonomous uninhabited underwater vehicles, a route task is introduced into their onboard control system, prepared for launch and released from a ship or aircraft, one or more mobile sonar buoys-beacons are moved along a given route on a given route depth to the calculated or given point for each of them, in the process of their deployment to a given area, they use sound-diving communication, underwater surveillance and action in the group, the float with the antenna and the receiver of the GLONASS-type satellite navigation system and the apparatus for receiving and emitting hydroacoustic signals is separated from the underwater vehicle at the transition site, as well as at the calculated or predetermined point, unwind the connecting cable and raise the float with the antenna to the water surface, receive the coordinates of the float from the satellite navigation system and calculate its geographical coordinates in the computing device according to the known depth and offset from the underwater vehicle inats, lays the mobile sonar buoy beacon on the ground and, using the float separation and return device, sets the specified cable length between the float with the antenna and the buoy, taking into account the readings of hydrostatic and hydrodynamic pressure sensors, the length of the float cable with the antenna and the depth of immersion of an autonomous uninhabited underwater apparatus, in the computing device calculate the true geographical coordinates of the float with the antenna of a mobile sonar buoy beacon and translate it in standby mode of operation, they transmit to the surface and underwater craft or other consumers operating in the area, at their request, the coordinates and the distance to the beacon, calculated in the computing device according to the length of time between the request and the response, taking into account the known speed of sound propagation in water, according to to a command from a control point broadcasted via sound transmission, an arriving boat or another repeater discharged in the area, for example, from an aircraft, a cable with a float and an antenna on ort mobile sonar buoy beacon and change its position, moving to another area.

The technical result of the group of inventions is the development of a mobile sonar buoy beacon and a method of navigation equipment of the marine area, necessary to accelerate the navigation equipment of the area and improve the quality of work of its floating assets by providing them with accurate navigation parameters to perform maneuvers, improve sailing safety and reduce working time .

Claims (2)

1. A mobile sonar buoy beacon comprising a current source, control equipment, a pop-up float with an antenna and a receiver of a GLONASS satellite navigation system and equipment for receiving and emitting sonar signals, characterized in that the mobile sonar buoy beacon is located in a separate module of an autonomous uninhabited underwater apparatus having an onboard control system, communication and navigation devices, power plant with an energy source and an engine, propulsion device, steering gear drives and external plumage with rudders, the module is additionally equipped with a device for separating a pop-up float with an antenna from the underwater vehicle and returning it back with a drive and a coil with a cable connecting the receiver of the satellite navigation system located in the float with the antenna with the buoy control equipment, as well as a recognition device signals of requesting one’s strength to allow the transfer of the information requested by them, by an encoder that converts the information to prevent its recovery in case of interception of extraneous objects and a decoder that performs the reverse conversion of information, a computing device and hydrostatic and hydrodynamic pressure sensors, which serve to calculate the drift velocity of a mobile sonar buoy beacon when laying on the ground, the direction and magnitude of the horizontal drift of the float relative to the setting point. 2. A method of navigation equipment of a marine area, in which the number of sonar buoys needed for navigation equipment of a given sea area is calculated and the points of their installation are determined, sonar buoys and beacons are prepared for installation on the basis of the buoy, they are checked for operability and loaded onto a ship, delivered they are discharged into a given sea area and at settlement points into water, after splashdown, sonar buoys and beacons are transferred to the working position, while yaks are separated from stationary buoys For example, they unwind the buoyrp and install it on the ground, leaving the float with the antenna, like the drifting buoy, on the surface of the water, turn on the radio station, the satellite navigation system receiver, the satellite communications kit and the sound-receiving equipment, receive the geographic coordinates of the buoy from the satellite navigation system and at the request of surface or submarine boats transmit them by radio or sound communication, characterized in that they use mobile sonar buoys, beacons, made on the basis of autonomous rescue of underwater vehicles, they enter a routing task into their on-board control system, prepare for launch and release from a watercraft or aircraft, move one or more mobile sonar buoys and beacons along a given route at a given depth to a calculated or specified point for each of them, in the process of their deployment to a given area, they use sound-diving communication, underwater observation equipment and act in a group in a coordinated manner, at the transition site, as well as at the design or specified point from They divide from the underwater vehicle a float with an antenna and a receiver of a GLONASS-type satellite navigation system, and equipment for receiving and emitting hydroacoustic signals, unwind the connecting cable and raise the float with the antenna to the surface of the water, receive the coordinates of the float from the satellite navigation system and calculate in the computing device the well-known depth and offset from the underwater vehicle its geographical coordinates, carries out the laying of a mobile sonar buoy beacon on the ground and with the help of The device for separating and returning the float establishes a predetermined cable length between the float with the antenna and the buoy, taking into account the readings of hydrostatic and hydrodynamic pressure sensors, the length of the cable of the float with the antenna and the immersion depth of an autonomous uninhabited underwater vehicle, the true geographical coordinates of the float with the mobile antenna are calculated in the computing device sonar buoy beacon and put it in standby mode, transmit to acting in the area of their surface or underwater surface means at their request, coordinates and distance to the beacon beacon, calculated in the computing device by the length of time between the request and the answer, taking into account the known speed of sound propagation in water, on command from a control point transmitted via sound transmission by a arrived boat or other transponder reset to An area, for example, from an aircraft, they select a cable with a float and an antenna aboard a mobile sonar beacon and change its position, moving to another area.

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