RU2710791C1 - Method of navigation equipment of sea area and self-propelled underwater vehicle for its implementation - Google Patents

Abstract

FIELD: navigation systems.SUBSTANCE: invention relates to marine equipment, namely to creation of electromagnetic navigation channels. Underwater navigation system with driving cable (8) is laid on sea bottom along route of floating watercraft. At that, laying of cable (8) and its equipment is performed by self-propelled underwater vehicle (2), which is delivered to preset area on surface, underwater or air carrier (1), its prelaunch preparation is performed, route task is installed in onboard control system of underwater vehicle and discharged into water as per readiness. At approach of underwater vehicle (2) to point of start (5) of driving cable (8) setting, it floats to surface, where satellite navigation, radio- or hydroacoustic navigation system is specified with geographical coordinates of underwater vehicle (2). At point (5), anchor-earthing device (7) is provided with driving cable (8) connected to it and hydroacoustic sensor (6) serving for remote switching on and off of master cable system by signal from navigation object. Driving cable (8) is laid on the ground along the course of the marked route. At end point (9), laying of driving cable (8) is completed, anchor-earthing device (7) of the master cable is carried out with hydroacoustic sensor (6) connected to it. After laying of driving cable (8) and associated equipment, underwater vehicle (2) with detachable unit (10) with current source, generator and equipment for receiving and emitting hydroacoustic signals is directed to carrier (1) for lifting to board and returning to base, or laid on soil in end point without separation of unit (10). Also disclosed is self-propelled underwater vehicle (2) with onboard control system, power plant with power source and engine, propulsor, drives of steering machines, stabilizers and rudders, providing movement of underwater vehicle on a given route, navigation equipment, which provides operation of underwater vehicle, with satellite, radio or hydroacoustic navigation system, radio and sound underwater communication means with control point, carrier and navigation objects, compartment for payload with track, with lead cable, with electronic unit with amplifier, encoder and decoder.EFFECT: navigation equipment of sea areas is provided with possibility of laying underwater navigation system on the bottom along the route of floating facilities (surface ships, ships, submarines and vehicles), creation of an electromagnetic safe passage corridor along a driving cable, communication of an underwater vehicle and a host cable system with a carrier, a control point and navigation objects.2 cl, 2 dwg

Description

The invention relates to the field of marine engineering and is intended for navigational equipment in marine areas and to ensure the safety of ship navigation and the determination of its coordinates in the sea by watercraft (surface ships and ships, submarines and vehicles).

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 is used 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 is to ensure the safety of navigation and the accurate orientation of submarines, since most of the navigation equipment is installed on the surface of the water or on the shore. For submarines, a lead cable system is used as navigation equipment, ensuring their movement along strictly limited routes (fairways). The principle of operation of a navigation system with a lead cable is based on measuring the amplitude and phase ratios of electromotive forces induced in the receiving frame of the on-board equipment by the electromagnetic field of the cable laid along the bottom of the fairway. In this case, using the on-board (ship) receiving equipment, the position and direction of movement of the ship (vessel) relative to the cable are determined. [I.S. Kalinsky.

Navigation equipment of marine theaters. L .: VVMKU im. M.V. Frunze, 1980.428 s. S. 206].

The navigation system with a lead cable includes a power station, a cable laid along the bottom of the fairway, hydroacoustic indicators for marking characteristic points on the track, an on-board equipment receiver having receiving frames of three mutually perpendicular cores and coils mounted on them, three amplifiers tuned to the current frequency in the cable, arrow indicators of the ship (ship) equipment, determining the position of the ship (vessel) relative to the cable "left" or "right" and the direction of movement niya ship (vessel) "to the cable" or "from the cable" [I. S. Kalinsky. Navigation equipment of marine theaters. L .: VVMKU im. M.V. Frunze, 1980.428 s. S. 208-210].

Known Arctic underwater navigation system designed for driving and navigation support of surface and underwater navigation objects in cramped conditions of navigation [Arctic underwater navigation system ... Patent for invention RU 2596244 / О.М. Kocharov, K.O. Kocharov., A.O. Kocharov, A.A. Kocharov. M .: FIPS, 2016. Bull. No. 25], which includes:

- a leading cable laid along the bottom,

- coastal current generator,

- ship equipment and

- two or more sonar beacons installed along the cable route with different emission frequencies of pulsed signals synchronized on the same cable.

To increase the accuracy of the navigation support for navigation objects, the navigation system is additionally equipped with a ground-based complex with an extremely low frequency current generator with the possibility of generating and emitting electromagnetic pulse signals via a lead cable and a clock generator with the possibility of simultaneously emitting different frequency pulses with hydroacoustic beacons synchronously or with a “coded” time delay . In this case, the navigation equipment of navigation objects should determine its location using the rangefinding method from the measured values of the signal transit time from each sensor and the hyperbolic method from a pair of sensors, regardless of the measured signal transit time difference.

To reduce the unmasking of the underwater navigation objects when they receive navigation information, an additional branch is installed from the master cable with a sonar transponder beacon with a controlled, adaptable range of two-way sound communication, an autonomous power source and a cable recharging device.

To increase the reliability of one-way communication with the underwater navigation object and the stability of its driving along the route of the lead cable, ship equipment in the navigation system excites a second electromagnetic field of a higher frequency commensurate with the required level of information capacity and communication reliability, and creates an electromagnetic corridor of navigation along the extremely low frequency drive cable .

When using the navigation system in water areas burdened by ice conditions, it additionally includes an echo-meter installed along the route of the lead cable with an electronically controlled shape of the directivity characteristic, which is capable of detecting the presence of ice, measuring its thickness and the size of stains in the ice cover, as well as detecting unauthorized surface and underwater objects and the transmission of information through the same cable to the control points for the wiring of ships.

To use the navigation system at shallow depths during the period of seasonal and tidal changes, it additionally includes a hydrostatic pressure sensor integrated in the lead cable and used to transmit the current depth value via the same cable to the ground complex.

The considered Arctic underwater navigation system is designed to ensure the safe navigation of ships and other boats by the Northern Sea Route and their wiring in the most complex and critical areas.

The method of equipping marine areas with the Arctic underwater navigation system involves the use of a lead-laying cable-laying vessel, and in ice-burdened areas, additional use of an icebreaker. This method of navigation equipment of the marine area, adopted as a prototype of the invention, has its drawbacks.

The use of the vessel for laying the lead cable and the icebreaker unmasks the equipped area, since the vessels used are easily detected by coastal, sea, air and space surveillance equipment of interested states. As a result, the fact of equipping the region with the Arctic underwater navigation system becomes well known and serves as a reason to attract additional attention to it. Thus, the lack of secrecy of the equipment of the region by the Arctic underwater navigation system is the main disadvantage of the existing method.

This drawback can be eliminated if, for the equipment of the marine area with an underwater navigation system, a boat with the necessary stealth, i.e. underwater, is used as a lead cable stacker.

It is known such an underwater craft as a self-propelled underwater vehicle (SPA), taken as a prototype of the invention [Sidenko KS, Illarionov G.Yu. Submarine and autonomous uninhabited underwater vehicle // MRE, No. 2, 2008]. Self-propelled underwater vehicle is equipped with a propulsion system and is a type of autonomous uninhabited underwater vehicle. A typical SPA has a streamlined cylindrical or other body, and, in addition to means of movement, it is equipped with an energy source, sonar and / or television search tools, navigation equipment, communications, payload compartment and control devices. To communicate with the control center, it is equipped with communication equipment with a sonar and / or radio channel.

Modern SPAs are designed to perform various underwater operations, they make hydroacoustic, hydrographic and bathymetric measurements, examine hydraulic structures, and conduct search work to detect and identify marine underwater objects [I. Belousov. Modern and promising uninhabited underwater vehicles of the US Navy // Foreign Military Review, 2013, No. 5. S. 79-88]. However, for the navigation equipment of marine areas and laying in them the lead cable SPA did not find application.

The technical task of the group of inventions is to develop a method of navigation equipment of the marine area and self-propelled underwater vehicle for its implementation.

To achieve the first objective of the invention, there is provided a method of navigation equipment of a marine area, in which an underwater navigation system with a lead cable is laid to the bottom along the route of conducting watercrafts and an electromagnetic corridor of navigation is created.

Additionally, the laying of the lead cable and its equipment is carried out by a self-propelled underwater vehicle, which is delivered to a predetermined area on a surface, underwater or air carrier, prelaunch preparation is carried out, a route task is installed in the onboard control system of the underwater vehicle and, when ready, it is released into the water. When the underwater vehicle approaches the start point of setting the lead cable, it ascends to the surface, where the geographic coordinates of the underwater vehicle are clarified using a satellite, radio or hydroacoustic navigation system and direct it to the start point of setting the lead cable. At this point, give the grounding anchor with a lead cable connected to it and a hydroacoustic sensor that serves to remotely turn on and turn off the lead cable system according to the signal from the navigation object, etch the lead cable from the view and lay it on the ground in the direction of the indicated route, at the end point they complete the installation of the lead cable, give the anchor-ground electrode of the lead cable with a hydroacoustic sensor connected to it, a detachable unit with a current source, generator and equipment for receiving and radiation I have sonar signals. In an embodiment, at the end points of the lead cable, an additional sonar beacon transponder or sonar marker is additionally installed along with the grounding armature. After laying the lead cable and related equipment, the underwater vehicle is sent to the carrier for boarding and returning to the base, or laid on the ground at the end point without separating the unit with a current source, a generator and equipment for receiving and emitting hydroacoustic signals.

In FIG. 1 shows a diagram of the equipment of a marine area with an underwater navigation system for a lead cable. The numbers denote: 1 - the carrier ship SPA, 2 - SPA, 3 - the route of the SPA to the area for equipping it with a lead cable system, 4 - the point of updating the geographical coordinates of the SPA, 5 - the start point of the laying of the lead cable, 6 - hydroacoustic sensor, hydroacoustic beacon-transponder or sonar marker, 7 - grounding anchor at the start and end points of the lead cable, 8 - lead cable, 9 - end point for laying the lead cable, 10 - detachable unit with current source, generator and equipment for receiving and emitting sonar of signals, 11 - SPA route for lifting onto a carrier after equipping the area with a lead cable system using a detachable unit 10.

To achieve the second objective of the invention, there is provided a self-propelled underwater vehicle having an on-board control system, a power plant with an energy source and an engine, a propulsion device, steering gear drives, stabilizers and rudders providing movement of the underwater vehicle along a given route, navigation equipment providing operation of the underwater vehicle, with satellite, radio or hydroacoustic navigation system, means of radio and sound underwater communication with a control point, a carrier and navigation objects, a compartment to for payload.

Additionally, in the payload compartment, equipment for an underwater navigation system with a lead cable is placed, including a device for setting up a lead cable with a view, a lead cable, two hydroacoustic sensors, two anchors with grounding conductors, a unit with a current source, its converter, generator, which can be separated or cannot be separated from the underwater vehicle and apparatus for receiving and emitting hydroacoustic signals, including an electronic unit with an amplifier, encoder and decoder, providing the creation of electro the magnetic corridor of navigation along the lead cable and the connection of the underwater vehicle and the lead cable system exhibited by it with the carrier, control center and navigation objects.

In addition to the grounding anchor, a sonar transponder or sonar marker can be attached to provide navigation objects with coordinates and mark the ends of the lead cable.

The device of a self-propelled underwater vehicle designed to equip a marine area with an underwater navigation system for the lead cable is shown in FIG. 2. The numbers denote: 2 - SPA, 6 - sonar sensor, sonar beacon responder or sonar marker, 7 - grounding armature, 8 - lead cable, 10 - unit with a current source, its converter, generator and equipment for receiving and emitting sonar signals, 12 - on-board control system SPA, 13 - on-board energy source SPA, 14 - engine, 15 mover, 16 - steering gear drives, 17 - external plumage with rudders, 18 - navigation equipment with satellite, radio or hydroacoustic navigation system , 19 - ante at the satellite, radio or sonar navigation and communication system 20 - compartment payload SPA 21 - damper.

Navigation equipment of the marine area with an underwater navigation system with a lead cable using a self-propelled vehicle and their operation are carried out as follows (Fig. 1 and 2).

They deliver to the calculated point on the carrier (1) (surface underwater or air) SPA (2), test it, enter the route task into the on-board control system and, when ready, release it into the water on the given route (3). With the arrival of the SPA in the laying area of the lead cable (4), it will ascend to the surface, determine the geographical coordinates using a satellite, radio or hydro-acoustic navigation system and send to the start point of the lead cable (5), in which the grounding anchor is given (7) ) with a lead cable (8) connected to it, a sonar sensor (6) and, as an option, a sonar beacon transponder or sonar marker. As the SPA moves along the route, the lead cable is etched from view (21) and laid on the ground. At point (9), the anchor-ground electrode of the lead cable (7) with the hydroacoustic sensor (6) connected to it and the sonar beacon transponder or hydroacoustic indicator connected to it is given off, block (10) is separated with a current source, a generator and equipment for receiving and radiation of hydroacoustic signals and direct the SPA to the carrier for boarding and returning to the base. If the return of the spa is not planned, for example, when using an air carrier, the block (10) is not separated and at the point (9) the spa is laid on the ground.

The installed hydro-acoustic signal from the SPA to the hydro-acoustic sensor is activated and activated in the standby mode. The sonar beacon transponder provides navigation objects with coordinates, and the sonar marker indicates the ends of the lead cable.

In the driving mode along the route of the lead cable, the navigation system is switched from the navigation object arriving in the area with the installed hydro-acoustic signal. After posting the navigation object along the route of the lead cable, the navigation system is again switched to standby mode.

The technical result of the group of inventions is a method of navigation equipment of the marine area and a self-propelled underwater vehicle for its implementation, allowing quickly and secretly from prying observers to equip marine areas with a leading cable, including ice-burdened ones, and to provide surface and underwater craft wiring in them .

Claims (2)

1. A method of navigation equipment of the marine area, in which an underwater navigation system with a lead cable is laid to the bottom along the route of conducting watercrafts and an electromagnetic navigational corridor is created, characterized in that the lead cable and its equipment are laid by a self-propelled underwater vehicle that is delivered to a specified area on surface, underwater or air carrier, carry out its prelaunch preparation, set the route task in the onboard control system of the underwater vehicle and readiness is released into the water, when the underwater vehicle approaches the start point for setting the lead cable, it ascends to the surface, where the geographic coordinates of the underwater vehicle are clarified using a satellite, radio or sonar navigation system and direct it to the start point for setting the lead cable, in this the point is given an anchor-ground electrode with a lead cable connected to it and a hydroacoustic sensor that serves to remotely turn the lead cable system on and off according to the signal from the object navigation, etch the lead cable from the view and lay it on the ground at the direction of the indicated route, at the end point, complete the laying of the lead cable, give the ground cable anchor-ground with a hydroacoustic sensor connected to it, a detachable unit with a current source, a generator and equipment for receiving and radiation of hydroacoustic signals, in a variant embodiment, at the end points of the lead cable, in addition to the grounding armature, a hydroacoustic transponder beacon or hydroacoustic from the tap, after laying the lead cable and related equipment, the underwater vehicle is sent to the carrier for boarding and returning to the base, or laid on the ground at the end point without separating the unit with the current source, generator and equipment for receiving and emitting hydroacoustic signals. 2. Self-propelled underwater vehicle having an onboard control system, power plant with an energy source and an engine, propulsion device, steering gear drives, stabilizers and rudders providing movement of the underwater vehicle along a given route, navigation equipment providing operation of the underwater vehicle with satellite, radio- or sonar navigation system, means of radio and sound communication with a control point, a carrier and navigation objects, a payload compartment, characterized in that in For the payload, the equipment of the underwater navigation system with a lead cable is located, including a device for setting up a lead cable with a view, a lead cable, two hydroacoustic sensors, two anchors with earthing switches, a unit with a current source, its converter, generator and equipment, which can be separated or cannot be separated from the underwater vehicle receiving and emitting sonar signals, including an electronic unit with an amplifier, encoder and decoder, providing the creation of an electromagnetic corridor navigation along the lead cable and the connection of the underwater vehicle and the lead cable system exhibited by it with the carrier, control center and navigation objects, in addition to the grounding anchor, a sonar transponder or sonar marker can be attached to provide navigation objects with coordinates and mark the ends of the master cable

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